An automatic control system for an intelligent roller compaction operation vehicle of a water conservancy dam

Abstract

The application discloses a kind of water conservancy dam intelligent roller compaction operation vehicle automatic control system, including roller compaction operation vehicle, roller compaction wheel and control system, image acquisition mechanism includes protective shell and wide-angle camera, the inside rotation of protective shell is connected with rotating sleeve, rotating sleeve is set to the outside of wide-angle camera, wide-angle camera is slidably connected with rotating sleeve, and sealing mechanism is arranged between rotating sleeve and protective shell.Belong to vehicle control technical field.The water conservancy dam intelligent roller compaction operation vehicle automatic control system, by means of unmanned roller compaction, improve the quality of roller compaction, compared with traditional manual roller compaction mode, unmanned roller compaction can complete the same work in a shorter period of time, improve construction progress, reduce waiting time and coordination cost in construction, wide-angle camera is exposed directly in external environment when working, heat dissipation area increases greatly, can more efficiently pass through heat conduction and convection and transfer heat to air.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and more specifically, to an automatic control system for an intelligent compaction vehicle for water conservancy dams. Background Technology

[0002] During the construction of earth-rock dams, the quality of compaction directly affects the dam's density, stability, and ability to prevent seepage damage, thus directly impacting the overall project quality. In actual construction, the roller operator can only control factors such as the number of compaction passes, compaction trajectory, and overlap width through their own judgment. However, relying solely on the operator's skill often leads to over-compaction, missed areas, insufficient overlap width, and deviation from the compaction trajectory. Furthermore, management and on-site personnel cannot guarantee real-time monitoring of these control factors during actual production, meaning the quality of construction work is largely dependent on the subjective will of those involved.

[0003] Currently, intelligent compaction systems developed both domestically and internationally for compaction operations still have certain limitations. These systems can only collect data such as compaction position, speed, number of passes, and excitation force in real time through sensors installed on the compactor, transmitting this data to the system terminal and platform via wired and wireless transmission technology. The platform then visualizes the data for management personnel to assist in control. However, this type of intelligent compaction system does little to assist the driver; over-compaction, missed compaction, insufficient overlap width, and deviation from the compaction trajectory can still occur. Rework due to these issues significantly increases manpower, material, and management costs. Therefore, it is evident that current intelligent compaction systems cannot prevent operational problems at the source, cannot effectively guarantee construction quality, and the wide-angle cameras used for capturing image information are often too tightly encased in protective housings, leading to poor heat dissipation and affecting their performance and stability. To address these issues, we propose an automatic control system for intelligent compaction vehicles used in hydraulic dams, which can effectively solve the aforementioned construction pain points. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic control system for an intelligent compaction vehicle for water conservancy dams, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] An automatic control system for an intelligent compaction vehicle used in water conservancy dams includes a compaction vehicle, a compaction wheel at the front of the vehicle, and a control system at the rear. Image acquisition mechanisms are installed on the left, right, and front sides of the compaction wheel, as well as at the rear of the vehicle. Each image acquisition mechanism includes a protective shell and a wide-angle camera. The wide-angle camera can capture real-time images around the vehicle. A rotating sleeve is rotatably connected inside the protective shell, and this sleeve is fitted over the wide-angle camera. The wide-angle camera is slidably connected to the rotating sleeve. A sealing mechanism is provided between the rotating sleeve and the protective shell, which can seal the protective shell to prevent the wide-angle camera from entering. For comprehensive protection, a fixed sleeve is fitted around the outside of the rotating sleeve. A fixed heat sink is fixedly connected between the fixed sleeve and the protective shell. A storage groove is formed on the side of the fixed heat sink away from the fixed sleeve. A through groove is formed on the side of the protective shell near the storage groove. The through groove communicates with the storage groove. A movable heat sink is slidably connected inside the storage groove. The movable heat sink passes through the through groove and extends into the inside of the through groove. The movable heat sink is slidably connected to the protective shell. A transmission mechanism is provided on each of the corresponding two sides of the fixed heat sink. The transmission mechanism can drive the movable heat sink to move automatically, so that the movable heat sink extends out of the storage groove or retracts into the storage groove.

[0007] The control system includes a Beidou integrated terminal tablet, a positioning and directional antenna, a front collision avoidance radar, a rear collision avoidance radar, an electronic proportional converter, a steering encoder, an electronic fuel injection engine, and a CAN bus electronic control system.

[0008] Preferably, the Beidou integrated terminal tablet is installed inside the cab of the compaction vehicle; the positioning and directional antennas are installed at both ends of the front bumper of the compaction wheel and on the roof; the front anti-collision radar is installed on top of the compaction wheel; and the rear anti-collision radar is installed at the rear of the compaction vehicle. The electronic proportional converter, steering encoder, electronic fuel injection engine, and CAN bus electronic control system are all located inside the compaction vehicle. The width of the compaction wheel, i.e., the width of the compaction track, can be determined by the positioning and directional antennas. The positioning and directional antennas are installed at both ends of the front bumper of the compaction wheel (the spacing is consistent with the width of the compaction wheel) and on the roof. The width of the compaction wheel, i.e., the width of the compaction track, can be determined by the two front positioning and directional antennas. The direction of the vehicle's front, i.e., the compaction travel direction, can be determined by the spatial relative position of the positioning and directional antennas on the roof and the two front ones. The Beidou integrated terminal tablet can upload centimeter-level GNSS location information to the system platform. It also functions as a tablet computer, displaying images of the roller's perimeter and compaction assistance information to guide the driver during compaction operations. The Beidou integrated terminal tablet, positioning and directional antenna, and wide-angle cameras constitute the intelligent roller's assisted driving system. In operation, four wide-angle cameras covering the entire field of view around the vehicle are installed. One camera is positioned in front of the compaction wheel, two on either side, and the last at the rear. These multiple video images, collected simultaneously, are processed into a 360-degree top-down view of the vehicle's perimeter, displayed as a base map on the Beidou integrated terminal tablet in the driver's cab. Simultaneously, compaction assistance lines of the same width as the compaction wheel are set on the image; by inputting the overlap width, overlap control lines are generated. Secondly, by using a positioning and directional antenna and a Beidou integrated terminal tablet installed on the compactor, information such as vehicle position, compaction trajectory, and number of compaction passes can be transmitted to the system backend in real time. The backend can then analyze and statistically analyze this compaction information and present it in a visual form on the Beidou integrated terminal tablet. Finally, during compaction operations, the Beidou integrated terminal tablet will display a real-time overhead image of the vehicle body within a certain distance range, and compaction auxiliary lines and customized overlap control lines can be seen on the image. Simultaneously, the compacted path will be overlaid with different colors on the real-time image according to different compaction passes.

[0009] When the roller operator starts the roller, the Beidou integrated terminal tablet in the cab automatically powers on and uploads its own position coordinates (NMEA standard GGA data, longitude, latitude, and elevation) to the system. Then, through the set coordinate transformation parameters, the original position coordinates are converted into planar coordinates (X, Y, Z).

[0010] At the same time, the tablet in the cab displays the video footage captured by the wide-angle cameras around the vehicle. It combines the viewing distance, installation position, and position information of the wide-angle cameras with the position information of the roller to generate a top-down view of the vehicle's surroundings. The view and coordinate information can be updated synchronously as the plane coordinates (X,Y,Z) of the roller change. The coordinates of the four corners of the view are: front left corner (X-3,Y+5,Z), front right corner (X+3,Y+5,Z), rear left corner (X-3,Y-5,Z), and rear right corner (X+3,Y-5,Z).

[0011] The driver first creates a compaction task name according to the work schedule, such as "20231130 Main Composting Area, 10th Layer." The compaction information recorded before closing the task will be retained in this task. Next, the driver inputs an overlap width of 20cm according to the specifications. Compaction guide lines and overlap control lines will then be generated on the overhead view around the vehicle.

[0012] When the driver starts operating the roller to perform compaction operations, with the starting coordinates being (0,0,100), and compacts 10 meters forward, the position information of the actual compaction trajectory of the roller can be calculated by the relative position of the roller and the cab flatbed: the contact point between the left side of the roller and the ground is (X-1.5,Y+2,Z), and the contact point between the right side of the roller and the ground is (X+1.5,Y+2,Z). Therefore, the actual travel trajectory of the left side of the roller is from (-1.5,2,100) along the Y-axis to (-1.5,12,100), and the actual travel trajectory of the right side of the roller is from (1.5,2,100) along the Y-axis to (1.5,12,100).

[0013] After obtaining the rolling trajectory location information of the roller, the number of times the same coordinate position is rolled is defined as the rolling pass, and corresponding to different colors, which are superimposed on the top view around the vehicle body and finally presented to the driver, so that the driver can intuitively see his rolling trajectory.

[0014] The driver can only perform compaction operations by following the compaction guide lines and overlap control lines displayed on the flatbed after multiple passes. At the same time, the number of compaction passes and the compaction overlap can be seen intuitively at each location.

[0015] Preferably, the outer wall of the wide-angle camera is fitted to the inner wall of the rotating sleeve, the wide-angle camera is fitted to the rotating sleeve, and the rotating sleeve is made of the same material as the fixed heat sink, so that the heat generated by the wide-angle camera when it is working can be transferred to the fixed heat sink through the rotating sleeve.

[0016] Preferably, the sealing mechanism includes a first rotating plate, which is fixedly connected to a rotating sleeve. The first rotating plate has a first sliding groove inside, and there are six first sliding grooves in total, which are symmetrically distributed. A first sliding rod is slidably connected inside the first sliding groove. A protective plate is fixedly connected to the outer end of the first sliding rod near the protective shell. A groove is formed inside the protective shell on the side near the protective plate. A slider is slidably connected inside the groove. The slider is fixedly connected to the protective plate. When the rotating sleeve rotates, it will also rotate the first rotating plate, so that the first rotating plate squeezes the first sliding rod through the first sliding groove, and the first sliding rod then drives the protective plate to move.

[0017] Preferably, the transmission mechanism includes a second rotating plate, which is sleeved on the outside of the rotating sleeve and fixedly connected to the rotating sleeve. A second sliding groove is provided inside the second rotating plate and on one side of the movable heat sink. A second sliding rod is slidably connected inside the second sliding groove and fixedly connected to the movable heat sink. When the rotating sleeve rotates, it will drive the second rotating plate to rotate, so that the second rotating plate presses the second sliding rod through the second sliding groove, and the second sliding rod then drives the movable heat sink to move.

[0018] Preferably, both the first rotating plate and the second rotating plate are annular structures, which ensure that the first rotating plate and the second rotating plate will not obstruct the wide-angle camera inside the rotating sleeve.

[0019] Preferably, the rotating sleeve has a third sliding groove inside, and there are four third sliding grooves in total. The four third sliding grooves are symmetrically distributed. A third sliding rod is slidably connected inside the third sliding groove. The third sliding rod is fixedly connected to the wide-angle camera. A limiting groove is opened inside the fixed sleeve. The third sliding rod passes through the limiting groove and extends into the limiting groove. The third sliding rod is slidably connected to the fixed sleeve. When the rotating sleeve rotates, the rotating sleeve can squeeze the third sliding rod through the third sliding groove, thereby driving the wide-angle camera to automatically extend out of the protective shell or retract the protective shell through the third sliding rod.

[0020] Preferably, the third slide groove has a spiral structure. The spiral structure of the third slide groove allows the wide-angle camera to move by squeezing the third slide rod when the rotating sleeve rotates.

[0021] Preferably, a servo motor is fixedly connected to the outside of the protective shell. The output shaft of the servo motor penetrates vertically through the protective shell and extends into the interior of the protective shell. The output shaft of the servo motor is rotatably connected to the protective shell. A drive gear is fixedly connected to the output end of the servo motor. A driven gear ring is sleeved on the outside of the rotating sleeve. The driven gear ring is fixedly connected to the rotating sleeve. The drive gear meshes with the driven gear ring. Under the action of the drive gear and the driven gear ring, the servo motor can drive the rotating sleeve to rotate.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] 1) When in use, the automatic control system of this intelligent compaction vehicle for water conservancy dams can simultaneously control the opening and closing of the protective plate, as well as the automatic extension and retraction of the wide-angle camera and the movable heat sink through the servo motor. This allows the protective shell and protective plate to provide all-round protection for the wide-angle camera, ensuring that the camera is not exposed. The movable heat sink retracts into the protective shell, providing multiple protective benefits and preventing the deformation of traditional fixed heat sinks due to collisions, thus extending the service life of the fins. When the wide-angle camera is working, the movable heat sink extends and is directly exposed to the external environment, significantly increasing the heat dissipation area and enabling more efficient heat transfer to the air through heat conduction and convection.

[0024] 2) The automatic control system of this intelligent compaction vehicle for water conservancy dams solves the problems that drivers face when maintaining lanes, controlling overlap width, and determining the number of compaction passes during compaction operations. Compared to conventional intelligent compaction systems, this system innovatively employs 360-degree panoramic perimeter imaging technology. This technology displays real-time panoramic images of the compactor within a certain range in the driver's cab. Simultaneously, visual computing technology adds visual information such as compaction guide lines, overlap control lines, and color-coded compaction pass numbers to the real-time images, effectively reducing the difficulty of compaction operations, helping drivers operate according to specifications, and providing real-time compaction data for easy monitoring of the compaction status.

[0025] 3) The automatic control system of this intelligent compaction vehicle for water conservancy dams improves compaction quality through unmanned compaction. Compared with traditional manual compaction, unmanned compaction can complete the same workload in a shorter time, improving construction progress, optimizing construction processes and resource allocation, reducing waiting time and coordination costs, and further accelerating construction. Unmanned compaction technology can significantly reduce reliance on manual operation and lower labor costs. Simultaneously, it avoids rework and material waste caused by human error, reducing construction costs while improving equipment utilization and reducing maintenance costs. Firstly, the research and application of unmanned compaction improves indicators such as the average first-pass compaction compliance rate and average compaction speed. Secondly, the maintenance and replacement of parts in unmanned compaction systems are more convenient and faster, allowing for quicker repair and restoration in case of malfunctions, thus improving construction efficiency. Furthermore, the advanced intelligent diagnostic system can predict equipment failures in advance and perform maintenance, reducing equipment maintenance costs, lowering occupational hazards for compaction workers, and avoiding potential dangers to other related workers due to improper equipment operation. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 This is a schematic diagram of the positioning and directional antenna of the present invention;

[0028] Figure 3 This is a schematic diagram of the structure of the present invention before the movable heat sink extends;

[0029] Figure 4 This is a schematic diagram of the structure of the movable heat sink of the present invention after it has been extended;

[0030] Figure 5 This is a cross-sectional schematic diagram of the protective shell of the present invention;

[0031] Figure 6 This is a schematic diagram of the structure of the first rotating plate of the present invention;

[0032] Figure 7 This is a schematic diagram of the groove structure of the present invention;

[0033] Figure 8 This is a schematic diagram of the structure of the protective plate of the present invention;

[0034] Figure 9 This is a schematic diagram of the structure of the first groove of the present invention;

[0035] Figure 10 This is a schematic diagram of the structure of the second rotating plate of the present invention;

[0036] Figure 11 This is a schematic diagram of the structure of the fixed heat sink of the present invention;

[0037] Figure 12 This is a schematic diagram of the structure of the rotating sleeve of the present invention;

[0038] Figure 13 This is a schematic diagram of the structure of the fixing sleeve of the present invention;

[0039] Figure 14 This is a schematic diagram of the third groove of the present invention;

[0040] Figure 15 This is a flowchart of the vehicle speed control process of the present invention;

[0041] Figure 16 This is a flowchart illustrating the compaction control process of the present invention.

[0042] Figure 17 This is a flowchart of the automatic operation process of the present invention.

[0043] The following are the labeling instructions in the diagram: 1. Beidou integrated terminal tablet; 2. Positioning and directional antenna; 3. Image acquisition mechanism; 4. Protective shell; 5. Wide-angle camera; 6. Rotating sleeve; 7. Fixed sleeve; 8. Fixed heat sink; 9. Storage slot; 10. Through slot; 11. Movable heat sink; 12. Sealing mechanism; 13. Transmission mechanism; 14. First rotating plate; 15. First slide groove; 16. First slide rod; 17. Protective plate; 18. Groove; 19. Slider; 20. Second rotating plate; 21. Second slide groove; 22. Second slide rod; 23. Third slide groove; 24. Third slide rod; 25. Limiting groove; 26. Servo motor; 27. Drive gear; 28. Driven gear ring; 29. ​​Front collision avoidance radar; 30. Rear collision avoidance radar; 31. Electro-proportional converter; 32. Steering encoder; 33. Electronic fuel injection engine; 34. CAN bus electronic control system; 35. Control system. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] Please see Figures 1 to 17An automatic control system for an intelligent compaction vehicle used in water conservancy dams includes a compaction vehicle, a compaction wheel at the front of the vehicle, and a control system 35 at the rear. Image acquisition mechanisms 3 are installed on the left, right, and front sides of the compaction wheel, as well as at the rear of the vehicle, creating a multi-directional image acquisition effect. Each image acquisition mechanism 3 includes a protective shell 4 and a wide-angle camera 5. The wide-angle camera 5 can capture real-time images around the vehicle. A rotating sleeve 6 is rotatably connected inside the protective shell 4, and the rotating sleeve 6 is fitted over the wide-angle camera 5. The wide-angle camera 5 is slidably connected to the rotating sleeve 6. A sealing mechanism 12 is provided between the rotating sleeve 6 and the protective shell 4. The wide-angle camera 5 can automatically extend out of the protective shell 4, and when it retracts into the protective shell 4, the sealing mechanism 12 can be used to... The protective shell 4 provides a seal to fully protect the wide-angle camera 5. The rotating sleeve 6 is fitted with a fixed sleeve 7. A fixed heat sink 8 is fixedly connected between the fixed sleeve 7 and the protective shell 4. A storage groove 9 is provided on the side of the fixed heat sink 8 away from the fixed sleeve 7. A through groove 10 is provided on the side of the protective shell 4 near the storage groove 9. The through groove 10 is connected to the storage groove 9. A movable heat sink 11 is slidably connected inside the storage groove 9. The movable heat sink 11 passes through the through groove 10 and extends into the inside of the through groove 10. The movable heat sink 11 is slidably connected to the protective shell 4. A transmission mechanism 13 is provided on each of the corresponding two sides of the fixed heat sink 8. The transmission mechanism 13 can drive the movable heat sink 11 to move automatically, so that the movable heat sink 11 extends out of the storage groove 9 or retracts into the storage groove 9.

[0046] The control system 35 includes a Beidou integrated terminal tablet 1, a positioning and directional antenna 2, a front collision avoidance radar 29, a rear collision avoidance radar 30, an electric proportional converter 31, a steering encoder 32, an electronic fuel injection engine 33, and a CAN bus electronic control system 34.

[0047] Furthermore, the Beidou integrated terminal tablet 1 is installed inside the cab of the compaction vehicle, the positioning and directional antenna 2 is installed at both ends of the front bumper of the roller and on the roof, the front anti-collision radar 29 is installed on the top of the compaction wheel, and the rear anti-collision radar 30 is installed at the rear of the compaction vehicle. The electric proportional converter 31, steering encoder 32, electronic fuel injection engine 33, and CAN bus electronic control system 34 are all located inside the compaction vehicle. The width of the roller, i.e., the width of the compaction track, can be determined through the positioning and directional antenna 2. The positioning and directional antenna 2 is installed at both ends of the front bumper of the roller (the spacing is consistent with the width of the roller) and on the roof. The width of the roller, i.e., the width of the compaction track, can be determined through the two front positioning and directional antennas 2. The positioning and directional antenna 2 on the roof and the front... The spatial relative position of the two ends can determine the direction of the vehicle's front, i.e., the rolling direction. The Beidou integrated terminal tablet 1 can upload centimeter-level GNSS position information to the system platform and also has tablet computer functionality, displaying images of the roller's perimeter and rolling assistance information to guide the driver in rolling operations. The Beidou integrated terminal tablet 1, the positioning and directional antenna 2, and the wide-angle camera 5 constitute the intelligent roller assisted driving system. In use, firstly, four wide-angle cameras 5, which cover the entire field of view around the vehicle, are installed around the roller to process the multiple video images collected at the same time into a 360-degree top view of the vehicle's perimeter, which is displayed as a base map on the Beidou integrated terminal tablet 1 in the cab. At the same time, rolling assistance lines of the same width as the rolling wheel are set on the screen, and the overlap width is manually input to generate overlap control lines. Secondly, by using the positioning and directional antenna 2 and the Beidou integrated terminal tablet 1 installed on the compactor, information such as vehicle position, compaction trajectory, and number of compaction passes can be transmitted to the system backend in real time. The backend can then analyze and statistically analyze this compaction information and present it in a visual form on the Beidou integrated terminal tablet 1. Finally, during compaction operations, the Beidou integrated terminal tablet 1 will display a real-time overhead image of the vehicle body within a certain distance range, and compaction auxiliary lines and custom overlap control lines can be seen on the image. Simultaneously, the compacted path will be overlaid with different colors on the real-time image according to different compaction passes.

[0048] The system is used as follows:

[0049] 1. When the driver starts the roller, the system automatically turns on;

[0050] 2. The driver creates a compaction task name (e.g., 20231130 Main Composting Area, 10th Layer).

[0051] 3. The driver inputs the overlap width according to the specifications;

[0052] 4. The terminal automatically displays the compaction guide line and overlap control line;

[0053] 5. Drivers use compaction guide lines and overlap control lines to assist in operation, thereby maintaining lane position and controlling overlap width;

[0054] 6. During the compaction process, the compacted areas will be superimposed on the real-time image with different colors depending on the number of compaction passes, to assist the driver in controlling the number of compaction passes;

[0055] 7. The display terminal will show information such as time, task name, and number of passes in real time;

[0056] 8. When you finish the job, click "Task Complete" to turn off the roller. The relevant data will be saved to the system platform, and the rolling process will be complete.

[0057] If the compaction task is not completed when the operator ends the operation, the operator can click "Save Task". The compaction information in this task will continue to be displayed the next time the compactor is started.

[0058] Furthermore, the outer wall of the wide-angle camera 5 is attached to the inner wall of the rotating sleeve 6, and the wide-angle camera 5 is attached to the rotating sleeve 6, so that the heat generated by the wide-angle camera 5 when it is working can be transferred to the fixed heat sink 8 through the rotating sleeve 6, and the fixed heat sink 8, together with the movable heat sink 11, dissipates heat.

[0059] Furthermore, the sealing mechanism 12 includes a first rotating plate 14, which is fixedly connected to the rotating sleeve 6. The first rotating plate 14 has a first sliding groove 15 inside, and there are six first sliding grooves 15 in total. The six first sliding grooves 15 are symmetrically distributed. A first sliding rod 16 is slidably connected inside the first sliding groove 15. A protective plate 17 is fixedly connected to the outer end of the first sliding rod 16 near the protective shell 4. A groove 18 is opened inside the protective shell 4 near the protective plate 17. A slider 19 is slidably connected inside the groove 18. The slider 19 is fixedly connected to the protective plate 17. When the rotating sleeve 6 rotates, it will also rotate the first rotating plate 14, so that the first rotating plate 14 squeezes the first sliding rod 16 through the first sliding groove 15. The first sliding rod 16 then drives the protective plate 17 to move, controlling the opening and closing of the six protective plates 17.

[0060] Furthermore, the transmission mechanism 13 includes a second rotating plate 20, which is sleeved on the outside of the rotating sleeve 6 and fixedly connected to the rotating sleeve 6. A second sliding groove 21 is provided inside the second rotating plate 20 and on one side of the movable heat sink 11. A second sliding rod 22 is slidably connected inside the second sliding groove 21 and fixedly connected to the movable heat sink 11. When the rotating sleeve 6 rotates, it will drive the second rotating plate 20 to rotate, so that the second rotating plate 20 presses the second sliding rod 22 through the second sliding groove 21. The second sliding rod 22 then drives the movable heat sink 11 to move, so that the movable heat sink 11 extends out of the protective shell 4 or retracts into the protective shell 4.

[0061] Furthermore, both the first rotating plate 14 and the second rotating plate 20 are annular structures. Both the first rotating plate 14 and the second rotating plate 20 are fitted onto the outside of the rotating sleeve 6, and will not obstruct the wide-angle camera 5 inside the rotating sleeve 6.

[0062] Furthermore, the rotating sleeve 6 has four third sliding grooves 23 symmetrically distributed inside. A third sliding rod 24 is slidably connected inside each third sliding groove 23 and is fixedly connected to the wide-angle camera 5. A limiting groove 25 is provided inside the fixed sleeve 7. The third sliding rod 24 passes through the limiting groove 25 and extends into its interior. The third sliding rod 24 is slidably connected to the fixed sleeve 7. When the rotating sleeve 6 rotates, it can press the third sliding rod 24 through the third sliding groove 23, thereby causing the wide-angle camera 5 to automatically extend out of or retract from the protective shell 4. The limiting groove 25, in conjunction with the third sliding rod 24, can limit the movement of the wide-angle camera 5, ensuring that it can only move back and forth in a straight line and will not twist.

[0063] Furthermore, the third slide groove 23 has a spiral structure. The spiral structure of the third slide groove 23 allows the wide-angle camera 5 to move when the rotating sleeve 6 rotates, by squeezing the third slide rod 24 with the third slide groove 23.

[0064] Furthermore, a servo motor 26 is fixedly connected to the outside of the protective shell 4. The output shaft of the servo motor 26 penetrates vertically through the protective shell 4 and extends into the interior of the protective shell 4. The output shaft of the servo motor 26 is rotatably connected to the protective shell 4. A drive gear 27 is fixedly connected to the output end of the servo motor 26. A driven gear ring 28 is sleeved on the outside of the rotating sleeve 6. The driven gear ring 28 is fixedly connected to the rotating sleeve 6. The drive gear 27 is meshed with the driven gear ring 28. The servo motor 26 directly drives the drive gear 27 to rotate, and the drive gear 27 then drives the rotating sleeve 6 to rotate through the driven gear ring 28.

[0065] The usage steps of this invention are as follows: When the automatic control system of this intelligent compaction vehicle for water conservancy dams is in use, it controls the servo motor 26 to rotate forward. The servo motor 26 drives the rotating sleeve 6 to rotate through the driving gear 27 and the driven gear ring 28. At this time:

[0066] The rotating sleeve 6 drives the first rotating plate 14 to rotate, and the first rotating plate 14 presses the first sliding rod 16 through the first sliding groove 15, so that the first sliding rod 16 drives the six protective plates 17 to move and open simultaneously.

[0067] The rotating sleeve 6 drives the second rotating plate 20 to rotate. The second rotating plate 20 presses the second sliding rod 22 through the second sliding groove 21, so that the second sliding rod 22 drives the movable heat sink 11 inside the storage groove 9 to pass through the through groove 10 and extend out of the protective shell 4.

[0068] The rotating sleeve 6 presses the third slide bar 24 through the spiral structure of the third slide groove 23, causing the third slide bar 24 to drive the wide-angle camera 5 to extend out from inside the protective shell 4.

[0069] The heat generated by the wide-angle camera 5 during use is transferred to the fixed heat sink 8 through the rotating sleeve 6. The fixed heat sink 8, together with the movable heat sink 11 extending from the protective shell 4, dissipates heat and cools the wide-angle camera 5. When the wide-angle camera 5 is no longer in use, the servo motor 26 is reversed to retract the wide-angle camera 5 into the protective shell 4. At the same time, the six protective plates 17 close, allowing the protective shell 4 and the protective plates 17 to provide all-round protection for the wide-angle camera 5, achieving complete enclosure of the wide-angle camera 5 and preventing it from being exposed. At the same time, the movable heat sink 11 can also retract into the protective shell 4, balancing practicality and environmental adaptability. When the wide-angle camera 5 is not in use, the heat dissipation requirement is extremely low, but the external environment may pose risks such as dust, moisture, collisions, and scratches. In this case, the movable heat sink 11... The retraction of the movable heat sink 11 into the protective shell 4 provides multiple layers of protection. It prevents the traditional fixed heat sink fins from being deformed by impacts due to protrusion from the shell, extending the fins' lifespan. Furthermore, with the movable heat sink 11 retracted, the protective shell 4 forms a complete sealed structure, preventing dust, rainwater, insects, and other contaminants from entering. This avoids dust accumulation in the gaps between the movable heat sink 11, which could affect subsequent heat dissipation efficiency. Simultaneously, it protects the core components of the wide-angle camera 5 from environmental corrosion. When the wide-angle camera 5 is in operation, the movable heat sink 11 extends and is directly exposed to the external environment, significantly increasing the heat dissipation area. This allows for more efficient heat transfer to the air through conduction and convection. The wide-angle camera 5 processes multiple video images captured simultaneously into a 360-degree top-down view of the vehicle's surroundings, which is displayed as a base map on the Beidou integrated terminal tablet 1 in the driver's cab. Simultaneously, a rolling auxiliary line of the same width as the rolling wheel is set on the image; by inputting the overlap width, an overlap control line can be generated. By using the positioning and directional antenna 2 and the Beidou integrated terminal tablet 1 installed on the roller compactor, information such as vehicle position, compaction trajectory, and number of compaction passes can be transmitted to the system backend in real time. The backend can analyze and statistically analyze the above compaction information and present it in a visual form on the Beidou integrated terminal tablet 1. During compaction operations, the Beidou integrated terminal tablet 1 will display a top-down image of the vehicle body within a certain distance range in real time, and compaction auxiliary lines and custom overlap control lines can be seen on the image. At the same time, the compacted path will be superimposed on the real-time image with different colors according to different number of compaction passes, effectively reducing the difficulty of compaction operations, helping the driver to operate according to the standard requirements, and providing real-time compaction data for easy viewing of the compaction situation. The system is equipped with the Beidou integrated terminal tablet 1, positioning and directional antenna 2, front collision avoidance radar 29, rear collision avoidance radar 30, electric proportional converter 31, steering encoder 32, electronic fuel injection engine 33, and CAN bus electronic control system 34. On the roller compactor, two positioning and directional antennas 2 are installed above the cab. By utilizing the vibration damping effect of the cab, the impact of vibration on antenna positioning can be reduced.The connection between the two antennas is perpendicular to the vehicle. One antenna is used for position positioning, and the other is used for route positioning. Based on the original hydraulic control commutation of the roller, an electric proportional converter 31 is added to realize the electric proportional control of steering through the controller bongosMC (as attached). Figure 16 (As shown). Simultaneously, a cable sensor is installed at the steering cylinder to measure the front wheel steering angle. This provides real-time front wheel deflection angle feedback for the automatic control of the compactor's path. The appropriate vehicle speed is automatically set according to construction process requirements, and a PID algorithm is used to adjust the vehicle speed. When vibration is required, the maximum speed is set to 2300 RPM; when vibration is not required, an energy-saving mode is used to control the vehicle speed. Based on the desired vehicle speed, four different gears and engine speeds are automatically selected, and the displacement of the travel pump is adjusted to achieve vehicle speed control. An internationally advanced compaction detection system is used to detect data such as compaction degree, vibration frequency, and amplitude in real time. Then, through a CAN bus connection, the data in the system is transmitted to the BongosMC, and the data is transmitted to the monitoring center for recording in real time. The host computer plans multiple compaction segments of corresponding width within the working area and sets working parameters such as the number of static compaction passes and vibration mode for each segment. The compactor uses pure tracking and PID algorithms to achieve unmanned driving that automatically tracks the path planned by the host computer.

[0070] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic control system for an intelligent roller compactor vehicle for hydraulic dam construction, comprising a roller compactor vehicle, a roller wheel located at the front side of the roller compactor vehicle, and a control system (35) located at the rear side of the roller compactor vehicle, an image acquisition mechanism (3) being installed at the left side, the right side, the front side, and the tail of the roller compactor vehicle, the image acquisition mechanism (3) comprising a protective shell (4) and a wide-angle camera (5), characterized in that: The inside of the protective shell (4) is rotatably connected with a rotating sleeve (6), the rotating sleeve (6) is sleeved outside the wide-angle camera (5), the wide-angle camera (5) is in sliding connection with the rotating sleeve (6), the rotating sleeve (6) and the protective shell (4) are provided with a blocking mechanism (12), the outside of the rotating sleeve (6) is sleeved with a fixed sleeve (7), the fixed sleeve (7) and the protective shell (4) are fixedly connected with a fixed fin (8), the inside of the fixed fin (8) is provided with a receiving groove (9) away from the fixed sleeve (7), the inside of the protective shell (4) is provided with a through groove (10) close to the receiving groove (9), the through groove (10) is in communication with the receiving groove (9), the inside of the receiving groove (9) is in sliding connection with a movable fin (11), the movable fin (11) passes through the through groove (10) and extends to the inside of the through groove (10); The blocking mechanism (12) comprises a first rotating plate (14), the first rotating plate (14) is fixedly connected with the rotating sleeve (6); The transmission mechanism (13) comprises a second rotating plate (20), the second rotating plate (20) is sleeved outside the rotating sleeve (6), the second rotating plate (20) is fixedly connected with the rotating sleeve (6), the inside of the second rotating plate (20) and one side of the movable fin (11) are provided with a second sliding groove (21), the inside of the second sliding groove (21) is in sliding connection with a second sliding rod (22), the second sliding rod (22) is fixedly connected with the movable fin (11), the inside of the rotating sleeve (6) is provided with a third sliding groove (23), the third sliding groove (23) has four, the four third sliding grooves (23) are symmetrically distributed, the inside of the third sliding groove (23) is in sliding connection with a third sliding rod (24), the third sliding rod (24) is fixedly connected with the wide-angle camera (5), the outside of the protective shell (4) is fixedly connected with a servo motor (26), the output shaft of the servo motor (26) penetrates through the protective shell (4) and extends to the inside of the protective shell (4), the output shaft of the servo motor (26) is rotatably connected with the protective shell (4), the output end of the servo motor (26) is fixedly connected with a driving gear (27), the outside of the rotating sleeve (6) is sleeved with a driven gear ring (28), the driven gear ring (28) is fixedly connected with the rotating sleeve (6), the driving gear (27) is in meshing connection with the driven gear ring (28).

2. The automatic control system of the intelligent roller operation vehicle for water conservancy dam according to claim 1, characterized in that: The control system (35) comprises a Beidou integrated terminal panel (1), a positioning and orientation antenna (2), a front anti-collision radar (29), a rear anti-collision radar (30), an electric proportional converter (31), a steering encoder (32), an electronic injection engine (33) and a CAN bus electric control system (34), the Beidou integrated terminal panel (1) is installed in the cab of the roller compactor, the positioning and orientation antenna (2) is installed at both ends of the front bumper of the roller and on the roof, the front anti-collision radar (29) is installed on the top of the roller, the rear anti-collision radar (30) is installed at the tail of the roller compactor, the electric proportional converter (31), the steering encoder (32), the electronic injection engine (33) and the CAN bus electric control system (34) are all arranged in the interior of the roller compactor.

3. The automatic control system of the intelligent roller operation vehicle for water conservancy dam according to claim 1, characterized in that: The outer side wall of the wide-angle camera (5) is attached to the inner side wall of the rotating sleeve (6).

4. The automatic control system of the intelligent roller operation vehicle for water conservancy dam according to claim 1, characterized in that: The first rotating plate (14) and the second rotating plate (20) are both annular structures.

5. The automatic control system of the intelligent roller operation vehicle for water conservancy dam according to claim 1, characterized in that: The third sliding groove (23) is a spiral structure.

6. The automatic control system of the intelligent roller operation vehicle for water conservancy dam according to claim 1, characterized in that: The first rotating plate (14) is internally provided with a first sliding groove (15), and there are six first sliding grooves (15) which are symmetrically distributed, and the first sliding groove (15) is internally and slidably connected with a first sliding rod (16), and the first sliding rod (16) is externally and fixedly connected with a protection plate (17) at one end close to the protection shell (4), and the protection shell (4) is internally and provided with a recess (18) at one side close to the protection plate (17), and the recess (18) is internally and slidably connected with a sliding block (19), and the sliding block (19) is fixedly connected with the protection plate (17).

7. The automatic control system of the intelligent roller operation vehicle for water conservancy dam according to claim 1, characterized in that: The fixed sleeve (7) is internally provided with a limiting groove (25), and the third sliding rod (24) passes through the limiting groove (25) and extends into the limiting groove (25), and the third sliding rod (24) is slidably connected with the fixed sleeve (7).

8. The automatic control system of the intelligent roller operation vehicle for water conservancy dam according to claim 1, characterized in that: The movable cooling fin (11) is slidably connected with the protection shell (4), and the corresponding two side edges of the fixed cooling fin (8) are both provided with a transmission mechanism (13).

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