Intelligent unmanned rolling system for water conservancy dam

Abstract

The invention relates to the technical field of water conservancy dam construction, and particularly discloses a water conservancy dam intelligent unmanned rolling system which comprises a positioning system, a communication system, a steering system, a vehicle speed control system, a compactness detection system, a safety system and an automatic operation system. The intelligent unmanned rolling system further comprises rolling machine transformation, and the rolling machine transformation comprises an unmanned warning lamp, a front directional antenna, a rear directional antenna, a rear positioning antenna, a rear anti-collision radar, an electric proportional steering gear, a steering encoder, a front anti-collision radar, a front positioning antenna, an electronic fuel injection engine and a CAN bus electronic control system. A series of structures are arranged, the rolling path is autonomously planned, the compaction parameters are monitored in real time, the construction quality is dynamically optimized, and a traditional operation mode depending on manual experience is upgraded to a data-driven precise control mode; the system improves the construction quality, improves the construction efficiency, reduces the construction cost and enhances the personnel safety.

Description

Technical Field

[0001] This invention relates to the field of water conservancy dam construction technology, specifically to an intelligent unmanned compaction system for water conservancy dams. Background Technology

[0002] The quality and efficiency of dam compaction construction are crucial to the safety and efficiency of dam operation. Dam compaction construction is a method for building earth-rock dams, which uses techniques such as layered filling and vibratory compaction to compact dry, lean concrete or soil and rock materials to form the dam body. This technology is widely used in roller-compacted concrete dams, earth-rock dams, and road subgrade projects, and is characterized by high efficiency and intelligence.

[0003] Traditional dam compaction operations rely on manually operated compaction machines, with compaction quality controlled through manual control of compaction parameters and random sampling in test pits. This makes it difficult to guarantee the efficiency and quality of dam compaction. Dam compaction operations suffer from insufficient manpower and lack of experience among machine operators, leading to problems with construction quality and schedule. This results in high construction costs, wasted human resources, susceptibility to human interference, low construction efficiency, and inconvenient compaction control. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent unmanned compaction system for water conservancy dams to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an intelligent unmanned compaction system for water conservancy dams, the intelligent unmanned compaction system comprising a positioning system, a communication system, a steering system, a vehicle speed control system, a compaction degree detection system, a safety system, and an automatic operation system; The intelligent unmanned compaction system also includes a basic data module, a real-time monitoring module, a project management module, a system settings module, and a help module; The intelligent unmanned rolling mill system also includes rolling mill modification, which includes unmanned driving warning lights, a front directional antenna, a rear directional antenna, a rear positioning antenna, a rear anti-collision radar, an electric proportional steering gear, a steering encoder, a front anti-collision radar, a front positioning antenna, an electronic fuel injection engine, and a CAN bus electronic control system. The unmanned driving warning lights are located on the top of the rolling mill cab, the front directional antenna is located on one side of the top of the rolling mill cab, the rear directional antenna is located on the other side of the top of the rolling mill cab, the rear positioning antenna is located on the top of the rolling mill on one side of the cab, the rear anti-collision radar is located on the rear body of the rolling mill, the electric proportional steering gear is located on one side of the rolling mill body, the steering encoder is located on the rolling mill body below the electric proportional steering gear, the front anti-collision radar is located on the top of the front frame of the rolling mill, the front positioning antenna is located on top of the front anti-collision radar, the electronic fuel injection engine is located at the bottom of the rolling mill cab, and the CAN bus electronic control system is located inside the rolling mill cab. The intelligent unmanned compaction system also includes an area management module, a construction setting module, a work interface module, and a vehicle management module.

[0006] Preferably, the positioning system uses GNSS differential antenna technology and carrier phase differential RTK dynamic positioning; The communication system includes a Global Navigation Satellite System (GNSS), a swarm of unmanned aerial vehicles (UAVs), a base station, a data collector, a wireless communication system, a remote client, a cloud database, and a monitoring center. The steering system adds a steering electro-proportional control valve to the original hydraulic steering system of the rolling mill; a rope sensor is installed at the steering cylinder. The vehicle speed control system uses a PID algorithm to adjust the vehicle speed. The compaction detection system is used to detect compaction degree, vibration frequency, and amplitude data in real time; the data in the system is transmitted to the controller via a CAN bus connection. The safety system includes automatic cruise control, tri-color lights, an emergency stop switch, and lidar. The automated operation system includes path planning for the work area and unmanned driving and automatic compaction of the roller.

[0007] Preferably, the intelligent unmanned compaction system further includes a central control layer, a differential base station, a communication layer, and a vehicle control and perception layer.

[0008] Preferably, the basic data module provides data management for vehicles, projects, and units; the real-time monitoring module provides overall information browsing for construction projects and real-time dynamic monitoring of construction vehicles; the project management module provides management of construction tasks and work areas; the system settings module provides relevant settings for this system; and the help module provides functional guidance for new users. The central control layer is a cloud platform, the communication layer includes a wireless bridge and 4G, and the vehicle control and perception layer includes sensors, a central controller, an emergency stop device, a vehicle controller, and a wireless bridge.

[0009] Preferably, the data received by the cloud platform includes satellite differential data, vehicle operating data, compaction data, path data, and fault data, and the cloud platform data is transmitted to the construction control center.

[0010] Preferably, the compaction degree detection system includes a compaction display module, a compaction sensor, a conversion device, a controller, and a host computer database. The output terminals of the compaction display module and the compaction sensor are electrically connected to the input terminal of the conversion device. The output terminal of the conversion device is electrically connected to the input terminal of the controller. The output terminal of the controller is electrically connected to the input terminal of the host computer database.

[0011] Preferably, the unmanned driving and automatic compaction of the roller are achieved by the host computer planning multiple lines to be compacted with corresponding vehicle widths within the working area, and setting working parameters such as the number of static compaction passes and vibration mode for each line.

[0012] Preferably, the antenna connection lines of the front directional antenna, rear directional antenna, rear positioning antenna, and front positioning antenna are installed perpendicularly to the body of the rolling mill.

[0013] Preferably, the area management module mainly manages the construction area, including the collection of construction areas, modification of area parameters, and deletion; the construction setting module configures the corresponding construction parameters according to the on-site construction process; the work interface module is used to monitor the construction status of the entire site, and control vehicles in the corresponding area and adjust construction process parameters according to the work status; the vehicle management module adds and deletes vehicles, and integrates vehicle status monitoring and vehicle remote control.

[0014] Compared with the prior art, the beneficial effects of the present invention are: This intelligent unmanned compaction system for water conservancy dams integrates high-precision positioning technologies (such as RTK-GPS and Beidou navigation) and the Internet of Things to achieve fully automated and intelligent management of the dam filling and compaction process. Using an unmanned compactor as its core, and relying on a remote monitoring center and intelligent algorithms for coordinated scheduling, the system can autonomously plan compaction paths, monitor compaction parameters in real time (such as the number of compaction passes, speed, and elevation), and dynamically optimize construction quality. It upgrades the traditional operation mode, which relies on manual experience, to a data-driven, precise control mode. Its core advantages are threefold: First, significantly improved construction efficiency. Through the research and application of unmanned compaction, the average first-pass compaction compliance rate and average compaction speed are increased, while the compaction path is rationally planned, reducing subsequent inspections and re-compaction due to missed compaction. Second, dual assurance of quality and safety. With the help of real-time sensor feedback and early warning mechanisms, it effectively avoids missed compaction, over-compaction, and safety hazards. The system can improve construction quality, increase construction efficiency, reduce construction costs, and enhance personnel safety. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is an overview diagram of the functions of the cloud platform in this invention; Figure 3 This is a schematic diagram of the modified unmanned rolling mill in this invention; Figure 4 This is a schematic diagram of the high-precision positioning network in this invention; Figure 5 This is a schematic diagram of the cluster operation communication network in this invention; Figure 6This is a schematic diagram of the communication system in this invention; Figure 7 This is a schematic diagram of the vehicle speed control process in this invention; Figure 8 This is a schematic diagram of compaction control in this invention; Figure 9 This is a schematic diagram of the safety system in this invention; Figure 10 This is a flowchart of the automatic operation in this invention; Figure 11 This is a diagram of the main interface of the unmanned system in this invention; Figure 12 This is a diagram of the interface for area management in this invention; Figure 13 This is the interface diagram generated by the three points of area management in this invention; Figure 14 This is a diagram showing the modification of regional parameters in this invention. Detailed Implementation

[0016] 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.

[0017] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0018] like Figures 1 to 14As shown in this embodiment, the intelligent unmanned compaction system for water conservancy dams includes a positioning system, a communication system, a steering system, a vehicle speed control system, a compaction degree detection system, a safety system, and an automatic operation system. The system can improve construction quality, increase construction efficiency, reduce construction costs, and enhance personnel safety. 1) Improved construction quality: Through precise positioning and control technology, the unmanned compaction equipment can monitor the number of compaction passes and the degree of compaction, thereby ensuring the overall construction quality of the dam. Advanced sensor technology is used to monitor compaction parameters in real time, such as the number of compaction passes, speed, and trajectory, allowing for timely adjustments to the compaction strategy to achieve the best compaction effect. Simultaneously, intelligent algorithms can be combined to optimize the compaction process. 2) Improved construction efficiency: Firstly, through the research and application of unmanned compaction, the average first-pass compaction compliance rate is expected to reach over 95%, and the average compaction speed can reach over 2.7 km / h. At the same time, reasonable compaction path planning reduces subsequent inspections and re-compaction due to missed compaction by manual labor. Secondly, the maintenance and replacement of parts for unmanned compaction equipment are more convenient and faster, and repairs and restoration can be completed more quickly in case of malfunctions, improving construction efficiency. 3) Reduced Construction Costs: Unmanned compaction technology significantly reduces reliance on manual operation, lowering labor costs. Traditional dam compaction construction requires a large number of operators, while unmanned compaction equipment requires only a small number of technicians for monitoring and maintenance. This avoids rework and material waste caused by human error, reducing construction costs. Furthermore, the unmanned compaction equipment employs advanced automation technology and intelligent diagnostic systems to monitor the equipment's operating status in real time, predict malfunctions in advance, and perform maintenance, reducing equipment downtime and repair costs. 4) Enhanced Personnel Safety: It reduces occupational hazards for compaction workers and avoids potential dangers to other related workers due to improper equipment operation. Millimeter-wave radar obstacle avoidance, video surveillance, emergency stop buttons on the vehicle body, and automatic shutdown when exceeding electronic fences ensure the safety of personnel and equipment during unmanned compaction operations. The intelligent unmanned compaction system also includes the modification of the compaction machine. This modification includes an unmanned driving warning light 1, a front directional antenna 2, a rear directional antenna 3, a rear positioning antenna 4, a rear collision avoidance radar 5, an electric proportional steering gear 6, a steering encoder 7, a front collision avoidance radar 8, a front positioning antenna 9, an electronic fuel injection engine 10, and a CAN bus electronic control system 11. The unmanned driving warning light 1 is located on the top of the compaction machine cab; the front directional antenna 2 is located on one side of the top of the compaction machine cab; the rear directional antenna 3 is located on the other side of the top of the compaction machine cab; the rear positioning antenna 4 is located on the top of the compaction machine on one side of the cab; the rear collision avoidance radar 5 is located on the rear of the compaction machine; and the electric proportional steering gear 6 is located on one side of the compaction machine body. On the side, the steering encoder 7 is located on the roller body below the electric proportional steering gear 6; the front collision avoidance radar 8 is located on the top of the front frame of the roller; the front positioning antenna 9 is located on top of the front collision avoidance radar 8; the electronic fuel injection engine 10 is located at the bottom of the roller cab; and the CAN bus electronic control system 11 is located inside the roller cab, providing relevant data interface protocols for the roller machinery's CAN controller. This system enables intelligent transformation of the roller machinery, adding sensing devices to achieve autonomous perception, adding a driving center to achieve autonomous decision-making, and adding a functional safety protection module to ensure safe unmanned operation. It can control vehicle movement, steering, vibration, and braking through low-level interface docking. The system adopts high-precision differential positioning technology to provide basic data for unmanned driving; uses advanced path planning and path tracking algorithms to achieve unmanned driving and automatic operation; and designs multi-level obstacle avoidance and hazard avoidance functions to ensure safety. An IoT management platform is developed to centrally manage multiple rollers, and the structure is modified as follows... Figure 3 As shown; The intelligent unmanned compaction system also includes a central control layer, differential base stations, a communication layer, and a vehicle control and perception layer; The intelligent unmanned compaction system also includes an area management module, a construction setting module, a work interface module, and a vehicle management module.

[0019] Specifically, the positioning system uses GNSS differential antenna technology and carrier phase differential (RTK) dynamic positioning to achieve centimeter-level positioning of the rolling mill. Figure 4 As shown in the diagram. A coordinate system is established with the base station as the origin. Within this system, the position coordinates and navigation information of each roller can be determined. A wireless network bridge is used between the rollers and the base station to achieve wireless communication across the entire cluster. The theoretical transmission distance is 5km, and in actual tests, communication was good at 2.5km. A schematic diagram of the communication network is shown below. Figure 5 As shown; The communication system includes a Global Navigation Satellite System (GNSS), a drone swarm, a base station, data collectors, a wireless communication system, remote clients, a cloud database, and a monitoring center. The monitoring center includes data, control, compaction records, and video. The wireless communication system is used for communication between the compactor and the monitoring center. The base station is used for differential positioning to improve accuracy. The data collectors are used to collect data within the work area. The drone swarm includes positioning, operational, and status data. A schematic diagram of the communication system is shown below. Figure 6 As shown; The steering system adds an electro-proportional steering control valve to the original hydraulic steering system of the roller, and realizes electro-proportional steering through the controller; a pull rope sensor is installed at the steering cylinder to measure the front wheel steering angle and provide real-time front wheel deflection angle feedback for automatic control of the roller's path. The vehicle speed control system uses a PID algorithm to adjust the vehicle speed. It automatically sets the appropriate speed according to construction process requirements and adjusts the speed using the PID algorithm. When vibration is required, the maximum speed of 2300 RPM is set; when there is no vibration, an energy-saving mode is used to control the speed. Based on the desired speed, it automatically selects four different gears and engine speeds, and then adjusts the displacement of the drive pump to achieve speed control. The speed control process is as follows: Figure 7 As shown; The compaction testing system is used to monitor compaction degree, vibration frequency, and amplitude data in real time. Connected via a CAN bus, the system transmits data to the controller, which then transmits the data to the monitoring center for recording. Compaction degree control is achieved through... Figure 8 As shown; The safety system includes automatic cruise control, a three-color indicator light, an emergency stop switch, and lidar. Automatic cruise control includes automatic obstacle avoidance and intelligent parking, with multiple measures ensuring safety. Color-coded lights indicate equipment status (green for automatic mode; yellow for general malfunction; red for fatal malfunction). An emergency stop switch is prominently located on the aircraft for easy handling in emergencies. A manual priority control strategy is implemented. Lidar detects any person or object approaching and initiates deceleration or stopping. Optimized path planning ensures safe spacing for simultaneous operation of multiple aircraft. A schematic diagram of the safety system is shown below. Figure 9 As shown; The automated operation system includes path planning for the work area and unmanned driving and automatic compaction of the roller. The area setting for path planning can support three methods: Method 1: manually output the four coordinate points of the area; Method 2: manually drive the roller through the area to be compacted and automatically obtain the work area; Method 3: use a handheld marking device to obtain four coordinate points on the work area and upload them to the host computer to generate the work area.

[0020] Furthermore, the intelligent unmanned compaction system also includes a basic data module, a real-time monitoring module, a project management module, a system settings module, and a help module.

[0021] Furthermore, the basic data module provides data management for vehicles, projects, and units; the real-time monitoring module provides overall information browsing for construction projects and real-time dynamic monitoring of construction vehicles; the project management module provides management of construction tasks and work areas; the system settings module provides relevant settings for this system; and the help module provides functional guidance for new users. The central control layer is a cloud platform, the communication layer includes wireless bridges and 4G, and the vehicle control and perception layer includes sensors, a central controller, emergency stop devices, vehicle controllers, and wireless bridges, such as... Figure 1 As shown.

[0022] Furthermore, the cloud platform receives data including satellite differential data, vehicle operating data, compaction data, path data, and fault data. This data is transmitted to the construction control center, where image analysis technology can be used to analyze the number of compaction passes in real time. It can perform statistics on the total number of compaction passes and the number of compaction passes within any time period. Using real-time analysis, the number of compaction passes for any location can be queried, featuring high analysis accuracy, speed, and accurate calculation. Based on this, a compaction trajectory diagram, a 3D terrain model of the compaction surface, and a compaction pass diagram can be generated. The operating trajectory of the compactor can be recorded in real time to prevent over-compaction and under-compaction on the working face. In addition to real-time monitoring of the actual compaction situation, all monitoring data is backed up and stored. The compaction process can be replayed afterward as a basis for evaluating the construction effect and for post-analysis. Data interaction with mobile phones and operators is possible, allowing for simultaneous command and management of machinery during construction. Analysis reports can be generated based on the actual working conditions of each working face.

[0023] Furthermore, the compaction degree detection system includes a compaction display module, a compaction sensor, a conversion device, a controller, and a host computer database. The output terminals of the compaction display module and the compaction sensor are electrically connected to the input terminal of the conversion device. The output terminal of the conversion device is electrically connected to the input terminal of the controller. The output terminal of the controller is electrically connected to the input terminal of the host computer database.

[0024] Furthermore, the unmanned driving and automatic compaction of the roller compactor involves the host computer planning multiple compaction lines of corresponding width within the working area, and setting working parameters such as the number of static compaction passes and vibration mode for each line segment. The roller compactor uses algorithms such as pure tracking and PID to achieve unmanned driving that automatically tracks the path planned by the host computer (lateral error of tracking on straight sections is less than 10cm). The automatic operation process of the unmanned driving and automatic compaction of the roller compactor is as follows: Figure 10 As shown.

[0025] Furthermore, the antenna lines connecting the front directional antenna 2, rear directional antenna 3, rear positioning antenna 4, and front positioning antenna 9 are installed perpendicularly to the roller crusher body. On the roller crusher, two positioning antennas are installed above the cab. Utilizing the vibration damping effect of the cab, the impact of vibration on antenna positioning can be reduced. The connection line between the two antennas is perpendicular to the vehicle; one antenna serves for position positioning, and the other for flight path positioning.

[0026] Furthermore, the area management module mainly manages the construction area, including the collection of construction area data, modification and deletion of area parameters; the construction settings module configures the corresponding construction parameters according to the on-site construction process; the work interface module monitors the construction status of the entire site, and controls vehicles in the corresponding area and adjusts construction process parameters according to the work status; the vehicle management module adds and deletes vehicles, and integrates vehicle status monitoring and vehicle remote control.

[0027] Click "Region Management" to enter the region management interface, such as... Figure 12 As shown, this module is mainly for managing construction areas, including the collection of construction areas, modification of area parameters, and deletion.

[0028] The left half is mainly used to collect the construction area. By collecting coordinates and setting parameters such as width, the ideal area required for construction is obtained. The right half is mainly used to display the important parameters of the collected construction area, as well as to edit and delete the parameters of the construction area.

[0029] Once the mobile RTK device connects to the handheld tablet via a WiFi hotspot, the "Location Status" section will display the RTK's location status, and the "Current Location" section will refresh in real time to display the RTK's longitude and latitude information for the user to view.

[0030] Click the "Add" button on the far right of the starting point position column. The system will record the coordinates of the current starting point and display them on the interface. Similarly, the same applies to adding the ending point position. After the ending point position is added, the current length column will display the length of the current collection area.

[0031] The region data collection method is divided into two modes: "two-point generation" and "three-point generation." Two-point generation involves collecting data from two points (start and end points) to generate a region. Three-point generation supports collecting data from three points (start, midpoint, and end point) to generate an irregular region (primarily used to generate a curved section of road). Figure 13 As shown.

[0032] Unlike the two-point generation mode, the three-point generation mode only supports adding points and setting the region width; the generation direction and the number of sub-regions cannot be edited. Figure 13As shown, the three-point generation acquisition area can only acquire coordinate points on the inner side of the road. This is determined by the system and is specified when the acquisition method is selected. That is, the three-point generation method acquires the inner coordinate points, and then the area extends outwards.

[0033] The definition of "number of sub-regions" is that for a region collected, a corresponding number of sub-regions can be generated. The minimum length of each sub-region is fixed at 20m. For example, if a 44m region is collected, then its maximum number of sub-regions is 2, with each region being 22m long and the minimum being 1, i.e., a maximum of 44m.

[0034] After selecting the "Generation Direction," "Number of Sub-regions," and setting the "Region Width," click "Generate Region." The parameter information for the current region will then be displayed in the list on the right. Figure 13 As shown.

[0035] Clicking the "Edit" button in the corresponding area's operation bar allows you to modify some parameters of the area, mainly including "Area Width," "Number of Sub-regions," and "Generation Direction." Figure 14 As shown, after setting the corresponding parameters, click "Save" to successfully modify the parameters; click "Cancel" to cancel the modifications.

[0036] Intelligent unmanned compaction system: Intelligent transformation of individual unmanned compaction machines: (1) Construction of intelligent sensing system 1) High-precision positioning technology Precise control of unmanned roller compactors relies heavily on high-precision positioning systems. Traditional satellite positioning accuracy is only at the meter level. In urban roads or canyons, the reduced number of satellites due to mountain obstructions further decreases accuracy, leading to drift and loss of positioning information. This significantly impacts the construction process of rockfill dams; errors can severely threaten the dam's construction quality and even safety. GNSS technology integrating BeiDou signals has proven effective and offers a certain level of assurance in positioning. Furthermore, an inertial navigation system is used to correct satellite positioning information, eliminating drift and loss, ensuring the roller compactor receives stable and reliable positioning data.

[0037] 2) Roller posture feedback technology In addition to fluctuations in positioning accuracy, the roller's own attitude also significantly impacts its stable operation in unmanned driving mode. High-precision tracking control of the roller relies on accurate positioning of the roller's center. However, due to the unevenness of the dam surface, the roller is prone to tilting and swaying. When the roller body tilts, there will be a certain deviation between the GNSS positioning value and the actual positioning value of the roller, greatly affecting the positioning accuracy of the unmanned driving system. Therefore, to solve the positioning deviation problem caused by the roller's tilting and swaying during operation, this research plans to use a GNSS positioning system to obtain the real-time latitude and longitude coordinates of the roller and an inertial navigation system to sense the roller's attitude, achieving centimeter-level positioning of the roller.

[0038] (2) Construction of security system 1) Multimodal target perception technology at construction sites A combined perception system integrating visual and radar technologies is proposed to achieve high-precision multimodal perception, recognition, and classification of moving and static obstacles. The visual perception system mainly consists of vehicle-mounted surround-view cameras, and electronic image stabilization technology is employed to improve the stability of video sequences.

[0039] 2) Visual perception technology based on deep learning algorithms Deep learning is a machine learning method based on learning representations of data. Observations (such as an image) can be represented in various ways, such as a vector of intensity values ​​for each pixel, or more abstractly as a series of edges, regions of a specific shape, etc. Using certain specific representations makes it easier to learn tasks from instances (e.g., face recognition or facial expression recognition). The advantage of deep learning is that it replaces manual feature acquisition with efficient algorithms for unsupervised or semi-supervised feature learning and hierarchical feature extraction. This research project will compare and select deep learning methods in conjunction with practical engineering applications.

[0040] (3) High-precision control technology To design an automated driving control system that enables the roller compactor to autonomously perform various actions in complex environments, necessary modifications are required to the original vehicle. This involves transforming the roller compactor's original manual driving system into an automated driving control system capable of receiving steering, acceleration, and braking commands from a host computer and executing the corresponding actions. This system employs integrated modification technology, meaning the actuators and control system are installed before the machine leaves the factory. This minimizes damage to the original vehicle, improves modification efficiency, and ensures the control precision, operational efficiency, and durability of the roller compactor during unmanned operation. By installing the corresponding control system inside the vehicle and connecting it to the integrated modified roller compactor, vehicle control can be achieved.

[0041] The intelligent unmanned compaction system features a mature unmanned compaction system, advanced sensing and monitoring technology, and an efficient collaborative operation mode. (1) Mature unmanned compaction system: 1) A highly intelligent, reliable and stable unmanned compaction system for dams has been developed, including unmanned compaction equipment, remote monitoring and control system, positioning system, etc. This system can adapt to the construction requirements of different types of dams and realize fully automated compaction operations; 2) The unmanned compaction equipment has high-precision positioning capabilities and can accurately operate according to the preset compaction trajectory with the error controlled within a very small range. At the same time, the compaction parameters of the equipment, such as pressure and speed, can be adjusted in real time according to the actual situation to ensure compaction quality.

[0042] (2) Advanced sensing and monitoring technology: Establish a complete sensing and monitoring system to realize real-time monitoring of the operating status of unmanned compaction equipment, including the equipment's position, speed, and working status. Once an abnormality is detected, the system can issue an alarm in a timely manner and take corresponding measures to ensure the safe operation of the equipment.

[0043] (3) Efficient collaborative operation mode: Establish a unified construction management platform to centrally manage and schedule all aspects of the dam construction process, so as to achieve optimal allocation and efficient utilization of resources.

[0044] Regarding the software system of the intelligent unmanned compaction system: 1. The unmanned compaction system integrates Beidou high-precision positioning, electronic control and sensing equipment, and highly sensitive sensing equipment, and develops the main control program, PDA control program, and remote management platform; 2. It realizes unmanned cluster operation of dam filling, and its main functions include unmanned compaction machine operation position management, path planning, trajectory correction, operation parameter configuration, emergency obstacle avoidance, and remote behavior operation; 3. Construction data is synchronized to the intelligent compaction platform in real time, and the unmanned operation operation indicators and trajectory are visualized and monitored in real time.

[0045] Regarding the hardware of the intelligent unmanned compaction system: 1. The vehicle positioning accuracy can reach the centimeter level and supports solar power; 2. The protection safety level is IP67, and it has passed high and low temperature and waterproof tests by professional institutions, which can better meet the needs of operation under extreme conditions.

[0046] Compared with traditional compaction methods, this intelligent unmanned compaction system has the following technical features and advantages: (1) Real-time monitoring of compaction trajectory With the help of BeiDou high-precision positioning and differential positioning technology, the position of the rolling mill can be located accurately in real time; (2) Automatic counting of rolling passes Using BeiDou high-precision positioning and orientation technology, the position of the contact surface is calculated in a grid, and the number of compaction passes in the construction area is displayed intuitively with different colors; (3) Rolling speed warning throughout the process Relying on the BeiDou positioning system, the current speed of the roller is obtained with an accuracy of 2-3 km / h, which can accurately reflect the real-time speed during the rolling process and carry out rolling speed monitoring and early warning. (4) The results of compaction should be exported in a timely manner. For sections that have been completed, the system automatically calculates and statistically analyzes information such as the number of compaction passes and speed, realizes the analysis of construction data of the construction sections, and automatically generates a compaction section result analysis report; (5) Persistent storage of crushed data An advanced database management system is adopted to ensure that data is stored in an orderly manner according to time sequence, work area and other dimensions, so as to achieve persistent storage of crushed data; (6) Improve construction quality By using unmanned compaction, the system can provide alerts for excessive thickness, excessive speed, and insufficient compaction on site, accurately control the construction status, and improve compaction quality. (7) Improve construction efficiency Research and application of unmanned compaction can improve indicators such as the average first-pass compaction compliance rate and average compaction speed. Compared with traditional manual compaction, unmanned compaction can complete the same workload in a shorter time, improving construction progress. It also optimizes construction processes and resource allocation, reduces waiting time and coordination costs during construction, and further accelerates construction progress. (8) Reduce construction costs Unmanned compaction technology can significantly reduce reliance on manual operation, lowering labor costs. Simultaneously, it avoids rework and material waste caused by human error, reducing construction costs. It also improves equipment utilization and reduces maintenance costs. Firstly, the research and application of unmanned compaction improves indicators such as 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, advanced intelligent diagnostic systems can predict equipment failures in advance and perform maintenance, reducing equipment maintenance costs. (9) Enhance the safety and occupational health protection of workers. This reduces occupational hazards for workers performing compaction operations and avoids potential dangers to other workers due to improper equipment operation. Simultaneously, it ensures the safety of personnel and equipment during unmanned compaction operations through millimeter-wave radar obstacle avoidance, video surveillance, emergency stop buttons on the vehicle body, and automatic shutdown when exceeding electronic fences.

[0047] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent unmanned compaction system for hydraulic dams, characterized in that: The intelligent unmanned compaction system includes a positioning system, a communication system, a steering system, a vehicle speed control system, a compaction degree detection system, a safety system, and an automatic operation system. The intelligent unmanned rolling mill system also includes a rolling mill modification, which includes an unmanned driving warning light (1), a front directional antenna (2), a rear directional antenna (3), a rear positioning antenna (4), a rear anti-collision radar (5), an electric proportional steering gear (6), a steering encoder (7), a front anti-collision radar (8), a front positioning antenna (9), an electronic fuel injection engine (10), and a CAN bus electronic control system (11). The unmanned driving warning light (1) is located on the top of the rolling mill cab, the front directional antenna (2) is located on one side of the top of the rolling mill cab, and the rear directional antenna (3) is located in the rolling mill cab. On the other side of the top, the rear positioning antenna (4) is located on the top of the roller on the side of the cab, the rear anti-collision radar (5) is located on the rear body of the roller, the electric proportional steering gear (6) is located on one side of the roller body, the steering encoder (7) is located on the roller body below the electric proportional steering gear (6), the front anti-collision radar (8) is located on the top of the front frame of the roller, the front positioning antenna (9) is located on the top of the front anti-collision radar (8), the electronic fuel injection engine (10) is located at the bottom of the roller cab, and the CAN bus electronic control system (11) is located inside the roller cab. The intelligent unmanned compaction system also includes a central control layer, differential base stations, a communication layer, and a vehicle control and perception layer. The intelligent unmanned compaction system also includes an area management module, a construction setting module, a work interface module, and a vehicle management module.

2. The intelligent unmanned compaction system for water conservancy dams according to claim 1, characterized in that: The positioning system uses GNSS differential antenna technology and carrier phase differential RTK dynamic positioning. The communication system includes a Global Navigation Satellite System (GNSS), a swarm of unmanned aerial vehicles (UAVs), a base station, a data collector, a wireless communication system, a remote client, a cloud database, and a monitoring center. The steering system adds a steering electro-proportional control valve to the original hydraulic steering system of the rolling mill; a rope sensor is installed at the steering cylinder. The vehicle speed control system uses a PID algorithm to adjust the vehicle speed. The compaction degree detection system is used to detect compaction degree, vibration frequency, and amplitude data in real time. Data from the system is transmitted to the controller via a CAN bus connection. The safety system includes automatic cruise control, tri-color lights, an emergency stop switch, and lidar. The automated operation system includes path planning for the work area and unmanned driving and automatic compaction of the roller.

3. The intelligent unmanned compaction system for water conservancy dams according to claim 1, characterized in that: The intelligent unmanned compaction system also includes a basic data module, a real-time monitoring module, a project management module, a system settings module, and a help module.

4. The intelligent unmanned compaction system for water conservancy dams according to claim 3, characterized in that: The basic data module provides data management for vehicles, projects, and units; the real-time monitoring module provides overall information browsing for construction projects and real-time dynamic monitoring of construction vehicles; the project management module provides management of construction tasks and work areas; the system settings module provides settings for this system; and the help module provides function guidance for new users. The central control layer is a cloud platform, the communication layer includes a wireless bridge and 4G, and the vehicle control and perception layer includes sensors, a central controller, an emergency stop device, a vehicle controller, and a wireless bridge.

5. The intelligent unmanned compaction system for water conservancy dams according to claim 4, characterized in that: The cloud platform receives data including satellite differential data, vehicle operating data, compaction data, path data, and fault data, and transmits the cloud platform data to the construction control center.

6. The intelligent unmanned compaction system for water conservancy dams according to claim 1, characterized in that: The compaction degree detection system includes a compaction display module, a compaction sensor, a conversion device, a controller, and a host computer database. The output terminals of the compaction display module and the compaction sensor are electrically connected to the input terminal of the conversion device. The output terminal of the conversion device is electrically connected to the input terminal of the controller. The output terminal of the controller is electrically connected to the input terminal of the host computer database.

7. The intelligent unmanned compaction system for water conservancy dams according to claim 2, characterized in that: The unmanned driving and automatic compaction of the roller are achieved by the host computer planning multiple lines to be compacted within the working area, and setting the working parameters such as the number of static compaction passes and vibration mode for each line.

8. The intelligent unmanned compaction system for water conservancy dams according to claim 3, characterized in that: The antenna lines connecting the front directional antenna (2), the rear directional antenna (3), the rear positioning antenna (4), and the front positioning antenna (9) are installed perpendicularly to the body of the rolling mill.

9. The intelligent unmanned compaction system for water conservancy dams according to claim 3, characterized in that: The area management module is mainly used to manage the construction area, including the collection of construction area data, modification and deletion of area parameters; the construction setting module configures the corresponding construction parameters according to the on-site construction process; the work interface module is used to monitor the construction status of the entire site, and to control vehicles in the corresponding area and adjust construction process parameters according to the work status; the vehicle management module adds and deletes vehicles, and integrates vehicle status monitoring and vehicle remote control.

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