Design And Implementation Of Autonomous Road Construction Robot

In recent years,China’s investment in and emphasis on highway construction has steadily increased.To meet the infrastructure needs of highway construction,it is necessary to improve highway construction’s automation technology level to effectively save labor costs,improve construction efficiency,and stabilize the performance of engineering quality in highway construction.Based on highway pavement construction technology,an autonomous road construction robot(ARCR)is designed and implemented in this paper according to actual pavement engineering application scenarios.By taking over the electrical control system of road roller and using technical means such as satellite positioning and wireless communication,the essential functions necessary for autonomous road construction are implemented,thereby effectively promoting road construction technology development.The specific research contents of this paper are as follows:1.The design requirements of ARCR are analyzed,and the overall plan is designed.In this paper,based on the structural feature,working principles,and application scenarios of the vibratory roller,the technical characteristics and appropriate technical routes of the ARCR are studied,and the essential functions of the ARCR including remote control,autonomous construction,construction analysis,and safety control are designed.Therefore,the overall system architecture with the autonomous construction controller as the core and the system control strategy with two control modes of the original control link and the remote control link are designed,providing a generalizable overall design scheme.2.The software and hardware composition of each sub-module in the ARCR is designed and implemented.The overall system is divided into three main parts: vehicle control module,remote control module,and environmental monitoring module: In the vehicle control module,the electrical control of the original vehicle driving and construction functions of the roller is implemented through the lower computer,which is the embedded programmable logic controller(PLC);In the remote control module,the interactive software in the upper computer,the human-computer interface,and the remote wireless communication of the upper and lower computers are implemented,and the communication protocol of this communication is designed according to the requirements of autonomous construction;In the environmental monitoring module,the high-precision positioning of the global navigation satellite system(GNSS)based on real-time kinematic(RTK)technology is implemented.3.The construction method and safety control process of the ARCR system are designed.According to the system’s modular design,the overall functional structure of the ARCR,the system control program framework based on the hierarchical control structure,and the task management with control process based on the finite state machine model are implemented.On the basis of differential satellite positioning,the positioning relative pose algorithm based on the Gauss-Krüger projection method is studied,and combined with the road construction process requirements,the autonomous path planning algorithm is studied.In terms of autonomous control,by studying the roller’s kinematic model,the autonomous path tracking algorithm based on the line-of-sight(LOS)method with PID controller and the construction process’ s control method are designed and implemented.Finally,the system’s safety control method is studied,the possible external and internal safety threats of the ARCR are analyzed,and the automatic emergency braking trigger and recovery plan in the emergency are proposed.4.The real-vehicle joint debugging and testing of the ARCR system in a simulated construction scenario are completed.The problems of common ground interference and positioning accuracy in system joint debugging and deployment are solved.The system is tested in five main aspects: remote control,construction planning,autonomous construction functions,construction quality,and construction safety performance.The test results show that the system can achieve the expected design effect under the established function test,and can pass the performance test well at the same time,which proves that the system designed in this paper has engineering feasibility,validity,and reliability,and has a good application prospect.