Avoiding Missed Rolling Area Of Unmanned Roller Based On Cloud-Roller Cooperation

Unmanned rolling technology is an important technical means to reduce manual labor intensity,improve operation efficiency and ensure operation quality.The typical operation scene of roller in hydropower dam construction is to roll a strip linearly and reciprocally,and then move transversely to the next straight strip to continue rolling.The fluctuation of roller performance and the change of road surface conditions will affect the tracking accuracy of roller,which will lead to leakage when rolling strip.In order to make up the leakage,adjacent strips need a certain repeated rolling width(referred to as overlapping distance).In order to simplify the operation process,the fixed overlapping distance plan is mostly used at present,but there is a problem: 1)if the overlapping distance is too short,the missed rolling area will be serious,which will affect the rolling quality;2)If the overlapping distance is too long,it is easy to cause over-rolling area,which not only affects the operation efficiency and energy consumption,but also causes shear damage to the pavement and affects the rolling quality.To solve this problem,the research on the method of making up the leakage based on cloud-roller cooperation is proposed in this paper.The main research contents are as follows:1)One-to-many remote host computer monitoring module based on CCP is developed,which realizes the function of real-time and accurate monitoring of roller rolling track and rolling pass rate.2)Aiming at the problem that the acquisition frequency of the upper computer is low(1Hz)and can not accurately reflect the real-time position of the roller,the Emile interpolation algorithm is adopted to obtain the position data of the roller with the frequency of 5Hz.It is verified by real vehicle data that the deviation between interpolation point coordinates generated by interpolation method and real coordinates of roller is less than 0.03 m.3)In order to solve the problem of missing rolling in the process of rolling strip with fixed overlapping distance,an algorithm of avoiding missing rolling based on cloud-roller cooperation is proposed.By analyzing the distribution characteristics of distance error along the east coordinate,the situation of missing rolling of unmanned roller can be divided into two types: there is supplementary rolling area and there is no supplementary rolling area.According to the 3σ criterion of Normal distribution,the suitable overlapping distance is obtained for the strip in the non-rolling area,and the repeated rolling is completed in the missing rolling area;For the strip with supplementary grinding area,the overlapping distance is determined by the cost function,and the missed grinding area beyond the overlapping distance is supplemented.The overall verification results show that the algorithm can improve the rolling pass rate of the working area to over 99% under different conditions of missed rolling.