WANG Jiajun, QI Ningchun, ZHONG Denghua, TONG Dawei, YUE Pan, CUI Bo

Abstract: Unmanned compaction is the forefront of dam filling construction research,which helps to improve the construction quality and efficiency of rockfill dams.However,there is currently a lack of research on unmanned rolling systems under complex construction conditions with multi-type materials,and the existing unmanned rolling systems are mostly based on RTK-GNSS and millimeter-wave radar to perceive poses and obstacles,and lack the multi-modal perception of quality,environmental obstacles and posture.The existing unmanned rolling is mostly modified by external actuators,and the durability and stability cannot be guaranteed.In view of the above deficiencies,a unified design and assembly of sensing equipment,executive equipment and control equipment in the factory was adopted to develop a cockpit-free native integrated intelligent unmanned rolling system independently,that integrates functions such as multi-modal intelligent perception,intelligent planning decision-making and intelligent control.Among them,various modal methods such as RTK-GNSS,millimeter-wave radar and machine vision are used to realize the accurate perception of pose and environmental obstacles.While the effective compaction power is obtained by accelerometer based on conservation of energy principle,intelligent planning and decision-making integrate the coverage path planning and dynamic optimization of rolling parameters.In intelligent control,the control parameters of proportional-integral-derivative algorithm are dynamically adjusted by butterfly optimization algorithm,which realizes precise control of tracking under complex conditions.In addition,based on B/S architecture,a native integrated intelligent unmanned rolling digital twin platform was developed to realize the two-way interaction between physical space and twin space during rolling construction.The native integrated intelligent unmanned compaction system has been applied in complex construction conditions such as the rockfill area,transition area and gravel-soil core wall area of Lianghekou Hydropower Station.The system’s one-time rolling quality compliance rate increased by 2.42%,and the efficiency increased by 15.20%.

Keywords: high core rockfill dam  native integrated intelligent unmanned rolling  multimodal intelligent sensing  multi-material  effective compaction power  intelligent planning decision