无人驾驶滚筒横向定位方法用于青道路建设
Pengju Yue1, Xiaohua Xia2, Yongbiao Hu1
1Key Laboratory of Road Construction Technology and Equipment of MOE, Chang'an University, Xi'an, 710064, China.
Scientific reports
|January 2, 2025
概括
这项研究引入了一种新的横向定位方法,用于青路施工中无人驾驶滚筒. 该方法提高了精度和实时性能,克服了基于卫星的系统的局限性.
科学领域:
- 机器人和自动化机器人与自动化
- 土木工程 土木工程是指土木工程.
- 计算机视觉 计算机视觉
背景情况:
- 在青施工中用于无人滚筒的卫星定位系统遭受信号干扰,并可能导致偏离特定的压缩区域,影响质量和安全.
- 目前的系统在保持准确的定位方面面临着挑战,可能会导致无人滚筒在指定区域之外行驶.
研究的目的:
- 开发和验证无人滚筒的新型横向定位方法,以提高它们相对于青路的位置精度.
- 解决基于卫星的系统的局限性,为自动化建筑设备提供更可靠,更精确的定位解决方案.
主要方法:
- 从多个角度获取图像并创建一个专门的青道路建设数据集.
- 开发一条青路边界提取算法,用于精确的像素级定位.
- 设计和实施横向定位技术来测量与道路边缘相对的距离.
主要成果:
- 拟议的方法在提取青道路边界方面表现出卓越的性能.
- 现场验证证实了极好的准确性,平均相对误差为3.40%.
- 该系统实现了6.25Hz的实时处理频率,满足了性能要求.
结论:
- 开发的横向定位方法有效地克服了无人驾驶滚筒的卫星系统的缺点.
- 该方法确保了高精度和实时功能,这对于青道路施工的质量和安全至关重要.
- 这一进步支持在复杂的道路建设环境中可靠部署自动化建筑机械.
相关概念视频
Rolling Resistance: Problem Solving
265
Rolling resistance, also known as rolling friction, is the force that resists the motion of a rolling object, such as a wheel, tire, or ball, when it moves over a surface. It is caused by the deformation of the object and the surface in contact with each other, as well as other factors like internal friction, hysteresis, and energy losses within the materials. Rolling resistance opposes the object's motion, requiring additional energy to overcome it and maintain movement. In practical...
265
Design Example: Maintaining Level of an Embankment
34
Constructing a roadway embankment over uneven terrain requires precise leveling to ensure stability and proper drainage. Surveyors use a leveling instrument and staff to calculate ground elevations and determine the required fill material at each point along the embankment alignment.The process begins by positioning a leveling instrument near a benchmark with a known elevation. A backsight reading establishes the instrument height, which serves as a reference for subsequent measurements. A...
34
Types of Global Positioning System Surveys
36
GPS surveying methods vary in application, accuracy, and data collection techniques, catering to diverse surveying and mapping needs. Static GPS, kinematic GPS, and real-time kinematic (RTK) surveying are widely used. Each technique offers distinct advantages.Static GPS involves placing one receiver at a known reference point and another at the target point. It collects exact positional data by observing multiple satellite ranges over an extended period, achieving centimeter-level accuracy for...
36
Design Example: Identifying the Locations of Monuments in the Field Using Global Positioning System Device
14
Surveyors use Global Positioning System (GPS) technology to measure the precise location and elevation of points on Earth. In a recent survey, GPS receivers were used to determine the coordinates and elevations of two park monuments. The process involved careful mission planning, data collection, and correction to ensure accuracy. The survey began with mission planning to identify optimal satellite visibility and minimize Position Dilution of Precision (PDOP). A geodetic control point...
14
Field Procedure for Staking Out Curves
16
Staking out curves is an essential process in construction to ensure the accurate alignment of structures along a curved path. This task involves positioning stakes at calculated locations corresponding to the curve's design, effectively translating plans into physical markers in the field. The process begins by determining the geometric parameters of the curve, including the radius, central angle, and tangent distances. These parameters are critical for identifying key points such as the...
16
Design Example: Alignment of a Road Line Using GIS
21
The alignment of a road line using Geographic Information Systems (GIS) is a critical process in civil engineering, combining advanced technology with practical decision-making. This methodology begins with the collection of geospatial data, including information on land cover, geomorphology, drainage patterns, slope, and contour details. Such data is typically acquired through satellite imagery and GIS tools, offering a comprehensive understanding of the terrain.Once the data is gathered, it...
21


