Page 150 - 2024年第55卷第11期
P. 150
Arapidandaccurateobstacleperceptionmethodforunmannedrollerin
constructionbasedonmillimeter - waveradarandcamerafusion
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GUANShiwei,LIZhi,WANGJiajun,YUJia,ZHANGJun,YUHongling
(1.StateKeyLaboratoryofHydraulicEngineeringIntelligentConstructionandOperation,TianjinUniversity,Tianjin 300350,China;
2.HUANENGLANCANGRIVERHYDROPOWERINC,Kunming 650200,China;
3.CollegeofWaterResourcesandCivilEngineering,ChinaAgriculturalUniversity,Beijing 100091,China)
Abstract:Therapidandaccurateperceptionoftheconstructionenvironmentbyunmannedrollerisessentialfor
ensuringthesafeandstableoperationoftheunmannedroller.However,inthecurrentprocessofdamrollercom
pactionprocess ,unmannedrollersrelysolelyonmillimeter - waveradartoperceivethedistancetoobstacles.When
thedistanceislessthanagiventhreshold,therollerstopsandwaits.Thisapproachfailtoidentifythecategoryof
obstacles,frequentlyresultinginthemisidentificationofobstacles,resultingtherollerwaitingforthesubsequent
rollingoperations.Toaddresstheaboveissues , thisstudyproposesarapidandaccurateobstacleperception
methodforunmannedrollerinconstructionbasedonthefusionofmillimeter - waveradarandcamera.Firstly ,the
methodreplacestheconvolutionalkernelinthefeatureextractionnetworkoftheFasterR - CNNwithdilatedconvo
lutionkernelsofdifferentdilationratestoachieverapidandaccurateidentificationofdamsurfaceobstacles.Subse
quently,thedistanceandvelocityinformationofobstaclesperceivedbythemillimeter - waveradararefusedwith
thecategoryinformationperceivedbythecamera.Thisfusionachievescomprehensiveandaccurateperceptionof
thedamsurfaceenvironment.TheEngineeringcasesindicatethattheDC - FasterR - CNNobjectdetectionalgorithm
proposedinthisstudyimprovesthemAPvalueby2.59% comparedtothetraditionalFasterR - CNNobjectdetec
tionalgorithm ,andreducesthedetectiontimeperimageby0.015s.Additionally,theperceptionstrategybased
onmulti - modalfusionachievespreciseobstacleavoidanceduringthedamcompactionprocess,enhancingthesafe
tyandefficiencyofdamcompactionconstruction.
Keywords:millimeter - waveradar;FasterR - CNN;dilatedconvolution;perceptionfusion;unmannedroller;
compactingconcretedam
(责任编辑:尹 婧 韩 昆)
(上接第 1403页)
Reliabilityanalysisofservicelifeforultra - highcore - wallrockfilldam consideringthe
seepage - dissolutioneffectofdam foundationimperviousstructure
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ZHAOShaofeng,XULiqun,ZHANGHongwei ,SHENZhenzhong ,LIUDetan ,GANLei
(1.CollegeofWaterConservancyandHydropowerEngineering,HohaiUniversity,Nanjing 210098,China;
2.CollegeofCivilandTransportationEngineering,HohaiUniversity,Nanjing 210098,China;
3.StateKeyLaboratoryofHydrology - WaterResourcesandHydraulicEngineering,HohaiUniversity,Nanjing 210098,China;
4.DatangHydropowerScience&TechnologyResearchInstituteCo.,Ltd.,Nanning 530007,China)
Abstract:Ultra - highcore - wallrockfilldamsexhibithighlynon - homogeneouscement - basedimpermeability,
whichsignificantlyaffectstheaccurateassessmentofthelong - termperformanceofthedamfoundation’simpervi
ousstructureundertheseepage - dissolutioneffect.BasedontheKarhunen - Loeveexpansionmethod ,therandom
fieldofcement - basedmaterialparametersisdiscretized.Amulti - layerforwardneuralnetworkmodelwasestab
lishedasthecoretomaptherelationshipbetweenrandomfieldsandservicelife.Aservicelifereliabilityanalysis
methodwastherebydeveloped.TakingtheChanghedamprojectasthebackground ,theseepageanddissolution
characteristicsofcement - basedmaterialsunderrandompermeabilitycoefficient ,porosity,andsolidphasecalci
um concentrationwerestudied.Theaccuracyoftheneuralnetworkpredictionmodelwasverified ,andservicelife
reliabilityanalysisoftheultra - highcore - wallrockfilldamswascarriedout.Permeabilityerosionwouldenhance
thespatialvariabilityofthepermeabilitycoefficientofthecementbaseimpermeability.Theunitseepagedischarge
ofthedambodyandfoundationundertherandom conditionofcement - basedmaterialparametersis0.87 - 1.19
timesthatundertheaveragecondition.Theservicelifeofthedam foundationwith95% guaranteerateis63.4
years.From impermeabilityandmechanicalperspectives ,reducingtheaveragepermeabilitycoefficientofthe
mainanti - seepagecurtain ,averagepermeabilitycoefficientandspatialvariabilityofconsolidationgroutingcan
moreeffectivelyprolongtheservicelifeofthedam.Thenon - homogeneityofthecement - basedimperviousstruc
tureofthedamfoundationshouldbeemphasizedinthedesign,construction,operation,andmaintenanceoful
tra - highcore - wallrockfilldams ,consideringtheseepage - dissolutioneffect.
Keywords:ultra - highcore - wallrockfilldam;spatialvariability;seepage - dissolutioncoupledrandom model;
reliabilityanalysis;servicelife;neuralnetworkmode
(责任编辑:韩 昆)
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