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Snow machine autopilot system
Hirofumi HIRASHITA, Takeshi ARAI, Tadashi YOSHIDA
Abstract: In the cold and snowy part of the Japanese, most of the snow from snow machines to remove the road at the same time, conditions at street level and to ensure the safety of operation, operating the equipment was operating normally two people: one operator and one assistant.
Work in progress the development of automatic machines for snow driving system in the operator to make the snow removal in order to alleviate the burden and reduce the labor requirements of the future. This report describes an automatic driving system combines three technologies: in recent years as a development of ITS technology has been marked the pathway system, RTKGPS technology and GIS technology, this drive system has been developed into a rotating machine snow: Snow shift to consider the most difficult type of operation. The report also confirmed the results of the evaluation based on the three control methods to test the use of the actual snow removal machines, while the outline of these issues must be overcome to control the work of the establishment of a system of systems.
Key words: rotary snow removal, automatic driving, ITS, channel markers, GIS, GPS
1 Introduction
In the snowy cold part of Japan, by mechanical means the snow is removed from the road to ensure that the winter road. In order to ensure the machinery to eliminate the exception of the snow on the road under the snow accumulation on the surface state of the appropriate traffic had been cleared, the presence of mind control plan must be established, and the machinery must be operated correctly.
Automatic driving system has been planned for the development of rotating machines snow: with a method of operation of a type that other types of snow than the more complex machine, it has been the development of staff members in order to reduce the burden of reducing the protection of snow.
2 development background
Snow removal operations by the two staff: one driven by the removal of the operator at the same time, control the injection of an assistant. Operator-driven control of the machine on the road also pay close attention to the snow, the assistant out into the snow when the snow when the machine. Snow removal machine are complex internal configuration shown in Figure 3.1. The purpose of auto-parts for vehicles in the operation of the work of the implementation of automation in the operator control to allow the snow to do injection aides. The future to allow operation by one person.
This report has been formed to develop automated driving system is the basis of the positioning technology and control technology, at the same time, an evaluation based on test results confirm that the system be implemented to remove the snow and a description of the completion of the work to overcome the problem of system.
3 automatic control system
Has been developed to enable automated driving systems become automated removal of snow, driving has become one of the tasks of the operator.
3.1 drivers and the control of snow removal
Snow machine automatically rotating mechanism for driving the vehicle is different from the normal part of forward and backward linkage pins, and spelled out the mechanism to be installed, so that vehicles can be bent pin. Driving by the exact linearization method and the time scale of the change of control of the activities of an effective system for the process of vehicles. This control method is bound by the full impact of the campaign on behalf of an equation and is based on non-linear control theory. However, the removal of the flank of a snow slide, because when it is the removal of snow, as snow embankment Wai reaction stopped by the horizontal forces are displayed Figure
3.2. Sliding path is described using the following integrated servo system to external disturbances such as treatment of a sliding control.
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?????? Figure 3.1 Figure 3.2 inside snow snow snow machine
Figure 3.3 shows the driving mechanism for a model snow. In the future, the front wheels and rear wheels for distance and removal of the pin connections are representative of the distance to be L, when the representative 2α process, driving the point of view of snow followed by an arc of radius R = L / tan a. The center of the wheel surface current process P tangent were the direction of velocity vector and the tangent direction θ on behalf of the perspective of being the representative of ν, the point P of the movement equation can be written as follows.
? (1)
Formula (1) has been completed for the implementation of state feedback control. Defined from the equation in addition to the number of hours of driving is driving in the perspective of α 1 / 2.
??? (2)
In equation (2) horizontal sliding will not be taken into account. In order to remove the slide caused by the horizontal deviation of the steady-state, if the integrated servo system is used to drive the number of α equation was as follows on behalf of
????????????? (3)
In order to remove the steady-state deviation of the symbol f is the control of access, at the same time, based on the formula (3), f1 into the appropriate proportion of representatives of the acquisition, f2 derivatives on behalf of access to, and representative of the complete access to f3. PID control system is used to build
3.2 Location Method
In order to find a vehicle to drive the implementation of automated information is necessary to determine the location and the direction of driving it. Has
Systems and equipment have been developed, there are two functions: to guide the use of access methods marked using GPS sensors, and GIS to identify the location of vehicles and driving method.
3.3 method of access guidance mark sensor
A mark sensor is a pathway in order to use as an advanced transport system (ITS) has been developed by some of the cruise to help senior highway system (AHS) of a basic technology. This technology includes intermittently been buried below the surface of a road in the path marked, and vehicles found to have been climbing these mark to send the signal pathway has been marked along the course of the formation of the sensor vehicles. There are two versions of this system: the radio waves and magnetic methods.
(1) the perspective of computational logic
We assumed that the distance between the marked path will not be regular, but, according to the shape of the road and sensors can be changed while the request. Therefore, this system is equipped with two lines of sensors, so even when the channel spacing marks are aware of the installation until the snow machines in order to control transmission of the implementation of them. Figure 3.5:
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??????????????????????????? Figure 3.5 mark sensor guiding path method
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For a single line with a driving control sensors, such as (Figure 3.5 left) through the goal needed to control the horizontal position of the differential and differential ψm of ym and coordination system Σ (xy) in addition to the sensor outside the requirements of on the interval between markers signal the information ym1 measurement was fixed in front of the vehicle coordination system Σf (xfyf) accepted. However, with two lines of sensors (Figure 3.5 right), the system can calculate the differential horizontal direction and objectives of the course there is a difference of ψm of ym and coordination through the two systems Σ (xy) against the pass when it amarker, until they pass
(2) radio mark sensor positioning methods
With the radio wave method, an antenna in the vehicle on the road towards the sensor internal kHs send radio waves 227.5 Taiwan, as well as a mark of radio waves (Figure 3.6) received the broadcast, which returned to double the frequency of 455 kHz of a signal . A sensor within the antenna received radio waves received back to the position of the vehicle was found (Figure 3.7).
Towards the direction of movement through the peak value. It was found in the position to be passed through the two was based on the return of the received radio wave strength of the triangle as the difference between the calculated horizontal distance between the antenna of the receipt of the direction of the antenna
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?????? Figure 3.6 Figure 3.7 mark the radio rocking radio wave sensor mark
(3) mark the magnetic sensor positioning methods
With the magnetic approach, there is a lasting mark ferrite magnet (Figure 3.8) installed on the surface below the magnet also install a magnetic sensor.
Subjects showed that the distribution of magnetic signs will mark the center of the subject as the maximum peak power of a single treatment. This issue an integral part of the vertical (Bz) and an integral part of the vehicle width direction (Bx) of the magnetic flux density by magnetic sensors and the location of marks were found between the calculated distance was found, based on the previously agreed Bx and Bz are relationship between the sensor and mark the equation. (Figure 3.9)
3.4 GPS and GIS positioning methods found
GPS and GIS-based positioning system the position of the vehicle was found by comparing the rotation of the snow removal operation to control his or her position from a GPS satellite to be received by the coordination of data and the location of the roads in order to advance the road to provide coordination of GIS data linear .
(1) the way GIS is a GIS-related road for road maintenance and traffic management structure of a database of information.
In order to develop this system, rotation of the process of snow removal of the target letter rotary snow snow removers remove the operator through the promotion of interest was established, it can be processed such as GIS data. Expansion of the road exposed their snow elimination of the border (Figure 3.10) guidelines for the elimination of the vehicle because of the snow along the road to border the sidewalk two sides is controlled by the use of GIS data is control data.
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Figure 3.10 road GIS data
(2) TK-GPS
RTK-GPS, there are high-precision positioning (2:00 and 3:00 cm) of the error between the radius of the ability of a system, including the receipt of the two antenna GPS, a fixed point to another fixed station in the means of delivery (in the snow removal machine ) on. Fixed transmission station on the grounds that it has received the means of delivery of the GPS station data to correct the information. System can perform almost real-time location, as GPS data to be corrected speed of 20Hz.
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????????????????????? Figure 4.1 is equipped with an automatic driving the snow machine support
4 confirm the test
January and eliminate in Hokkaido in February 2002 have driven the use of the equipment control system of automatic rotation of the driving following applicability and usefulness of the actual road is a (low rate, horizontal sliding) a snow removal unique. Snow removal to be implemented.
4.1 confirmed the outline of the test
(1) The removal machine
Snow machines are divided into small, medium and large size are often used in off the highway home, it was a normal part of that construction has been modified (Figure 4.1).
(2) verify that the testing process
Conclusive evidence of the testing process, including the paragraph straight, curve, (R 30 m), as well as the intersection (R 12 m), so that it copied on the road conditions, the channel spacing is 2.0 m mark and 1.5 m.
Snow removal and the actual working conditions of those who work the same as the speed of work was done in two, four kilometers and 0.5 kilometers and h and h. Snow banks are ready to be used when a removal to remove the part of the expansion of a road, the occurrence of the work of loading and horizontal sliding.
4.2 The test results confirmed
Marked point of impact tests to confirm the direction of observation channels (radio waves, and because the control system driving the development of a system to follow the preset goal of the process, the control performance from the target process (lateral deviation) were evaluated as the number of snow removal
The number of deviations. Table 5.1 that have been organized from the test results indicate that the number of horizontal deviation. Magnetic) and GPS guidance and positioning method of GIS.
This exhibition then the whole table, the standard deviation and the number of deviations in the straight segment is small, but they both are in the intersection of the curve higher. This difference is probably to the fact that the implementation of a curvature of the results with a small radius of the paragraph, a large number of drivers, and snow is more likely to eliminate the load caused by cross-method is superior to GPS and GIS
Access method mark. Because the previous method to obtain almost real-time location of almost 20Hz and driving control, it can respond immediately to reduce the deviation of the number of horizontal sliding. With the back, driving can not be delayed because the system found that there was no signal between the access road markings, in a large number of horizontal deviation in the result of horizontal slide. Therefore, the test was completed, in addition to using sensors to correct horizontal sliding, the time when the sensor mark transfer, under the coordination of a mark (process information). Resulted in the distribution of horizontal sliding, as revealed at this time was led into the Figure 4.3, ± 2σ (σ: standard differential) is not the process of information ± 57 cm, and it is the process of information ± 31 cm: bring extreme precision a major improvement and close to the GPS and GIS methods.
In between the performance of no spacing and h the speed of 4 km and 0.5 and h was observed.
5 Conclusions and future challenges
Have been identified using an automatic driving system, or GPS-marked path, GIS and so can pass the normal snow machine made snow to eliminate the work of a general level of actual control. However, in order to establish the actual work of the system, the following challenges must be resolved.
(1) GPS and GIS methods to demonstrate its accuracy and even found the time being in the open space down. When the GPS satellites in a narrow range was focused on, we assume that this occurred. At the same time, mark the test methods of radio wave that is the vehicle of a high output of a transmitter can not predict the outcome of the behavior was observed. Function is necessary to provide such an abnormal operation when the signals are in production, it will not interfere with the operator to stop operation automatically.
(2) for the GPS and GIS, the access road to improve on the accuracy of control is necessary to mark the adoption of the mark to enter the access methods to advance the coordination of the snow removal system to process the information it provides. Transmission of each system have been marked, the mark recorded in each channel is also very important.
(3) further improve the control precision (decrease the number of deviations), efforts to quantify the disorder, such as horizontal
Sliding, and snow loading, etc. to eliminate the snow in the model to eliminate the details of the work of the degree of increase in rotation after the removal of snow and the implementation of simulation is necessary to remove the snow.
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Figure 4.3 horizontal deviation (radio-wave method)
In recent years, a variety of organizations have attempted to use information technology (IT) to improve the construction machinery. At that time, seen in those cases, the information dealt with in such a situation can not be applied to other systems, unless it
Table 5.1 for each system, differences in horizontal
Independent operations (to speed up the work of four kilometers and h, in front of the deviation of the number of sensors)
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In recent years, a variety of organizations have attempted to use information technology (IT) to improve the construction machinery. At that time, seen in those cases, the information dealt with in such a situation can not be applied to other systems, unless the use of it was assumed that in the standardization. The development of this project because of the snow machine marked a new access road infrastructure, road GIS data. At the same time, communications systems and its communication standards must be standardized, with its development in the field of ITS has been the coordination of communications technology. Authors hope that this will promote research and development work as a system to introduce it.
Finally, the authors wish to express their Hokuriku region of deep gratitude to the Ministry of Infrastructure Development Board and the Hokkaido Development Bureau, and transportation to help confirm their testing and the help system and testing of the construction work of everyone.