A roadway repair machine

Abstract

The present invention discloses a roadway repair machine, which includes a vehicle body support. A crawler chassis and a crawler encoder of the crawler chassis are provided at the bottom of the vehicle body support. A robotic arm is also provided on the vehicle body support. The robotic arm includes a base and several arms. The arm at the head end of the robotic arm is movably connected to the base. The robotic arm is provided with several robotic arm cylinders for controlling the arms, and a cylinder stroke sensor is provided thereon. A plurality of hydraulic system control components respectively acting on the crawler chassis and the robotic arm cylinders are provided in the control box of the vehicle body support. An inclination sensor, an auxiliary travel encoder, a lidar, a high-definition camera, an infrared sensor, and an ultrasonic sensor are also provided on the vehicle body support. A depth camera is also provided on the arm at the end of the robotic arm. Compared with the prior art in which the trenching operation is carried out manually at close range and requires visual observation and judgment, the present invention reduces the labor intensity of workers and effectively improves the operation efficiency and operation quality of roadway repair.

Description

Technical Field

[0001] The present invention relates to the field of roadway repair, and particularly to a roadway repair machine. Background Art

[0002] Roadways are one of the important places in underground coal mines. The damage and ground heaving caused by roadway deformation will greatly affect underground operations and transportation. Existing roadway repair machines have problems such as complex operation, single function, and poor operation quality, and cannot meet the actual needs of roadway repair. Therefore, there is an urgent need to develop mechanized and intelligent tools for repairing roadways after they are compressed and deformed, especially for rock floor, heaving, and excavation operations of side ditch. Summary of the Invention

[0003] In view of the above problems in the prior art, the present invention provides a roadway repair machine, which effectively improves the operation efficiency of roadway repair and enhances the operation quality.

[0004] The present invention discloses a roadway repair machine, which includes a vehicle body support. A crawler chassis is provided at the bottom of the vehicle body support, and a crawler encoder for measuring the crawler speed is provided on the crawler chassis; a control box, a hydraulic oil tank, a hydraulic pump connected to the hydraulic oil tank, and an engine for driving the hydraulic pump are provided on the vehicle body support;

[0005] A robotic arm is further provided on the vehicle body support. The robotic arm includes a base and a plurality of arms sequentially movably connected. The arm at the head end of the robotic arm is movably connected to the base, and a milling and digging device is provided on the arm at the tail end of the robotic arm. Robotic arm cylinders are movably connected between each adjacent arm and between the base and the adjacent arm, and each robotic arm cylinder is provided with a cylinder stroke sensor; a plurality of hydraulic system control components respectively acting on the crawler chassis and the robotic arm cylinders are provided in the control box. The hydraulic system control components include, sequentially connected: a pressure reducing valve connected to the hydraulic pump, a proportional solenoid valve, a throttle valve, a solenoid valve, and a balance valve for connecting the cylinder;

[0006] An inclination sensor and an auxiliary walking encoder are further provided in the control box;

[0007] A lidar and a high-definition camera are further provided on the vehicle body support, respectively located on the left and right sides of the robotic arm and facing the front of the roadway repair machine. A depth camera is further provided on the arm at the tail end of the robotic arm and facing the direction of the milling and digging device;

[0008] An infrared sensor and an ultrasonic sensor are further provided at the front end of the vehicle body support.

[0009] Further, the crawler chassis is provided with a left crawler and a right crawler, and a left crawler encoder and a right crawler encoder are respectively provided on the left and right sides of the crawler chassis.

[0010] Further, a crawler hydraulic valve group is provided inside the control box. The crawler hydraulic valve group includes control elements for two hydraulic systems, which act on the left crawler and the right crawler respectively to control the movement of the crawler chassis.

[0011] Further, the robotic arm specifically includes:

[0012] A boom hinged to the base. A boom cylinder is hinged between the base and the boom, and a boom stroke sensor is provided on the boom cylinder;

[0013] An intermediate arm hinged to the boom. An intermediate arm cylinder is hinged between the boom and the intermediate arm, and an intermediate arm stroke sensor is provided on the intermediate arm cylinder;

[0014] A forearm hinged to the intermediate arm. A forearm cylinder is hinged between the intermediate arm and the forearm, and a forearm stroke sensor is provided on the forearm cylinder;

[0015] An auxiliary arm hinged to the forearm. An auxiliary arm cylinder is hinged between the forearm and the auxiliary arm, and an auxiliary arm stroke sensor is provided on the auxiliary arm cylinder;

[0016] Wherein, an end effector support is provided on the auxiliary arm, and both the milling and excavation device and the depth camera are arranged on the end effector support.

[0017] Further, a robotic arm hydraulic valve group is provided inside the control box. The robotic arm hydraulic valve group includes control elements for four hydraulic systems, which are respectively connected to the boom cylinder, the intermediate arm cylinder, the forearm cylinder, and the auxiliary arm cylinder.

[0018] Further, the control box includes an electrical component cavity and a hydraulic component cavity. Each hydraulic system control element is arranged in the hydraulic component cavity, and the inclination sensor and the auxiliary travel encoder are arranged in the electrical component cavity.

[0019] Further, a wireless router and a voice player are also provided inside the electrical component cavity. A reset button and an emergency stop button are provided on the surface of the electrical component cavity. A multi-parameter sensor is provided at the front end of the electrical component cavity. A temperature and humidity sensor, a smoke sensor, and an alarm LED are provided at the top of the electrical component cavity.

[0020] Further, an industrial control computer case and a hydraulic pump box are also provided on the vehicle body support. An industrial control computer is provided inside the industrial control computer case. The lidar, the high-definition camera, and the depth camera are respectively electrically connected to the industrial control computer; The engine and the hydraulic pump are arranged inside the hydraulic pump box.

[0021] The present invention has at least the following beneficial effects:

[0022] Through the oil cylinder stroke sensor and depth camera on the robotic arm, the present invention can provide real-time feedback on the attitude of the robotic arm, thereby achieving the perception of the robotic arm's attitude. Then, through the control components of the hydraulic system, precise control of the robotic arm's oil cylinder is carried out to achieve stepless speed regulation of the robotic arm. When the operator designates the starting point and height of the sealing groove by means of an infrared laser pointer or the like, the depth camera and high-definition camera can capture images of the starting point and height of the sealing groove excavation, obtain image point cloud data, and cooperate with the industrial control computer to analyze and obtain the starting point and height coordinates of the sealing groove, providing necessary parameter information for controlling the roadway repair machine to carry out milling and excavation operations. Compared with the prior art method of manual close-range manual operation and the need for visual observation and judgment for groove excavation operations, the present invention reduces the labor intensity of workers and effectively improves the operation efficiency and operation quality of roadway repair.

[0023] Other beneficial effects of the present invention will be described in detail in the specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0025] Figure 1 is a three-dimensional view of the roadway repair machine disclosed in the preferred embodiment of the present invention.

[0026] Figure 2 is an overall structure diagram of the roadway repair machine disclosed in the preferred embodiment of the present invention.

[0027] Figure 3 is a structure diagram of the robotic arm disclosed in the preferred embodiment of the present invention.

[0028] Figure 4 is a principle block diagram of the control system of the roadway repair machine disclosed in the preferred embodiment of the present invention.

[0029] Figure 5 is a principle block diagram of the control components of the hydraulic system disclosed in the preferred embodiment of the present invention.

[0030] Figure 6 is a partial control flow chart of the roadway repair machine disclosed in the preferred embodiment of the present invention.

[0031] Figure 7 is another partial control flow chart of the roadway repair machine disclosed in the preferred embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0032] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other implementation manners obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope protected by the present invention.

[0033] The present invention discloses a roadway repair machine, including a vehicle body support. A crawler chassis is provided at the bottom of the vehicle body support, and a crawler encoder for measuring the crawler speed is provided on the crawler chassis. For example, the crawler chassis is provided with a left crawler and a right crawler, and a left crawler encoder and a right crawler encoder are respectively provided on the left and right sides of the crawler chassis, capable of detecting the speeds of the two crawlers respectively.

[0034] A control box, a hydraulic oil tank, a hydraulic pump connected to the hydraulic oil tank, and an engine for driving the hydraulic pump are provided on the vehicle body support.

[0035] A manipulator is further provided on the vehicle body support. The manipulator includes a base and a plurality of arms sequentially movably connected. The arm at the head end of the manipulator is movably connected to the base, and a milling and excavation device is provided on the arm at the end of the manipulator. Manipulator cylinders are movably connected between each adjacent pair of arms and between the base and the connected arm, enabling the movement of the manipulator to be controlled by controlling the manipulator cylinders, and further completing the milling and excavation operation. Each manipulator cylinder is provided with a cylinder stroke sensor for detecting the telescopic length of the corresponding manipulator cylinder. A plurality of hydraulic system control components respectively acting on the crawler chassis and the manipulator cylinders are provided in the control box. The hydraulic system control components include, sequentially connected: a pressure reducing valve connected to the hydraulic pump, a proportional solenoid valve, a throttle valve, a solenoid valve, and a balance valve for connecting the cylinder. Among them, the proportional solenoid valve is used to control the movement speed and direction of the respective corresponding cylinders, realizing the adjustment of the walking speed and attitude of the roadway repair machine and the working speed and attitude of the manipulator. The solenoid valve is used to control the on / off of the respective corresponding cylinders.

[0036] An inclination sensor and an auxiliary walking encoder are further provided in the control box. The inclination sensor is used to monitor the vehicle body inclination information of the roadway repair machine, and the auxiliary walking encoder is used to detect the running speed of the crawler chassis.

[0037] A lidar and a high-definition camera respectively located on the left and right sides of the manipulator and facing the front of the roadway repair machine are further provided on the vehicle body support. A depth camera facing the direction of the milling and excavation device is further provided on the arm at the end of the manipulator. The lidar and the high-definition camera are used to scan the position data of the roadway repair machine in the roadway. Preferably, the vehicle body support is provided with a lidar support and a high-definition camera support. The depth camera and the high-definition camera can also capture the images of the excavation starting point and height of the sealing groove to obtain image point cloud data, and cooperate with the industrial control computer to analyze and obtain the starting point and height coordinates of the sealing groove, providing necessary parameter information for controlling the roadway repair machine to perform milling and excavation operations.

[0038] An infrared sensor and an ultrasonic sensor are also provided at the front end of the vehicle body support, which can collect information about surrounding obstacles of the roadway repair machine, so that the roadway repair machine can avoid obstacles and move forward.

[0039] In the present invention, the robotic arm specifically includes a boom, a mid-arm, a forearm, and an auxiliary arm. Among them, the boom is hinged to the base, and a boom cylinder is hinged between the base and the boom. The boom cylinder is provided with a boom stroke sensor; the mid-arm is hinged to the boom, and a mid-arm cylinder is hinged between the boom and the mid-arm. The mid-arm cylinder is provided with a mid-arm stroke sensor; the forearm is hinged to the mid-arm, and a forearm cylinder is hinged between the mid-arm and the forearm. The forearm cylinder is provided with a forearm stroke sensor; the auxiliary arm is hinged to the forearm, and an auxiliary arm cylinder is hinged between the forearm and the auxiliary arm. The auxiliary arm cylinder is provided with an auxiliary arm stroke sensor. An end effector support is provided on the auxiliary arm, and both the milling and excavation device and the depth camera are arranged on the end effector support.

[0040] In the present invention, a robotic arm hydraulic valve group is provided in the control box. The robotic arm hydraulic valve group includes four-way hydraulic system control components, which are respectively connected to the boom cylinder, the mid-arm cylinder, the forearm cylinder, and the auxiliary arm cylinder.

[0041] In the present invention, the control box includes an electrical component cavity and a hydraulic component cavity. Each hydraulic system control component is arranged in the hydraulic component cavity, and the inclination sensor and the auxiliary travel encoder are arranged in the electrical component cavity.

[0042] In the present invention, the electrical component cavity also includes: a wireless router and a voice player, a reset button and an emergency stop button on the surface of the electrical component cavity, a multi-parameter sensor at the front end of the electrical component cavity, and a temperature and humidity sensor, a smoke sensor, and an alarm LED at the top of the electrical component cavity.

[0043] In the present invention, an industrial control computer case and a hydraulic pump box are also provided on the vehicle body support. An industrial control computer is provided in the industrial control computer case, and the lidar, the high-definition camera, and the depth camera are respectively electrically connected to the industrial control computer; the engine and the hydraulic pump are arranged in the hydraulic pump box.

[0044] In order to describe the present invention in detail, the following embodiments are disclosed.

[0045] Embodiment 1

[0046] As Figures 1 to 3A roadway repair machine shown in the figure includes a robotic arm 106, an industrial control chassis 107, a control box 111, a hydraulic pump box 112, a crawler chassis 113, a vehicle body support 114, and a hydraulic oil tank 115. An infrared sensor 83, an ultrasonic sensor 84, and a vehicle body LED 57 are arranged at the front end of the vehicle body support 114; a high-definition camera support 125 is arranged at the front left end of the vehicle body support 114, and a high-definition camera 53 is arranged at the upper end of the high-definition camera support 125. A lidar support 117 is arranged at the front right end of the vehicle body support 114, and a lidar 52 is arranged at the upper end of the lidar support 117. An industrial control computer 51 is arranged inside the industrial control chassis 107. Left and right crawler encoders 60 and 61 are installed on both sides of the crawler chassis 113. The control box 111 is divided into two front and rear cavities. The front cavity is an electrical component cavity for installing electrical system control components, in which a wireless router 55, a controller 50, an inclination sensor 82, an auxiliary travel encoder 62, and a voice player 85 are arranged. A reset button 87 and an emergency stop button 86 are arranged on the side surface, and a multi-parameter sensor 81 is arranged on its front surface. A temperature and humidity sensor 79, a smoke sensor 80, and an alarm LED 58 are arranged on the top surface. The rear cavity of the control box 111 is a hydraulic component cavity for arranging hydraulic system control components, in which a robotic arm hydraulic valve group 131 and a crawler hydraulic valve group 132 are arranged. The robotic arm hydraulic valve group 131 includes four-way hydraulic system control components, and the crawler hydraulic valve group 132 includes two-way hydraulic system control components. Each way of the hydraulic system control components includes a pressure reducing valve 12, a proportional solenoid valve 13, a throttle valve 14, a solenoid valve 15, and a balance valve 16. Among them, the proportional solenoid valve 13 and the solenoid valve 15 are involved in the system control of the roadway repair machine. The proportional solenoid valve 13 includes an auxiliary arm proportional solenoid valve 67, a small arm proportional solenoid valve 68, a middle arm proportional solenoid valve 69, a large arm proportional solenoid valve 70, a right crawler proportional solenoid valve 71, and a left crawler proportional solenoid valve 72. The solenoid valve 15 includes an auxiliary arm solenoid valve 73, a small arm solenoid valve 74, a middle arm solenoid valve 75, a large arm solenoid valve 76, a right crawler solenoid valve 77, and a left crawler solenoid valve 78.

[0047] The manipulator of the roadway repair machine includes: an end effector bracket 151, a depth camera 54, an auxiliary arm 152, an auxiliary arm cylinder 153, an auxiliary arm stroke sensor 66, a forearm 154, a forearm cylinder 160, a forearm stroke sensor 65, a middle arm 155, a middle arm cylinder 159, a middle arm stroke sensor 64, a boom 156, a boom cylinder 157, a boom stroke sensor 63, and a base 158. The base 158 is fixedly connected to the vehicle body bracket 114. The boom 156 is hinged to the base 158. Both ends of the boom cylinder 157 are respectively hinged to the boom 156 and the base 158, and the boom stroke sensor 63 is arranged above the boom cylinder 157. The middle arm 155 is hinged to the boom 156. Both ends of the middle arm cylinder 159 are respectively hinged to the middle arm 155 and the boom 156, and the middle arm stroke sensor 64 is arranged above the middle arm cylinder 159. The forearm 154 is hinged to the middle arm 155. Both ends of the forearm cylinder 160 are respectively hinged to the forearm 154 and the middle arm 155, and the forearm stroke sensor 65 is arranged above the forearm cylinder 160. The auxiliary arm 152 is hinged to the forearm 154. Both ends of the auxiliary arm cylinder 153 are respectively hinged to the auxiliary arm 152 and the forearm 154, and the auxiliary arm stroke sensor 66 is arranged above the auxiliary arm cylinder 153. The depth camera 54 is arranged at the top of the end effector bracket 151.

[0048] Embodiment 2

[0049] Such as Figure 4The control system of the roadway repair machine shown includes a controller. The controller 50 is electrically connected to the industrial control computer 51 and uses a CAN bus connection for data communication and instruction control. The industrial control computer 51 is electrically connected to the lidar 52, the high-definition camera 53, and the depth camera 54 respectively and uses an RS485 bus connection to complete the operation data processing of the image recognition algorithm and the deep learning algorithm for the signals collected by the lidar 52, the high-definition camera 53, and the depth camera 54 inside the industrial control computer 51. The controller 50 is electrically connected to the wireless router 55 and uses an Ethernet cable connection. It can be connected to the existing 4G network in the coal mine through wifi to complete the wireless data communication between the roadway repair machine and the ground monitoring center, realizing the full-process monitoring of the operation of the roadway repair machine by the ground monitoring center. The controller 50 is electrically connected to the wireless remote control 56 and uses a radio connection to realize the remote control of the roadway repair machine and the display of the operating parameters of the repair machine. The controller 50 is electrically connected to the vehicle body LED 57, the alarm LED 58, and the robotic arm LED 59 respectively, with digital output signals, to control whether the vehicle body LED 57, the alarm LED 58, and the robotic arm LED 59 are lit, increasing serviceability. The controller 50 is electrically connected to the emergency stop button 86 and the reset button 87 respectively, with digital input signals. In case of an emergency of the roadway repair machine, when the emergency stop button 86 is pressed, the system power supply is cut off. After a single fault is eliminated and the reset button 87 is pressed, the system can be powered on again. The controller 50 is electrically connected to the left track encoder 60, the right track encoder 61, and the auxiliary walking encoder 62 respectively, with digital input signals, to measure the running speeds of the left and right tracks and participate in the motion control of the repair machine. The controller 50 is electrically connected to the boom stroke sensor 63, the mid-arm stroke sensor 64, the forearm stroke sensor 65, and the auxiliary arm stroke sensor 66 respectively, using analog input signals, to measure and feedback the telescopic lengths of their respective corresponding oil cylinders and control the working speed and posture of the robotic arm. The controller 50 is electrically connected to the auxiliary arm proportional solenoid valve 67, the forearm proportional solenoid valve 68, the mid-arm proportional solenoid valve 69, the boom proportional solenoid valve 70, the right track proportional solenoid valve 71, and the left track proportional solenoid valve 72 respectively, with PWM output signals, to control the motion speed and direction of their respective corresponding oil cylinders and realize the adjustment of the walking speed and posture of the roadway repair machine and the robotic arm. The controller 50 is electrically connected to the auxiliary arm solenoid valve 73, the forearm solenoid valve 74, the mid-arm solenoid valve 75, the boom solenoid valve 76, the right track solenoid valve 77, and the left track solenoid valve 78 respectively, with digital output signals, to control the opening and closing of their respective corresponding oil cylinders. The controller 50 is electrically connected to the temperature and humidity sensor 79 and uses an RS485 bus connection to collect the roadway temperature and humidity environment information. The controller 50 is electrically connected to the smoke sensor 80 and uses an RS485 bus connection to collect the roadway smoke concentration information. The controller 50 is electrically connected to the multi-parameter sensor 81 and uses an RS485 bus connection to collect the information of methane, carbon monoxide, and carbon dioxide gases in the roadway.The controller 50 is electrically connected to the inclination sensor 82 and is connected by an RS485 bus for monitoring the body tilt information of the roadway repair machine; the controller 50 is electrically connected to the infrared sensor 83, which is a digital input signal for collecting the surrounding obstacle information of the roadway repair machine; the controller 50 is electrically connected to the ultrasonic sensor 84 and is connected by an RS485 bus for collecting the surrounding obstacle information of the roadway repair machine; the controller 50 is electrically connected to the voice player 85 and is connected by an optical fiber for collecting the voice broadcast of the roadway repair machine; the controller 50 can execute the selection of the local and remote control modes of the roadway repair machine and the selection of the manual and automatic mode operations in the remote control mode according to the input instructions of the wireless remote controller 56.;

[0050] Embodiment III

[0051] In this embodiment, the roadway repair machine includes a total of six-way hydraulic system control components, among which four-way hydraulic system control components act on the attitude control of the robotic arm, and 2-way hydraulic system control components act on the travel control of the crawler chassis. The hydraulic control principle is as Figure 5 shown. The oil outlet of the hydraulic pump 11 is connected to the pressure reducing valve 12, which is sequentially connected to the proportional solenoid valve 13, throttle valve 14, solenoid valve 15, balance valve 16 and then connected to the oil cylinder 18. A stroke sensor 19 is arranged at the position of the oil cylinder 18 for feedback of the oil cylinder telescopic stroke value and participates in the closed-loop servo control; the oil outlet of the oil cylinder 18 is sequentially connected to the balance valve 16, solenoid valve 15, throttle valve 14, proportional solenoid valve 13, pressure reducing valve 12 and then connected to the oil inlet of the hydraulic pump 11. Pressure sensors 17 are arranged in front of the oil inlet and outlet of the oil cylinder 18 for detecting the oil pressure of the oil circuit.

[0052] Embodiment IV

[0053] The control process of a roadway repair machine disclosed in this embodiment is as Figure 6 and Figure 7As shown in the figure, after the roadway repair machine is started, it first performs a self-check when powered on. The self-check items include the original states of various sensors and the control system. After the self-check is successful, the wireless remote control sends a control instruction to the roadway repair machine. If it is remote control, it enters the remote control walking subroutine; otherwise, it enters the local control mode. In the local control mode, it is necessary to select whether to use the manual or automatic mode. If it is manual, it enters the manual walking subroutine; otherwise, it enters the automatic control mode. In the automatic mode, the controller collects data from the smoke sensor, temperature and humidity sensor, and multi-parameter sensor to monitor the roadway environment. The controller collects data from the inclination sensor to monitor the vehicle body attitude. The lidar and high-definition camera scan the position data of the roadway repair machine in the roadway, and the data is analyzed and processed in the industrial control computer, and the calculation results are transmitted to the controller for pose calculation. The controller collects data from the ultrasonic sensor and infrared sensor to complete the obstacle detection around the roadway repair machine. The roadway repair machine starts to move. During the movement, the robotic arm remains in the initial position. If a fault occurs during the movement, it stops running and plays the fault information through voice; if not, it keeps moving until the working location is reached.

[0054] When the roadway repair machine is milling and excavating the sealing groove, first of all, the roadway repair machine autonomously moves to the milling and excavating sealing groove location through the positioning and navigation function. Then, the operator uses an infrared laser pen to specify the starting point and height of the sealing groove. Then, the depth camera and high-definition camera take images of the starting point and height of the sealing groove excavation to obtain image point cloud data. The starting point and height coordinates of the sealing groove are obtained by using image recognition technology in the industrial control computer, and the obtained coordinate values are transmitted to the controller. Then, through the lidar, high-definition camera, various stroke sensors, and inclination sensor, and combined with the starting point and height coordinates of the sealing groove, the roadway repair machine autonomously adjusts the distance from the roadway wall and its attitude to achieve the optimal pose. Then, the roadway repair machine mills and excavates the sealing groove, and the controller adjusts the control parameters in real time according to the feedback data of the above-mentioned various sensors. Finally, the milling and excavation of the sealing groove is completed. For example, its shape is a rectangle with a side wall width of 1200 mm, a depth of 500 mm, an upper wall width of 1200 mm, and a depth of 300 mm.

[0055] It can be seen from the above description of the present invention that the roadway repair machine proposed by the present invention has functions such as robotic arm attitude perception function, vehicle body pose perception function, stepless speed regulation function, remote operation function, communication function, remote monitoring function, voice automatic alarm function, visual recognition function, and automatic milling and excavation of sealing groove function, etc. It can enable the roadway repair machine to automatically mill and excavate a sealing groove that meets the requirements. Compared with the prior art, it can effectively reduce the labor intensity of workers, reduce the harm of the environment to the workers' bodies, reduce the occurrence of safety accidents, and improve work efficiency.

[0056] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention.

Claims

1. A roadway repair machine, comprising a vehicle body support, characterized in that, The bottom of the vehicle body support is provided with a crawler chassis, and the crawler chassis is provided with a crawler encoder for measuring the crawler speed; on the vehicle body support, there are a control box, a hydraulic oil tank, a hydraulic pump connected to the hydraulic oil tank, and an engine for driving the hydraulic pump; On the vehicle body support, there is also a manipulator. The manipulator includes a base and several arms connected in sequence in an articulated manner. The arm at the front end of the manipulator is articulated with the base, and a milling and excavation device is provided on the arm at the end of the manipulator. Manipulator cylinders are articulated between each connected arm and between the base and the connected arm, and each manipulator cylinder is provided with a cylinder stroke sensor; in the control box, there are several hydraulic system control components respectively acting on the crawler chassis and the manipulator cylinders. The hydraulic system control components include, connected in sequence: a pressure reducing valve connected to the hydraulic pump, a proportional solenoid valve, a throttle valve, a solenoid valve, and a balance valve for connecting the cylinder; In the control box, there are also an inclination sensor and an auxiliary travel encoder; On the vehicle body support, there are also a lidar and a high-definition camera respectively located on the left and right sides of the manipulator and facing the front of the roadway repair machine, and a depth camera facing the direction of the milling and excavation device is also provided on the arm at the end of the manipulator; At the front end of the vehicle body support, there are also an infrared sensor and an ultrasonic sensor; The control system of the roadway repair machine includes a controller, and the controller is electrically connected to the industrial computer through the CAN bus for data communication and command control; The industrial computer is connected to the lidar, the high-definition camera, and the depth camera respectively through the RS485 bus, and the operation data processing of the image recognition algorithm and the deep learning algorithm is completed in the industrial computer; When the operator designates the starting point and height of the sealing groove with an infrared laser pen, the depth camera and the high-definition camera are used to take images of the starting point and height of the sealing groove excavation, obtain image point cloud data, the industrial computer uses image recognition technology to obtain the starting point and height coordinates of the sealing groove, and transmits the obtained coordinate values to the controller connected to the industrial computer; Through the lidar, the high-definition camera, each stroke sensor, and the inclination sensor, and at the same time combining the starting point and height coordinates of the sealing groove, the roadway repair machine autonomously adjusts the distance and attitude from the roadway wall; The roadway repair machine mills the sealing groove, and the controller adjusts the control parameters in real time according to the feedback data of each sensor; finally, the milling of the sealing groove is completed.

2. The roadway repair machine according to claim 1, characterized in that, The crawler chassis is provided with a left crawler and a right crawler, and a left crawler encoder and a right crawler encoder are respectively provided on the left and right sides of the crawler chassis.

3. The roadway repair machine according to claim 2, characterized in that, In the control box, there is a crawler hydraulic valve group. The crawler hydraulic valve group includes two hydraulic system control components respectively acting on the left crawler and the right crawler to control the walking of the crawler chassis.

4. The roadway repair machine according to claim 1, characterized in that, The manipulator specifically includes: A boom articulated with the base, a boom cylinder is articulated between the base and the boom, and the boom cylinder is provided with a boom stroke sensor; An intermediate arm articulated with the boom, an intermediate arm cylinder is articulated between the boom and the intermediate arm, and the intermediate arm cylinder is provided with an intermediate arm stroke sensor; A forearm articulated with the intermediate arm, a forearm cylinder is articulated between the intermediate arm and the forearm, and the forearm cylinder is provided with a forearm stroke sensor; An auxiliary arm articulated with the forearm, an auxiliary arm cylinder is articulated between the forearm and the auxiliary arm, and the auxiliary arm cylinder is provided with an auxiliary arm stroke sensor; Among them, an end effector bracket is provided on the auxiliary arm, and both the milling and excavation device and the depth camera are arranged on the end effector bracket.

5. The roadway repair machine according to claim 4, characterized in that, A robotic arm hydraulic valve group is provided inside the control box. The robotic arm hydraulic valve group includes control components of four hydraulic systems, which are respectively connected to the boom cylinder, the arm cylinder, the forearm cylinder, and the auxiliary arm cylinder.

6. The roadway repair machine according to claim 1, characterized in that, The control box includes an electrical component cavity and a hydraulic component cavity. Each control component of the hydraulic system is arranged in the hydraulic component cavity, and the inclination sensor and the auxiliary travel encoder are arranged in the electrical component cavity.

7. The roadway repair machine according to claim 6, characterized in that, An access point router and a voice player are also provided inside the electrical component cavity. A reset button and an emergency stop button are provided on the surface of the electrical component cavity. A multi-parameter sensor is provided at the front end of the electrical component cavity. A temperature and humidity sensor, a smoke sensor, and an alarm LED are provided at the top of the electrical component cavity.

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