An asphalt pavement repair equipment and system

Abstract

This invention provides an asphalt pavement repair device and system, including a repair vehicle with a storage tank on it. A replenishment port communicating with the storage tank is located at the bottom of the repair vehicle. The storage tank includes a material chamber for replenishing asphalt and a recovery chamber for storing asphalt residue. A crushing component and an adsorption component are also located at the bottom of the repair vehicle. The adsorption component communicates with the recovery chamber and is located between the crushing component and the replenishment port. The adsorption component is used to draw the crushed asphalt residue from the crushing component into the recovery chamber. A replenishment mechanism is provided at the replenishment port, including a discharge plate, an adjusting plate, and a driving component. The discharge plate has several discharge holes, and the adjusting plate has several adjusting holes. The driving component drives the adjusting plate to move, so that the adjusting holes on the adjusting plate are aligned with or misaligned with the discharge holes. The advantage of this invention is that it can accurately fill potholes according to the system's allocation, improving the accuracy of replenishment.

Description

Technical Field

[0001] This invention relates to the field of road repair, and more specifically to an asphalt road repair equipment and system. Background Technology

[0002] As an important type of road surface, asphalt pavement is prone to potholes under the combined effects of heavy traffic and natural climate. On the one hand, this affects comfort and traffic safety. On the other hand, if potholes are not repaired in time, multiple potholes can easily connect into large areas, leading to instability and deformation of the base layer and subgrade, local loss of load-bearing capacity, and causing the road surface to quickly evolve from functional damage to structural damage, significantly increasing maintenance costs. The bottom of asphalt pavement is often a hard base layer, such as a cement pouring layer. Broken asphalt is easily splashed and lost when vehicles are driving, resulting in potholes where only the bottom cement layer is exposed.

[0003] There are currently two repair methods. One is manual repair by adding material through a bucket, but this method is prone to causing excessive material addition and resulting in uneven repair surfaces. The other is to use a repair vehicle for material addition, but this type of repair vehicle only has the functions of adding and pressing material, and many steps still require manual operation, making it difficult to control the asphalt material. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of this invention is to provide an asphalt pavement repair equipment and repair system. This repair equipment can work with the repair system to accurately fill the potholes with the budgeted amount of material according to the system's allocation, thereby improving the accuracy of material filling.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] An asphalt pavement repair device includes a repair vehicle equipped with a storage tank. The bottom of the repair vehicle has a replenishment port communicating with the storage tank. The storage tank includes a material chamber for replenishing asphalt and a recovery chamber for storing asphalt residue. The bottom of the repair vehicle also has a crushing component and an adsorption component. The adsorption component communicates with the recovery chamber and is located between the crushing component and the replenishment port. The adsorption component is used to draw the asphalt residue crushed by the crushing component into the recovery chamber. A replenishment mechanism is provided at the replenishment port. The replenishment mechanism includes a discharge plate, an adjusting plate, and a driving component. The discharge plate has several discharge holes, and the adjusting plate has several adjusting holes. The driving component drives the adjusting plate to move so that the adjusting holes on the adjusting plate are aligned with or misaligned with the discharge holes.

[0007] Furthermore, the bottom of the repair vehicle is equipped with a cover, on which the crushing and adsorption components are located. The repair vehicle is also equipped with a rocker arm connected to the cover. The rocker arm includes a pull arm that passes through a storage box and connects to the cover. The side wall of the storage box is provided with an arc-shaped guide channel. The pull arm is movably connected within the arc-shaped guide channel. The pull arm provides a pulling force to the cover and drives the cover to move along the trajectory of the arc-shaped guide channel, so that the crushing and adsorption components on the cover are closer to or further away from the ground. The repair vehicle is also equipped with a first vision camera near the end of the cover.

[0008] Furthermore, the driving component includes a first telescopic arm and a second telescopic arm, which are located on the same side of the adjusting plate. The ends of the first and second telescopic arms are movably connected to the adjusting plate, and the other ends of the first and second telescopic arms are movably connected to the repair vehicle. A guide post is provided at the center of the adjusting plate, and a guide groove is provided on the discharge plate. The guide post is movably connected in the guide groove.

[0009] Furthermore, the storage box also includes an auxiliary material chamber. A marking mechanism is provided on one side of the repair vehicle. The marking mechanism includes a drive arm and a discharge slide plate. A discharge switch is provided on the side wall of the storage box, which communicates with the auxiliary material chamber. The drive arm is movably connected to the discharge switch. The discharge slide plate is obliquely arranged below the outlet of the discharge switch. The drive arm provides a thrust to the discharge switch to open or close the discharge switch.

[0010] Furthermore, the marking mechanism also includes a marking frame, in which a horizontal support bar is provided. The end of the discharge slide away from the discharge switch is located within the frame and rests on the support bar. The end of the marking frame away from the support bar is provided with a connecting rod that connects to the repair vehicle.

[0011] Furthermore, the wheel support of the repair vehicle is provided with a lifting structure, which can drive the wheel to move so that the distance between the wheel and the repair vehicle increases or decreases, and a scanner is provided at the bottom of the repair vehicle.

[0012] An asphalt pavement repair system includes a data acquisition module, a processing module, and a control module;

[0013] The acquisition module obtains the image of the damaged area captured by the first vision camera as the image to be analyzed.

[0014] The processing module includes a matching table and a theoretical area value. The matching table contains the area of ​​the open discharge hole and the asphalt discharge volume per second. A three-dimensional coordinate system is established with the centerline point of the repair vehicle as the origin. The image to be analyzed in the acquisition module is acquired. Several contour points of the edge of the damaged area are marked in the three-dimensional coordinate system based on the image to be analyzed. The contour boundary is obtained by connecting two adjacent contour points in sequence. The horizontal area value is calculated based on the contour boundary. The horizontal area value is compared with the theoretical area value. If the horizontal area value is greater than or equal to the theoretical area value, the segmentation strategy is used to obtain the subdivision data information. If the horizontal area is less than the theoretical area value, the expansion strategy is used to obtain the equal area data information.

[0015] When the control module acquires the subdivision data information, it controls the adjustment plate to move; when it acquires the equalization data information, it controls the marking mechanism to perform marking.

[0016] Furthermore, the segmentation strategy includes step S1, drawing lines between two contour points corresponding to the maximum lateral distance of the contour boundary to obtain an auxiliary line, and then using the perpendicular line between the movement direction of the repair vehicle and the center point of the auxiliary line as the segmentation center line.

[0017] Step S2: Analyze the depth value at the midline of the segmentation in the image to be analyzed as the distance value to be adjusted. Then, calculate the lateral distance between each contour point and the midline of the segmentation based on the contour boundary and the midline of the segmentation as the lateral width value. Determine the corresponding hole information of the material outlet plate based on the lateral width value. Calculate the volume value of the damaged space based on the distance value to be adjusted and the lateral width value. Index the corresponding hole area in the matching table based on the volume value of the damaged space.

[0018] Furthermore, step S2 also includes step S21, obtaining the aperture value corresponding to the aperture area when the discharge hole is fully open in the matching table, and planning the filling interval based on the aperture value and the lateral width value; the acquisition module obtains the actual depth value by scanning the filling interval with a scanner, filters and removes according to the actual depth value to obtain the average depth value, and calculates the volume value of the damaged space based on the average depth value and the filling interval.

[0019] Furthermore, the expansion strategy includes step S1, which involves extending the outline boundary to both sides based on the length of the discharge plate to obtain corresponding target points, and connecting two adjacent target points on each side to obtain the corresponding virtual boundary.

[0020] Step S2: Connect the endpoints of the two virtual boundaries to obtain a virtual region, preset a virtual crushing depth value, calculate a preset volume value based on the virtual region and the crushing depth value, and then calculate the time value for the orifice area to be fully open based on the preset volume value and the asphalt discharge volume.

[0021] The beneficial effects of this invention are as follows: 1. The direction and amount of material discharge can be controlled by the cooperation of the discharge plate and the adjustment plate to ensure that the amount of material discharge matches the volume of the damaged area. Specifically, the driving of the first telescopic arm and the second telescopic arm can make the adjustment hole of the adjustment plate completely aligned with the discharge hole of the discharge plate or make the adjustment hole on the adjustment plate partially aligned with the discharge hole of the discharge plate to achieve the adjustment of the amount of material discharge. Furthermore, by setting the crushing component and the adsorption component, the small damaged surface can be crushed and expanded to make the edge of the damaged surface straight. Then, the adsorption component adsorbs the crushed asphalt residue to ensure that the damaged surface is clean and facilitates subsequent filling.

[0022] 2. By cooperating with the control system, the boundary and depth of the damaged area can be detected visually and by scanning. Based on the detection results, the control module controls and adjusts the adjustment plate, and the visual system can detect the boundary of the damaged area to determine whether the damaged area is larger than the preset theoretical area. Based on the judgment result, subsequent processing is carried out to achieve intelligent material replenishment. Specifically, when the damaged area is too small, the processing module performs virtual marking, and then the marking mechanism performs actual marking to make the marked area a square, which facilitates the crushing of the crushed parts and subsequent material replenishment. Attached Figure Description

[0023] Figure 1 This is an overall structural diagram of the present invention;

[0024] Figure 2 This is a first-view structural diagram of the present invention;

[0025] Figure 3 This is a structural diagram of the feeding mechanism in this invention;

[0026] Figure 4 This is a structural diagram of the pulverizing component and the adsorption component in this invention;

[0027] Figure 5 This is the system control diagram in this invention;

[0028] Figure 6 This is the contour boundary diagram in this invention.

[0029] Auxiliary markings: 1. Repair cart; 2. Discharge box; 3. Recycling chamber; 4. Crushing component; 5. Adsorption component; 6. Discharge plate; 61. Discharge hole; 7. Feeding mechanism; 71. Guide groove; 72. Adjusting plate; 721. Adjusting hole; 722. Guide column; 73. Drive component; 731. First telescopic arm; 732. Second telescopic arm; 8. Cover; 91. Pull arm; 92. Connecting arm; 93. Handle; 10. Arc-shaped guide channel; 11. Marking mechanism; 111. Drive arm; 112. Discharge slide plate; 113. Discharge switch component; 114. Marking frame; 115. Support bar; 116. Connecting rod; 101. Acquisition module; 102. Processing module; 103. Control module. Detailed Implementation

[0030] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Identical components are denoted by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to directions in the accompanying drawings, and the terms "bottom surface," "top surface," "inner," and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0031] Current repair methods include two approaches: one is manual repair using a bucket to add material, but this method is prone to overfilling, resulting in uneven repair surfaces; the other is using a repair vehicle (1) for adding material, but this vehicle only has the functions of adding and compacting material, and many steps still require manual operation, making it difficult to control the asphalt material. Therefore, this invention designs an asphalt pavement repair device, the specific structure of which is as follows: Figure 1 and Figure 3 As shown, the device includes a repair vehicle 1, which is equipped with a storage box. A replenishment port communicating with the storage box is located at the bottom of the repair vehicle 1. The storage box includes a material chamber for replenishing asphalt and a recovery chamber 3 for storing asphalt residue. The bottom of the repair vehicle 1 also has a crusher 4 and an adsorption unit 5. The adsorption unit 5 communicates with the recovery chamber 3 and is located between the crusher 4 and the replenishment port. When the repair vehicle 1 is pushed forward, the crusher 4 is at the front, and the replenishment port is at the rear, meaning the adsorption unit 5 is in the middle. The crusher 4 first crushes the asphalt residue, and the adsorption unit 5 absorbs the crushed asphalt residue from the crusher 4. The material is sent to the recovery chamber 3, where the space at the damaged area is relatively clean. Then, it is replenished. A replenishment mechanism 7 is provided at the replenishment port. The replenishment mechanism 7 includes a discharge plate 6, an adjusting plate 72, and a driving component 73. The discharge plate 6 has several discharge holes 61, and the adjusting plate 72 has several adjusting holes 721. The driving component 73 drives the adjusting plate 72 to move so that the adjusting holes 721 on the adjusting plate 72 are aligned with or misaligned with the discharge holes 61. Through the cooperation of the discharge plate 6 and the adjusting plate 72, the direction and amount of material discharge can be controlled to ensure that the amount of material discharge matches the volume of the damaged area.

[0032] Furthermore, the recycling chamber 3 in this invention is a small cavity located above the crushing component 4 and the adsorption component 5. The bottom of the recycling chamber 3 is an inclined surface. The repair vehicle 1 is also equipped with an air pump and a mixing cylinder. The air pump provides suction to the adsorption component 5, which adsorbs the crushed asphalt slag into the recycling chamber 3 from the side wall. The recycling chamber 3 is also equipped with two sets of stirring shafts. After the asphalt slag is in the recycling chamber 3, the mixing cylinder inputs the raw materials for making asphalt into the recycling chamber 3 for stirring. The stirring shafts stir, so that the asphalt slag can be reused to make asphalt that can be replenished. The panel on one side of the recycling chamber 3 is a rotating plate. When the asphalt in the recycling chamber 3 is used up, the rotating plate will rotate counterclockwise. Because the bottom of the recycling chamber 3 is an inclined surface, the asphalt made in the recycling chamber 3 can flow to the replenishment port for use. When it is used up, the rotating plate rotates clockwise to close the recycling chamber 3.

[0033] like Figure 4 As shown, the bottom of the repair vehicle 1 is equipped with a cover 8. The crushing component 4 and the suction component 5 are slidably connected to the cover 8. The crushing component 4 of this invention is a crushing shaft with protruding crushing blades on its outer surface. The output shaft of the motor is coaxially connected to the crushing shaft. The suction component 5 is a vacuum cleaner with its suction nozzle aligned with the crushing shaft. The suction nozzle of the vacuum cleaner is angled, which facilitates the suction of asphalt debris into the recovery chamber 3. The repair vehicle 1 is also equipped with two sets of rocker arm components. Each set of rocker arm components includes a pull arm 91, a connecting arm 92, and a handle 93. Handle 93 is rotatably connected to the push handle of repair vehicle 1. One end of connecting arm 92 is rotatably connected to the end of handle 93, and the other end is rotatably connected to the end of pull arm 91. Pull arm 91 passes through storage box and is connected to cover 8. The upper surface of discharge box 2 is provided with a transverse channel for the movement of pull arm 91. A certain point of pull arm 91 near the upper surface of storage box is rotatably connected to discharge box 2 as a pivot point. A partition is also provided between pull arm 91 and storage box for storing asphalt material. The side wall of storage box is provided with arc-shaped guide passage. The pull arm 91 is movably connected within the arc-shaped guide channel 10. The pull arm 91 provides a pulling force to the cover 8 and drives the cover 8 to move along the trajectory of the arc-shaped guide channel 10, causing the crushing component 4 and the adsorption component 5 on the cover 8 to move closer to or further away from the ground. When neither the crushing component 4 nor the adsorption component 5 needs to work, the worker simply pushes the handle 93 upwards, pulling the connecting arm 92 and rotating the pull arm 91 clockwise. This means the end of the pull arm 91 slides to its highest point within the arc-shaped guide channel 10, thus moving the crushing component 4 and the adsorption component 5 closer to or further away from the ground. All attachments 5 are lifted off the ground. When expansion is needed, the worker only needs to pull the handle 93 down, and the corresponding pull arm 91 will rotate counterclockwise. That is, the end of the pull arm 91 slides to the lowest end in the arc-shaped guide channel 10. The crushing part 4 and the adsorption part 5 are both attached to the ground. During the process of attaching to the ground, the motor drives the crushing shaft to rotate to crush the asphalt. The air pump generates suction to suck the asphalt waste into the recycling chamber 3. In order to take pictures and analyze the damaged area in advance, a first vision camera is also provided at the end of the repair vehicle 1 near the cover 8.

[0034] like Figure 3 As shown, the drive component 73 includes a first telescopic arm 731 and a second telescopic arm 732. The first telescopic arm 731 and the second telescopic arm 732 are of the same type, each including a cylinder section and a telescopic section. The first telescopic arm 731 and the second telescopic arm 732 are located on the same side of the adjusting plate 72 (the adjusting plate 72 is a rectangular plate, meaning the first telescopic arm 731 and the second telescopic arm 732 are both located on the same long side). The ends of the first telescopic arm 731 and the second telescopic arm 732 are movably connected to the adjusting plate 72. The other ends of the first telescopic arm 731 and the second telescopic arm 732 are movably connected to the repair vehicle 1. A guide post 722 is provided at the center of the adjusting plate 72, and a guide groove 71 is provided on the discharge plate 6. The guide post 722 is movably connected within the guide groove 71. The adjusting plate 72 is stacked on the discharge plate 6. Assume that the discharge plate 6 has four discharge holes 61. The corresponding adjusting plate 72 is also provided with four adjusting holes 721, but it is divided into two parts with the center line of the adjusting plate 72. The adjusting holes 721 are located on the part of the adjusting plate 72 away from the discharge plate 6. When it is necessary to close the discharge hole 61, the first telescopic arm 731 and the second telescopic arm 732 drive the adjusting plate 72 to move synchronously so that the adjusting plate 72 blocks the discharge hole 61. When it is necessary to fully open the discharge hole 61, the first telescopic arm 731 and the second telescopic arm 732 continue to drive the adjusting plate 72 to move synchronously so that the adjusting holes 721 on the adjusting plate 72 are aligned with the discharge hole 61. When it is necessary to select the discharge hole 61, the telescopic lengths of the first telescopic arm 731 and the second telescopic arm 732 are different so that the adjusting plate 72 can move and rotate in the guide groove 71 through the guide post 722, so that the adjusting holes 721 on the adjusting plate 72 are partially aligned with the discharge hole 61.

[0035] like Figure 2As shown, the storage bin also includes an auxiliary material chamber containing lime powder. A marking mechanism 11 is provided on one side of the repair vehicle 1. The marking mechanism 11 includes a shift lever, a drive arm 111, and a discharge slide plate 112. A discharge switch 113 (turn lever) communicating with the auxiliary material chamber is provided on the side wall of the storage bin. The shift lever is rotatably connected to the push handle side of the repair vehicle 1. One end of the drive arm 111 is rotatably connected to the end of the shift lever, and the other end is rotatably connected to the discharge switch 113. The discharge slide plate 112 is obliquely positioned below the outlet of the discharge switch 113. The drive arm 111 provides a thrust to the discharge switch 113 to open or close it. 11 also includes a marking frame 114, which has a horizontal support bar 115 inside. The end of the discharge slide plate 112 away from the discharge switch 113 is located inside the frame and rests on the support bar 115. The end of the marking frame 114 away from the support bar 115 has a connecting rod 116 connected to the repair vehicle 1. When it is necessary to expand the surface, the worker needs to draw lines. The worker turns the gear lever clockwise, and the drive arm 111 pulls to make the discharge switch 113 rotate and open. The lime powder in the auxiliary material chamber flows out onto the discharge slide plate 112 and then falls to the ground. The purpose of the marking frame 114 is to support the discharge slide plate 112 and to serve as an auxiliary marker when marking lines.

[0036] When the damaged area is large, one of the wheels of the repair vehicle 1 will drive into the damaged area during repair. At this time, the vehicle will tilt, which will affect the crushing, adsorption and filling. Therefore, a lifting structure is provided at the wheel support of the repair vehicle 1. The lifting structure is a cylinder lifting arm, which is the same as the traditional vehicle chassis lifting principle. The lifting structure can drive the wheel to move so as to increase or decrease the distance between the wheel and the repair vehicle 1. When one wheel of the repair vehicle 1 drives into the damaged space, the lifting structure will drive the lifting of that side to ensure that the vehicle body becomes flat. In order to cooperate with the system, a scanner is provided at the bottom of the repair vehicle 1 in this invention.

[0037] While current asphalt repair services also employ repair vehicles (1), these vehicles serve only as auxiliary equipment. The actual work of widening the surface, removing materials, and filling fillers is still done manually. Therefore, as... Figure 5 As shown, the asphalt pavement repair system designed and matched by the present invention includes a data acquisition module 101, a processing module 102, and a control module 103.

[0038] The acquisition module 101 acquires images of the damaged area captured by the first vision camera as images to be analyzed. The images to be analyzed contain multiple pictures from different perspectives, including the situation inside the damaged surface, the boundary situation of the damaged surface, and the situation of a certain range outside the damaged surface.

[0039] The processing module 102 includes a matching table and a theoretical area value. The matching table contains the area of ​​the open outlet hole 61 and the asphalt discharge volume per second (e.g., the area of ​​a single fully open outlet hole 61 is A square centimeters, and the corresponding asphalt discharge volume is B cubic centimeters; if the open area of ​​a single outlet hole 61 is A1 square centimeters, the corresponding asphalt discharge volume is B1 cubic centimeters. The ratio between the two is inconsistent because when fully open, the asphalt falls from the middle faster and in greater quantities. When part of the outlet hole 61 is blocked, the asphalt falls relatively slower and in smaller quantities. The more it is blocked, the greater the reduction in the asphalt discharge volume). The theoretical area value is a preset value to consider whether to expand the area. Because it is difficult to fill and grind evenly when the damaged area is too small, it is necessary to analyze whether to expand the area. A three-dimensional coordinate system is established with the centerline point of the repair vehicle 1 as the origin. In the three-dimensional coordinate system, the X-axis is the direction of the straight-line travel of the repair vehicle 1, and the Y-axis is the width of the repair vehicle 1. The Z-axis is the vertical height direction of the repair vehicle 1. The image to be analyzed is acquired from the acquisition module 101. Based on the image to be analyzed, several contour points of the edge of the damaged area are marked in the three-dimensional coordinate system. Assuming that 30 contour points are marked, the Z-axis coordinates of these 30 contour points are the same when the road surface is flat. The contour boundary is obtained by connecting two adjacent contour points in sequence. The horizontal area value is calculated based on the contour boundary (this calculation requires the design of region segmentation. Assuming that the contour boundary is an irregular region with many folds on the edge, the folds are first segmented into corresponding triangles, and the rest are segmented into squares. The area of ​​the segmented region is calculated and then accumulated to obtain the total horizontal area value). The horizontal area value is compared with the theoretical area value. If the horizontal area value is greater than or equal to the theoretical area value, the segmentation strategy is used to obtain the subdivision data information. If the horizontal area is less than the theoretical area value, the expansion strategy is used to obtain the equal area data information.

[0040] When the control module 103 obtains the subdivision data information, it indicates that there is no need to expand the area and filling can be performed directly. That is, it controls the adjustment plate 72 to move. When it obtains the equalization data information, it indicates that the area needs to be expanded. Then it controls the marking mechanism 11 to mark the area. After marking the area, it controls the crushing component 4 and the adsorption component 5 to work.

[0041] Furthermore, the segmentation strategy includes step S1, such as Figure 6 As shown, the auxiliary line (S1) is obtained by drawing lines between the two contour points (K1 and K2) corresponding to the maximum lateral distance of the contour boundary. Then, the perpendicular line between the movement direction of the repair vehicle 1 and the center point of the auxiliary line is used as the dividing center line (S2).

[0042] Step S2: Based on the depth value at the segmentation midline of the image to be analyzed, the distance value to be adjusted is used. The control module 103 will drive the lifting structure to rise and fall according to the distance value to be adjusted. At this time, one side wheel of the repair vehicle 1 travels along the segmentation midline. Then, based on the contour boundary and the segmentation midline, the lateral distance between each contour point and the segmentation midline is calculated as the lateral width value (h1-h9). Based on the lateral width value, the corresponding hole information of the discharge plate 6 is determined (discharge hole 61 includes T1, T2, T3, T4). Figure 6 As shown, T1 is always closed, while T2, T3, and T4 are selected to open based on a comparison with h. Here, it is assumed that the bottom of the damaged area is a cement substrate, meaning that the depth within the damaged area is the same. The volume value of the damaged space is calculated based on the distance to be adjusted and the lateral width. The corresponding hole area is indexed in the matching table based on the volume value of the damaged space. Assuming that T4 opens when the discharge plate 6 reaches h1, but T2 and T3 open when it continues to move towards h3, the volume value of the damaged space at h1 can be calculated using T4. The hole area opened by T4 is then calculated based on the movement time of the repair vehicle 1.

[0043] If pits and depressions appear in the damaged area and the depths are inconsistent, step S2 also includes step S21, which involves obtaining the aperture value corresponding to the aperture area when the discharge hole 61 is fully open in the matching table, planning the filling interval based on the aperture value and the lateral width value; the acquisition module 101 obtains the actual depth value by scanning the filling interval with the scanner, filters and removes according to the actual depth value to obtain the average depth value, and calculates the volume value of the damaged space based on the average depth value and the filling interval.

[0044] The expansion strategy includes step S1, which involves extending the outline boundary to both sides based on the length of the discharge plate 6 to obtain the corresponding target points, and connecting two adjacent target points on each side to obtain the corresponding virtual boundary. The area within the virtual boundary is square. The corresponding actual marking principle is as follows: the repair vehicle 1 is moved so that the marking frame 114 is directly above the virtual boundary. When the repair vehicle 1 moves so that the discharge port of the discharge slide plate 112 on the marking frame 114 moves to the end of the virtual boundary line, the control module 103 will issue a command, and the worker will close the discharge switch 113. At this time, the repair vehicle 1 will be turned to perform actual marking on another virtual boundary line.

[0045] Step S2: Connect the endpoints of the two virtual boundaries to obtain a virtual region, preset the virtual crushing depth value, calculate the preset volume value based on the virtual region and the crushing depth value, and then calculate the time value for the orifice area to be fully open based on the preset volume value and the asphalt discharge volume.

[0046] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. An asphalt pavement repair device, comprising a repair vehicle (1), wherein the repair vehicle (1) is provided with a storage box, and the bottom of the repair vehicle (1) is provided with a filling port communicating with the storage box, characterized in that: The storage tank includes a material chamber for replenishing asphalt and a recycling chamber (3) for storing asphalt slag. The bottom of the repair vehicle (1) is also provided with a crushing component (4) and an adsorption component (5). The adsorption component (5) is connected to the recycling chamber (3). The adsorption component (5) is located between the crushing component (4) and the replenishment port. The adsorption component (5) is used to suck the asphalt slag crushed by the crushing component (4) into the recycling chamber (3). The replenishment port is provided with a replenishment mechanism (7). The replenishment mechanism (7) includes a discharge plate (6), an adjustment plate (72), and a driving component (73). The discharge plate (6) is provided with several discharge holes (61). The adjustment plate (72) is provided with several adjustment holes (721). The driving component (73) drives the adjustment plate (72) to move so that the adjustment holes (721) on the adjustment plate (72) are aligned with or misaligned with the discharge holes (61). The drive unit (73) includes a first telescopic arm (731) and a second telescopic arm (732). The first telescopic arm (731) and the second telescopic arm (732) are located on the same side of the adjustment plate (72). The ends of the first telescopic arm (731) and the second telescopic arm (732) are movably connected to the adjustment plate (72). The other ends of the first telescopic arm (731) and the second telescopic arm (732) are movably connected to the repair vehicle (1). A guide post (722) is provided at the center of the adjustment plate (72). A guide groove (71) is provided on the discharge plate (6). The guide post (722) is movably connected in the guide groove (71).

2. The asphalt pavement repair equipment according to claim 1, characterized in that: The bottom of the repair vehicle (1) is provided with a cover (8), and the crushing component (4) and the adsorption component (5) are both located on the cover (8). The repair vehicle (1) is also provided with a rocker arm, which is connected to the cover (8). The rocker arm includes a pull arm (91), which passes through the storage box and is connected to the cover (8). The side wall of the storage box is provided with an arc-shaped guide channel (10). The pull arm (91) is movably connected in the arc-shaped guide channel (10). The pull arm (91) provides a pulling force to the cover (8) and drives the cover (8) to move along the trajectory of the arc-shaped guide channel (10) so that the crushing component (4) and the adsorption component (5) on the cover (8) are close to or away from the ground. The repair vehicle (1) is also provided with a first vision camera at one end near the cover (8).

3. The asphalt pavement repair equipment according to claim 2, characterized in that: The storage box also includes an auxiliary material chamber. A marking mechanism (11) is provided on one side of the repair vehicle (1). The marking mechanism (11) includes a drive arm (111) and a discharge slide plate (112). A discharge switch (113) communicating with the auxiliary material chamber is provided on the side wall of the storage box. The drive arm (111) is movably connected to the discharge switch (113). The discharge slide plate (112) is obliquely arranged below the outlet of the discharge switch (113). The drive arm (111) provides a thrust to the discharge switch (113) to open or close the discharge switch (113).

4. The asphalt pavement repair equipment according to claim 3, characterized in that: The marking mechanism (11) also includes a marking frame (114), which has a horizontal support bar (115) inside. The end of the discharge slide plate (112) away from the discharge switch (113) is located inside the frame and is supported on the support bar (115). The end of the marking frame (114) away from the support bar (115) is provided with a connecting rod (116) that is connected to the repair vehicle (1).

5. The asphalt pavement repair equipment according to claim 4, characterized in that: The repair vehicle (1) has a lifting structure at the wheel support, which can drive the wheel to move so that the distance between the wheel and the repair vehicle (1) increases or decreases. The bottom of the repair vehicle (1) is equipped with a scanner.

6. An asphalt pavement repair system, characterized in that: The repair device as described in any one of claims 3-5 includes a data acquisition module (101), a processing module (102), and a control module (103); The acquisition module (101) acquires the image of the damaged area captured by the first vision camera as the image to be analyzed; The processing module (102) includes a matching table and a theoretical area value. The matching table contains the area of ​​the opening of the discharge hole (61) and the volume of asphalt discharged per second. A three-dimensional coordinate system is established with the centerline point of the repair vehicle (1) as the origin. The image to be analyzed in the acquisition module (101) is obtained. Several contour points of the edge of the damaged area are marked in the three-dimensional coordinate system according to the image to be analyzed. The contour boundary is obtained by connecting two adjacent contour points in sequence. The horizontal area value is calculated according to the contour boundary. The horizontal area value is compared with the theoretical area value. If the horizontal area value is greater than or equal to the theoretical area value, the data information is obtained by the segmentation strategy. If the horizontal area is less than the theoretical area value, the data information is obtained by the expansion strategy. When the control module (103) acquires the subdivision data information, it controls the adjustment plate (72) to move, and when it acquires the equalization data information, it controls the marking mechanism (11) to mark the lines.

7. The asphalt pavement repair system according to claim 6, characterized in that: The segmentation strategy includes step S1, drawing lines to obtain auxiliary lines from the two contour points corresponding to the maximum lateral distance of the contour boundary, and then using the perpendicular line between the movement direction of the repair vehicle (1) and the center point of the auxiliary line as the segmentation center line. Step S2: Analyze the depth value at the midline of the segmentation in the image to be analyzed as the distance value to be adjusted, and calculate the lateral distance between each contour point and the midline of the segmentation as the lateral width value. Determine the corresponding hole information of the material plate (6) based on the lateral width value. Calculate the volume value of the damaged space based on the distance value to be adjusted and the lateral width value. Index the corresponding hole area in the matching table based on the volume value of the damaged space.

8. The asphalt pavement repair system according to claim 7, characterized in that: Step S2 further includes step S21, obtaining the aperture value corresponding to the aperture area when the discharge hole (61) in the matching table is fully open, and planning the filling interval according to the aperture value and the transverse width value; the acquisition module (101) obtains the actual depth value by scanning the filling interval with the scanner, filters and removes according to the actual depth value to obtain the average depth value, and calculates the volume value of the damaged space according to the average depth value and the filling interval.

9. The asphalt pavement repair system according to claim 6, characterized in that: The expansion strategy includes step S1, which involves extending the outline boundary to both sides based on the length of the discharge plate (6) to obtain the corresponding target points, and connecting two adjacent target points on each side to obtain the corresponding virtual boundary. Step S2: Connect the endpoints of the two virtual boundaries to obtain a virtual region, preset a virtual crushing depth value, calculate a preset volume value based on the virtual region and the crushing depth value, and then calculate the time value for the orifice area to be fully open based on the preset volume value and the asphalt discharge volume.

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