Intelligent asphalt pavement crack and pothole repairing integrated device and repairing method

Abstract

The present disclosure provides an asphalt pavement crack and pit intelligent repair integrated device and a repair method, and relates to the technical field of asphalt pavement disease identification and repair devices, and comprises a repair vehicle body and a control center, wherein the repair vehicle body comprises an upper plate and a middle plate, a crack repair mechanism and a pit repair mechanism are installed on the upper plate, a rotating mechanism is arranged between the upper plate and the middle plate and is used for converting the directions of the crack repair mechanism and the pit repair mechanism, the crack repair mechanism and the pit repair mechanism are respectively installed at two ends of the upper plate of the repair vehicle body, a vibration compaction mechanism is arranged at the front end of the bottom of the repair vehicle body, the vibration compaction mechanism comprises a connecting rod and a rolling shaft, the connecting rod and the rolling shaft are located at the bottom of the repair vehicle body, the rolling shaft is connected with the repair vehicle body through the connecting rod, the rolling shaft is controlled to move forward and backward, and vibration compaction of a repair area is realized. The present disclosure realizes omnibearing and high-precision repair of asphalt pavement cracks and pit diseases.

Description

Technical Field

[0001] This disclosure relates to the technical field of asphalt pavement defect identification and repair devices, specifically to an integrated intelligent repair device and repair method for asphalt pavement cracks and potholes. Background Technology

[0002] The statements in this section are merely background information relating to this disclosure and do not necessarily constitute prior art.

[0003] With the development of transportation infrastructure, highways have spread throughout urban road networks, effectively supporting national economic development and national security. Since most of these routes were built relatively early, many have entered a period of large-scale maintenance and repair, placing higher demands on highway maintenance technology. Surveys indicate that in some areas, thousands of kilometers of expressways require maintenance and repair. This is mainly due to long-term traffic loads, environmental water damage, and other factors, causing asphalt pavement cracks and potholes. The pavement's performance will decrease by 40% within 75% of its service life. If pavement defects are not treated promptly and effectively, the roadbed structure will be further damaged, and performance will decrease by another 40% within the subsequent 12% of its service life, leading to a 3-10 fold increase in maintenance costs.

[0004] Meanwhile, rising labor costs, coupled with the high labor intensity, uneven skill levels, and low construction efficiency of construction workers, necessitate a change in the reliance on manual labor for road repair. Traditional road maintenance methods demand a large number of personnel, have low construction efficiency, and struggle to guarantee maintenance results. Therefore, strengthening technological foresight in the field of highway maintenance, developing and applying intelligent defect detection and repair equipment based on trenchless design principles, and achieving intelligent construction in the highway maintenance process are inevitable trends for innovative development in highway maintenance. This is also the only way to transform road maintenance from a labor-intensive to a technology-intensive industry, alleviate the shortage of funds for highway maintenance, and protect the ecological environment.

[0005] Currently, intelligent repair devices for asphalt pavement defects have largely achieved automated operation, reducing the number of on-site workers and effectively improving repair efficiency. However, the inventors have discovered that the following problems still exist in the existing technology:

[0006] 1) At present, intelligent repair devices for asphalt pavement defects are relatively simple or fragmented, and most of them are specialized repair equipment, which cannot achieve integrated repair of asphalt pavement cracks and potholes at the same time.

[0007] 2) Existing repair equipment is large and bulky, difficult to transport and schedule, has a high initial investment cost, and requires long-term traffic control during construction, which leads to large-scale traffic congestion and is very likely to cause traffic accidents.

[0008] 3) The accuracy of pavement defect identification is low, the precision is poor, and it is difficult to guarantee the quality of repairs after repair.

[0009] 4) When repairing potholes in asphalt pavement, the lack of bonding material on the pothole walls and bottom will result in a low asphalt-to-aggregate ratio at the joint between the repair material and the original pavement material, leading to poor adhesion between the old and new materials. Summary of the Invention

[0010] To address the aforementioned issues, this disclosure proposes an integrated intelligent repair device and method for asphalt pavement cracks and potholes. The device integrates crack and pothole repair, targeting pavement defects identified through 3D reconstruction and convolutional neural networks. It also compacts the affected areas to ensure a tight fit between the repair material and the defective area, effectively improving repair quality. Furthermore, the device is compact and convenient, facilitating transport to the repair site.

[0011] According to some embodiments, the present disclosure adopts the following technical solutions:

[0012] Intelligent integrated repair device for asphalt pavement cracks and potholes

[0013] The system includes a repair vehicle body and a control center. The repair vehicle body includes an upper plate and a middle plate. A crack repair mechanism and a pothole repair mechanism are installed on the upper plate. A rotating mechanism is provided between the upper plate and the middle plate to change the direction of the crack repair mechanism and the pothole repair mechanism.

[0014] The crack repair mechanism and the pothole repair mechanism are respectively installed at both ends of the upper plate of the repair vehicle body. The vibration compaction mechanism is set at the front end of the bottom of the repair vehicle body. The vibration compaction mechanism includes a connecting rod and a rolling shaft. The connecting rod and the rolling shaft are located at the bottom of the repair vehicle body. The rolling shaft is connected to the repair vehicle body through the connecting rod. The rolling shaft is controlled to move back and forth to achieve vibration compaction of the repair area.

[0015] Furthermore, the crack repair mechanism includes a first robotic arm upper arm, a first robotic arm lower arm, a first repair gun, and a first material box. One end of the first robotic arm upper arm is connected to one end of the first robotic arm lower arm, and the other end of the first robotic arm upper arm is connected to a first base. The first base is mounted on the repair vehicle body.

[0016] Furthermore, the other end of the forearm of the first robotic arm is connected to the first repair gun, which can rotate 90°, and the upper arm and the forearm of the first robotic arm can each rotate 180°.

[0017] Furthermore, the first material box is connected to the first repair gun via a first conveying pipe. The first repair gun is equipped with a first nozzle, and the repair direction of the first nozzle is controlled by the joint movement of the first robotic arm, the first robotic arm, and the first repair gun.

[0018] Furthermore, the pothole repair mechanism includes a second robotic arm upper arm, a second robotic arm lower arm, a second repair gun, a second material box, and a scraper. One end of the second robotic arm upper arm is connected to one end of the second robotic arm lower arm, and the other end of the second robotic arm upper arm is connected to a second base. The second base is mounted on the repair vehicle body.

[0019] Furthermore, the other end of the second robotic arm's forearm is connected to a second repair gun, which can rotate 90°. The second robotic arm's upper arm and the second robotic arm's forearm can each rotate 180°. The second material box is connected to the second repair gun via a second conveying pipe. The second repair gun is equipped with a second nozzle, and a scraper is installed on the second nozzle.

[0020] Furthermore, the control center is located on the middle plate of the repair vehicle body and is connected to the defect detection mechanism, which includes a 3D laser scanner, a GPS locator, a linear CCD camera, and a laser level.

[0021] Furthermore, the three-dimensional laser scanner is located on the front side of the repair vehicle body, the GPS locator is located on the upper plate of the repair vehicle body, two linear CCD cameras are located on the front side of the repair vehicle body, and the laser level is located on the front side of the repair vehicle body.

[0022] Furthermore, the bottom of the repair vehicle is equipped with tracks, the first material box and the second material box are located on the top of the upper plate of the repair vehicle and are set as heating and heat preservation barrels, and the outer sides of the first material conveying pipe and the second material conveying pipe are equipped with heat preservation sleeves.

[0023] According to some embodiments, the present disclosure adopts the following technical solutions:

[0024] Repair methods for integrated intelligent repair devices for asphalt pavement cracks and potholes include:

[0025] Set the repair vehicle's travel route, and when it travels to the target area, control the heating and insulation of the first and second material boxes to make the repair material molten;

[0026] The 3D laser scanner and linear CCD camera start working, scanning and photographing the diseased area in front to obtain 3D point cloud data, locating the diseased area through a GPS positioning device, and then uploading the data to the control center.

[0027] The control center receives the three-dimensional coordinates of the damaged area, and through the three-dimensional reconstruction mechanism of the damaged area and the convolutional neural network, the machine can quickly and accurately identify potholes and cracks in the asphalt pavement and plan the repair path.

[0028] If it is a crack, the control center controls the mechanical rotation mechanism to rotate the crack repair mechanism to the front, and at the same time controls the first robotic arm, the first robotic arm, the first repair gun, the first material box and the first nozzle in the crack repair mechanism to start working and move to repair according to the set planned path;

[0029] If it is a pothole, the control center controls the mechanical rotation mechanism to rotate the pothole repair mechanism to the front, and at the same time controls the second mechanical arm, the second mechanical arm, the second repair gun, the second material box and the second nozzle in the pothole repair mechanism to start working and move for repair according to the set planned path.

[0030] Compared with the prior art, the beneficial effects of this disclosure are as follows:

[0031] The intelligent integrated repair device for asphalt pavement cracks and potholes disclosed herein integrates crack repair mechanism and pothole repair mechanism on a single repair vehicle, enabling integrated repair of cracks and potholes, greatly improving the efficiency of road maintenance and repair, and solving the problems of traditional repair devices being single, having low intelligence, and poor safety.

[0032] This invention uses a laser level to determine whether the repair of the damaged area is complete, and has the ability to monitor in real time and perform multiple processes continuously. It can work continuously for a long time at high temperatures, effectively improving the quality of repair and realizing comprehensive and high-precision repair of cracks and potholes in asphalt pavement.

[0033] This disclosure uses hot asphalt or hot modified asphalt as the bonding layer material for the pothole wall. Before paving the repair material in the pothole, a layer of bonding material is evenly sprayed onto the damaged area, which effectively improves the adhesion between the repair material and the bottom and wall stones of the pothole, and improves the repair quality of the pothole. A vibratory compaction device is used to compact the damaged area, ensuring a tight fit between the repair material and the damaged area, effectively improving the repair quality and significantly extending the service life of the maintained asphalt pavement.

[0034] This disclosed integrated intelligent repair device for asphalt pavement cracks and potholes requires no human intervention during repair operations, enabling intelligent maintenance decision-making, effectively reducing maintenance costs, and shortening repair time. It avoids prolonged traffic control due to pavement repairs, reducing the impact on traffic and has significant economic and social benefits. Furthermore, based on the three-dimensional reconstruction mechanism of pavement distress areas and the pavement distress classification method of convolutional neural networks, it enables machine vision to quickly and accurately identify asphalt pavement cracks, potholes, and other distresses, and can intuitively and in real-time obtain the appearance shape of the asphalt pavement. Attached Figure Description

[0035] The accompanying drawings, which form part of this disclosure, are used to provide a further understanding of this disclosure. The illustrative embodiments of this disclosure and their descriptions are used to explain this disclosure and do not constitute an undue limitation of this disclosure.

[0036] Figure 1 This is a schematic diagram of the overall structure of the device according to an embodiment of the present disclosure;

[0037] Figure 2 This is a schematic diagram of the left side structure of the device according to an embodiment of the present disclosure;

[0038] Figure 3 This is a schematic diagram of the right side structure of the device according to an embodiment of the present disclosure;

[0039] Figure 4 This is a schematic diagram of a helical push rod according to an embodiment of this disclosure;

[0040] Figure 5 These are schematic diagrams illustrating different types of nozzles according to embodiments of this disclosure;

[0041] Figure 6 This is a schematic diagram of the first material box according to an embodiment of the present disclosure;

[0042] Figure 7 This is a schematic diagram of the second material box according to an embodiment of this disclosure.

[0043] The components include: 1. Track; 2. Middle plate; 3. Top plate; 4. Battery; 5. Warning light; 6. Linear CCD camera; 7. 3D laser scanner; 8. Laser level; 9. GPS positioning device; 10. First robotic arm upper arm; 11. First robotic arm lower arm; 12. First repair gun; 13. Second robotic arm upper arm; 14. Second robotic arm lower arm; 15. Second repair gun; 16. Scraper; 17. First material bin; 18. Second material bin; 19. First conveying pipe; 20. First nozzle; 21. Control center; 22. Mechanical rotation device; 23. Rolling shaft; 24. Connecting rod; 25. Spiral push rod; 26. Agitator; 27. Second conveying pipe; 28. Second nozzle; 29. ​​First base; 30. Second base. Detailed Implementation

[0044] The present disclosure will be further described below with reference to the accompanying drawings and embodiments.

[0045] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains.

[0046] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this disclosure. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0047] Example 1

[0048] One embodiment of this disclosure provides an integrated intelligent repair device for asphalt pavement cracks and potholes, including a repair vehicle body, a defect detection mechanism, a crack repair mechanism, a pothole repair mechanism, a vibration compaction mechanism, and a control center;

[0049] like Figure 2 As shown, the repair vehicle includes warning lights 5, tracks 1, a middle plate 2, an upper plate 3, a battery 4, and a mechanical rotating mechanism 22. The repair vehicle is powered by the battery 4 and is used by the integrated intelligent repair device for asphalt pavement cracks and potholes to identify and repair damaged areas. Warning lights 5 are located on the front and rear sides of the repair vehicle to alert following vehicles to avoid the repair work. The mechanical rotating mechanism 22 controls the direction of the upper plate, thereby switching the direction of the crack repair mechanism and the pothole repair mechanism. The tracks can drive the repair vehicle to complex terrain to complete the repair.

[0050] A crack repair mechanism and a pothole repair mechanism are installed on the upper plate. The crack repair mechanism and the pothole repair mechanism are respectively installed at both ends of the upper plate 3 of the repair vehicle body. The vibration compaction mechanism is set at the front end of the bottom of the repair vehicle body. The vibration compaction mechanism includes a connecting rod 24 and a rolling shaft 23. The connecting rod 24 and the rolling shaft 23 are located at the bottom of the repair vehicle body. The rolling shaft 23 is connected to the repair vehicle body through the connecting rod 24. The rolling shaft 23 is controlled to move back and forth to achieve vibration compaction of the repair area.

[0051] As one embodiment, the crack repair mechanism includes a first robotic arm upper arm 10, a first robotic arm lower arm 11, a first repair gun 12, and a first logistics box 17. One end of the first robotic arm upper arm 10 is connected to one end of the first robotic arm lower arm 11, and the other end of the first robotic arm upper arm 10 is connected to a first base 29, which is mounted on the repair vehicle body.

[0052] The other end of the forearm 11 of the first robotic arm is connected to the first repair gun 12, which can rotate 90°. The upper arm 10 and the forearm 11 of the first robotic arm can rotate 180° respectively.

[0053] The first material box 17 is connected to the first repair gun 12 via the first material conveying pipe 19. The first repair gun 12 is equipped with a first nozzle 20. The repair direction of the first nozzle 20 is controlled by the joint movement of the first robotic arm 10, the first robotic arm 11, and the first repair gun 12.

[0054] As one embodiment, the pothole repair mechanism includes a second robotic arm upper arm 13, a second robotic arm lower arm 14, a second repair gun 15, a second material box 18, and a scraper 16. One end of the second robotic arm upper arm 13 is connected to one end of the second robotic arm lower arm 14, and the other end of the second robotic arm upper arm 13 is connected to a second base 30. The second base 30 is mounted on the repair vehicle body.

[0055] The other end of the second robotic arm forearm 14 is connected to the second repair gun 15, which can rotate 90°. The second robotic arm upper arm 13 and the second robotic arm forearm 14 can rotate 180° respectively. The second material box 18 is connected to the second repair gun 15 through the second material conveying pipe 27. The second repair gun 15 is provided with a second nozzle 28, and the second nozzle 28 is provided with a scraper 16.

[0056] The scraper 16 can evenly spread the adhesive and repair materials in the pit, and the repair direction of the second nozzle 28 can be controlled by the joint movement of the second robotic arm 13, the second robotic arm 14, and the second repair gun 15.

[0057] As one example, such as Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown, the first repair gun 12 and the second repair gun 15 are equipped with a spiral push rod 25 inside, with a replaceable nozzle connected to the bottom end. Different types of nozzles can be used for different cracks or pits. The nozzles are connected by threads for easy disassembly and simple connection. The upper end of the spiral push rod 25 is connected to a stepper motor, which drives the spiral push rod 25 to push the repair material out of the nozzle, thus achieving comprehensive repair of the damaged area. The upper plate of the repair vehicle is equipped with two material boxes. The first material box 17 contains crack repair material, and the second material box 18 contains pit adhesive and repair material.

[0058] Specifically, the first material box 17 and the second material box 18 are located on top of the upper plate 3 of the repair vehicle and are heatable and insulated containers to keep the repair material in a molten state. The first material box 17 contains asphalt, and the second material box 18 contains pothole repair material asphalt mixture and adhesive material hot asphalt or hot modified asphalt. The repair material is conveyed to the repair gun through two delivery pipes, and each delivery pipe is equipped with an insulation sleeve to prevent the material from cooling inside the pipe and clogging the pipe.

[0059] Figure 6 As shown, a stirrer 26 is installed at the bottom of the first material box 17. During the heating process, the stirrer works simultaneously. The stirrer rotates to make the temperature distribution of the heated asphalt more uniform, so as to prevent uneven temperature or clumping of the asphalt.

[0060] Figure 7 As shown, the second material box 18 is internally divided into two containers of the same volume but different sizes. One container contains the adhesive material for the dents, and the other container contains the repair material for the dents. The two parts are independent of each other, and the materials are not disturbed. Both containers are also equipped with stirrers at the bottom to prevent the adhesive and repair materials from settling and to ensure their fluidity.

[0061] Specifically, potholes in asphalt pavements often involve large damaged areas, with exposed aggregate surfaces on the pothole walls and bottom. These surfaces gradually become smooth under traffic loads and rainwater erosion. Directly filling them with asphalt mixture repair material results in poor adhesion between the old and new aggregates, leading to repair failure. This invention addresses this issue by first pumping the adhesive material from a second material tank and then uniformly spraying a layer onto the pothole walls and bottom.

[0062] Adhesive material is then pumped out from the second material box, and the repair material is then applied to the potholes and damaged areas for repair.

[0063] Specifically, the second feed pipe 27 has branch pipes in both the adhesive material and repair material sections of the second material box 18. When the control center 21 issues a command, the corresponding branch pipe will pump out the corresponding material. For example, when the control center 21 issues a command to pump out the adhesive material, the branch pipe in the adhesive material section will start working to pump the adhesive material to the second nozzle 28.

[0064] Specifically, the first conveying pipe 19 and the second conveying pipe 27 are telescopic pipes. The first material box 17, the second material box 18, the first repair gun 12, and the second repair gun 15 are connected through the first conveying pipe 19 and the second conveying pipe 27. The telescopic pipes can move in conjunction with the robotic arm.

[0065] As one embodiment, the repair vehicle body is also equipped with a vibration compaction mechanism, which includes a connecting rod 24 and a rolling shaft 23. The connecting rod 24 and the rolling shaft 23 are located at the bottom of the repair vehicle body. The rolling shaft 23 is connected to the repair vehicle body through the connecting rod 24, which can perform vibration compaction of the repair area. The connecting rod 24 can prevent resonance between the repair vehicle body and the rolling shaft, and can control the back-and-forth movement of the rolling shaft 23 to compact the asphalt pavement defect repair area.

[0066] As one embodiment, for the identification and detection of road surface defects, a defect detection mechanism is installed on the repair vehicle. This mechanism includes a 3D laser scanner 7, a GPS positioning device 9, two linear CCD cameras 6, and a laser level 8. The 3D laser scanner 7 is located at the front of the repair vehicle, the GPS positioning device 9 is located on the top of the upper panel of the repair vehicle, and the two linear CCD cameras 6 and the laser level 8 are both located at the front of the repair vehicle. The 3D laser scanner 7 and the two linear CCD cameras 6 measure the 3D information of road surface defects such as cracks or potholes as the repair vehicle moves, and send the acquired 3D information of the defect area to the control center 21. The GPS positioning device 9 is responsible for locating the specific location of the defect area in the asphalt pavement, and the laser level 8 is responsible for determining whether the repair material has completely filled the defect area.

[0067] The control center 21 is located on top of the middle plate of the repair vehicle. After processing the acquired three-dimensional point cloud data, it identifies and classifies road defects based on the existing three-dimensional reconstruction mechanism of road defect areas and convolutional neural networks, so as to realize the rapid and accurate identification of defects such as cracks and potholes in asphalt pavement by machine vision.

[0068] The control center 21 is connected to the defect detection mechanism, crack repair mechanism, pothole repair mechanism, and vibration compaction mechanism. After determining the type of defect, the control center 21 plans the defect repair path. At this time, the control center 21 issues a command to control the mechanical rotation device 22 of the repair vehicle to make adjustments. If it is a crack, the crack repair device rotates to the front, and the first robotic arm 10, the first robotic arm 11, and the first repair gun 12 begin to move to repair the crack defect. If it is a pothole, the pothole repair device rotates to the front, and the second robotic arm 13, the second robotic arm 14, and the second repair gun 15 begin to move to repair the pothole defect. If it is a pothole, the pothole repair device rotates to the front. At this time, the control center controls the adhesive material in the second material box 18 to be pumped out first. The second robotic arm 13, the second robotic arm 14, and the second repair gun 15 start to move, driving the second nozzle 28 to spray out the adhesive material. After the spraying is completed, the control center controls the repair material to be pumped out from the second material box. The second robotic arm 13, the second robotic arm 14, and the second repair gun 15 continue to move, driving the second nozzle 28 to spray out the repair material, completing the repair at the pothole location.

[0069] Example 2

[0070] One embodiment of this disclosure provides a repair method for an integrated intelligent repair device for asphalt pavement cracks and potholes, including:

[0071] Step 1: The 3D laser scanner emits laser pulse signals, two linear CCD cameras simultaneously capture images of road surface defects ahead, and the GPS positioning device locates the defect positions.

[0072] Step 2: The control center unifies the coordinate system of the 3D laser scanner and the coordinate system of the linear CCD camera to obtain complete 3D point cloud data of road surface defects.

[0073] Step 3: The control center preprocesses the acquired 3D point cloud data.

[0074] Specifically, the control center 21 first simplifies the 3D point cloud by using an average simplification method to reduce redundant data.

[0075] Specifically, the control center performs noise reduction on the 3D point cloud data using a Gaussian filtering algorithm.

[0076] Specifically, the control center stitches together the point cloud data, represents the scanned data with an accurate surface, and then performs high-precision 3D modeling of the disease location after surface reconstruction.

[0077] Step 4: Using pre-selected asphalt pavement distress images as a database for model training, construct a data input layer, convolutional computation layer, ReLU activation layer, pooling layer, and fully connected layer. The control center accurately identifies the types of asphalt pavement distress using the convolutional neural network model.

[0078] Step 5: After the control center determines the type of road surface distress, it controls the mechanical rotation mechanism of the repair vehicle to work, and further controls the crack or pothole repair mechanism to start working, thus completing the repair of asphalt pavement distress.

[0079] Step Six: After the repair is completed, the laser level will start working to determine whether the repair is complete by measuring the amount of repair material overflow.

[0080] Specifically, if the laser level 8 detects that the repair material has overflowed, it is determined that the repair material has fully filled the damaged area, and the control center 21 issues a repair technical instruction.

[0081] Specifically, if the laser level 8 detects that the repair material has not overflowed, it is determined that the repair material has not completely filled the damaged area. At this time, the control center 21 will control the crack and pit repair mechanism to squeeze out the repair material again in the area that has not overflowed.

[0082] As one example, the specific implementation method of the integrated intelligent repair device for asphalt pavement cracks and potholes is as follows:

[0083] S1: Set the driving route in the control center 21. The integrated intelligent repair device for asphalt pavement cracks and potholes drives to the target area. At the same time, the first material box 17 and the second material box 18 start heating and heat preservation to keep the repair material in a molten state.

[0084] S2: The three-dimensional laser scanner 7 and two linear CCD cameras 6 of the disease detection agency start working. By scanning and photographing the disease area in front, three-dimensional point cloud data is obtained. The GPS positioning device 9 locates the position of the disease area. The laser level 8 is turned on at the same time to survey the disease repair situation.

[0085] S3: The control center 21 receives the three-dimensional coordinates of a large number of dense points in the disease area. Through the three-dimensional reconstruction mechanism of the disease area and the road disease classification method of convolutional neural network, the machine can quickly and accurately identify asphalt pavement potholes, cracks and other diseases, and plan the repair path.

[0086] If it is a crack, the control center 21 controls the mechanical rotation mechanism 22 to rotate the crack repair mechanism to the front, and at the same time controls the first mechanical arm 10, the first mechanical arm 11, the first repair gun 12, the first nozzle 20 and the first material box 17 in the crack repair mechanism to start working and move for repair according to the set planned path.

[0087] If it is a pothole, the control center 21 controls the mechanical rotation mechanism 22 to rotate the pothole repair mechanism to the front, and at the same time controls the second mechanical arm 13, the second mechanical arm 14, the second repair gun 15, the second nozzle 28, and the second material box 18 in the pothole repair mechanism to start working and move for repair according to the set planned path.

[0088] S4: The crack and pothole repair device begins operation.

[0089] If the crack repair mechanism starts working, the repair material in the first material box 17 is transported to the first repair gun 12 through the first material conveying pipe. At this time, the spiral push rod in the first repair gun 12 starts working, pushing the repair material to be squeezed out from the first nozzle 20, thus completing the repair of the crack.

[0090] When the pothole repair mechanism starts working, the adhesive material in the second material box 18 is first pumped out. This adhesive material is then transported to the second repair gun 15 through the second feed pipe. At this point, the spiral pusher inside the second repair gun 15 starts working, pushing the adhesive material out of the first nozzle 20 and evenly spreading a layer of adhesive material on the pothole. After the adhesive material is completely extruded, the control center 21 controls the repair material to be pumped out. This repair material is then transported to the second repair gun 15 through the feed pipe. At this point, the spiral pusher inside the second repair gun 15 starts working, pushing the repair material out of the second nozzle 28, completing the repair of the pothole.

[0091] S5: The laser level 8 determines whether the repair is complete by measuring whether the repair material has overflowed at the repair location.

[0092] If the laser level 8 determines that the material has overflowed beyond the horizontal road surface, then the repair is complete.

[0093] If the laser level 8 determines that the material has not overflowed, the control center will control the crack and pit repair mechanism to re-extract the material in the area where it has not overflowed.

[0094] S6: When the laser level 8 determines that the repair of the damaged area is complete, the control center 21 controls the vibration compaction device to start working, and the repair vehicle moves to achieve vibration compaction of the crack or pit filling material.

[0095] S7: After the repair is completed, the control center 21 controls the first and second robotic arms 10 and 13, the first and second robotic arms 11 and 14, and the first and second repair guns 12 and 15 of the crack and pit repair mechanism to stop working, and controls the repair vehicle to travel to the next target area.

[0096] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0097] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0098] While the specific embodiments of this disclosure have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of this disclosure. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of this disclosure are still within the scope of protection of this disclosure.

Claims

1. An integrated intelligent repair device for asphalt pavement cracks and potholes, characterized in that, The system includes a repair vehicle body and a control center. The repair vehicle body includes an upper plate and a middle plate. A crack repair mechanism and a pothole repair mechanism are installed on the upper plate. A rotating mechanism is provided between the upper plate and the middle plate to change the direction of the crack repair mechanism and the pothole repair mechanism. The crack repair mechanism and the pothole repair mechanism are respectively installed at both ends of the upper plate of the repair vehicle body. The vibration compaction mechanism is set at the front end of the bottom of the repair vehicle body. The vibration compaction mechanism includes a connecting rod and a rolling shaft. The connecting rod and the rolling shaft are located at the bottom of the repair vehicle body. The rolling shaft is connected to the repair vehicle body through the connecting rod. The rolling shaft is controlled to move back and forth to achieve vibration compaction of the repair area. The pothole repair mechanism includes a second robotic arm upper arm, a second robotic arm lower arm, a second repair gun, a second material box, and a leveler. The second repair gun is equipped with a second asphalt nozzle, and the second asphalt nozzle is equipped with a leveler. The second material box is divided into two containers of the same volume but different sizes. One container contains adhesive material for the pits, and the other container contains repair material for the pits.

2. The integrated intelligent repair device for asphalt pavement cracks and potholes as described in claim 1, characterized in that, The crack repair mechanism includes a first robotic arm upper arm, a first robotic arm lower arm, a first repair gun, and a first material box. One end of the first robotic arm upper arm is connected to one end of the first robotic arm lower arm, and the other end of the first robotic arm upper arm is connected to a first base. The first base is mounted on the repair vehicle body.

3. The integrated intelligent repair device for asphalt pavement cracks and potholes as described in claim 2, characterized in that, The other end of the forearm of the first robotic arm is connected to the first repair gun, which can rotate 90°. The upper arm and the forearm of the first robotic arm can each rotate 180°.

4. The integrated intelligent repair device for asphalt pavement cracks and potholes as described in claim 2, characterized in that, The first material box is connected to the first repair gun through the first material conveying pipe. The first repair gun is equipped with a first asphalt nozzle. The repair direction of the first asphalt nozzle is controlled by the joint movement of the first robotic arm, the first robotic arm, and the first repair gun.

5. The integrated intelligent repair device for asphalt pavement cracks and potholes as described in claim 1, characterized in that, One end of the upper arm of the second robotic arm is connected to one end of the lower arm of the second robotic arm, and the other end of the upper arm of the second robotic arm is connected to the second base, which is mounted on the repair vehicle body.

6. The integrated intelligent repair device for asphalt pavement cracks and potholes as described in claim 1, characterized in that, The other end of the second robotic arm's forearm is connected to the second repair gun, which can rotate 90°. The second robotic arm's upper arm and the second robotic arm's forearm can each rotate 180°. The second material box is connected to the second repair gun via the second material conveying pipe.

7. The integrated intelligent repair device for asphalt pavement cracks and potholes as described in claim 1, characterized in that, The control center is located on the middle plate of the repair vehicle body and is connected to the defect detection mechanism, which includes a 3D laser scanner, a GPS locator, a linear CCD camera, and a laser level.

8. The integrated intelligent repair device for asphalt pavement cracks and potholes as described in claim 7, characterized in that, The 3D laser scanner is located on the front of the repair vehicle body, the GPS locator is located on the upper plate of the repair vehicle body, two linear CCD cameras are located on the front of the repair vehicle body, and the laser level is located on the front of the repair vehicle body.

9. The integrated intelligent repair device for asphalt pavement cracks and potholes as described in claim 4, characterized in that, The repair vehicle is equipped with tracks at the bottom. The first and second material boxes are located on the top of the upper plate of the repair vehicle and are set as heating and insulation barrels. The first and second material conveying pipes are equipped with insulation sleeves on the outside.

10. A repair method based on the integrated intelligent repair device for asphalt pavement cracks and potholes according to any one of claims 1-9, characterized in that, include: Set the repair vehicle's travel route. When the vehicle reaches the target area, control the heating and insulation of the first and second material boxes to keep the repair material in a molten state. The 3D laser scanner and linear CCD camera start working, scanning and photographing the diseased area in front to obtain 3D point cloud data, locating the diseased area through a GPS positioning device, and then uploading the data to the control center. The control center receives the three-dimensional coordinates of the damaged area, and through the three-dimensional reconstruction mechanism of the damaged area and the convolutional neural network, the machine can quickly and accurately identify potholes and cracks in the asphalt pavement and plan the repair path. If it is a crack, the control center controls the mechanical rotation mechanism to rotate the crack repair mechanism to the front, and at the same time controls the first robotic arm, the first robotic arm, the first repair gun, and the first material box in the crack repair mechanism to start working and move for repair according to the set planned path; If it is a pothole, the control center controls the mechanical rotation mechanism to rotate the pothole repair mechanism to the front, and at the same time controls the second robotic arm, the second robotic arm, the second repair gun, and the second material box in the pothole repair mechanism to start working and move for repair according to the set planned path.

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