Asphalt pavement maintenance device and method

Abstract

The invention discloses an asphalt pavement maintenance device, comprising: an AGV trolley, the body of which comprises a pair of horizontally arranged cross frames and a connecting frame connecting one ends of the pair of cross frames, and which automatically runs according to a planned driving path and driving speed; the path extraction part is arranged on the connecting frame and is used for drawing an electronic map, extracting a pavement crack position on the electronic map and planning an AGV driving path according to the pavement crack position; and the maintenance part is used for spreading a maintenance agent to the crack position of the pavement in the driving process of the AGV and spreading the maintenance agent, and comprises a maintenance agent spreading assembly and a maintenance agent spreading assembly which are sequentially arranged on the AGV. The invention further provides a maintenance method based on the asphalt pavement maintenance device. According to the asphalt pavement maintenance device, asphalt pavement cracks can be accurately repaired, the size of a repaired surface is basically matched with that of a crack surface, and waste of a maintenance agent is reduced.

Description

Technical Field

[0001] The present invention relates to the field of pavement maintenance, and more specifically, to an asphalt pavement maintenance device and method. Background Art

[0002] Asphalt pavement has developed rapidly due to its advantages such as smooth surface, no joints, comfortable driving, wear resistance, low vibration, and short construction period. However, asphalt materials have poor temperature stability. After long-term use, asphalt pavements often have temperature cracks and crazing. Asphalt pavement temperature cracks include low-temperature shrinkage cracks and temperature fatigue cracks. During the asphalt pavement maintenance process, it is necessary to promptly use curing agents to repair asphalt pavement cracks, otherwise, the asphalt pavement cracks will expand and spread. In view of the defects of asphalt pavement cracks, the curing agent usually used is a grouting agent. Most of the existing asphalt pavement maintenance devices can repair asphalt pavement cracks, but the repair of asphalt pavement cracks is still in a blind repair state. The accuracy of asphalt pavement crack repair is not enough, and the repair surface is much larger than the crack surface, resulting in serious waste of repair agents. Secondly, the flow performance of the grouting agent in the asphalt pavement maintenance device is poor, and the maintenance efficiency is low. For example, in the invention patent with announcement number CN115976922B, an asphalt pavement maintenance device is disclosed, which includes an operating housing and an air supply module. The bottom of the operating housing is provided with an edge and corner removal component and a post-maintenance component. The edge and corner removal component is used to clean impurities adhering to the surface of the side wall of the pit before the longitudinal crack is repaired. The asphalt pavement maintenance device adjusts the edge cleaning strip and the pit wall formed after milling to be in an adaptive fitting state, so that the rotating drive member drives the edge cleaning strip arranged on the outside of the driving transmission roller to sweep away impurities attached to the edges and corners of the pit and the inner wall after the crack is planed and milled. Although the cracks are cleaned by setting the edge and corner removal component to facilitate the later crack repair work, the later crack repair work is still in a blind repair state, the repair surface is too large, the amount of curing agent used is large, and the flow performance of the curing agent in the asphalt pavement maintenance device is not effectively improved. Summary of the invention

[0003] An object of the present invention is to solve at least the above problems and to provide at least the advantages which will be described hereinafter.

[0004] Another object of the present invention is to provide an asphalt pavement maintenance device, which can accurately repair cracks in the asphalt pavement, with the size of the repair surface basically matching the size of the crack surface, thereby reducing the waste of maintenance agents.

[0005] In order to achieve these purposes and other advantages according to the present invention, there is provided an asphalt pavement maintenance device, comprising: The AGV vehicle body includes a pair of horizontally arranged cross frames and a connecting frame connecting one end of the pair of cross frames, and automatically drives according to the planned driving path and driving speed; A path extraction unit, which is arranged on the connecting frame, is used to draw an electronic map and extract the locations of road cracks on the electronic map, and then plan the AGV driving path according to the locations of road cracks; The maintenance part spreads curing agent on the cracks of the road surface and smoothes them during the driving process of the AGV, and includes a curing agent spreading component and a curing agent smoothing component which are sequentially arranged on the AGV trolley.

[0006] Preferably, the path extraction unit includes: The installation cavity includes a scanning cavity arranged in front of the connecting frame and a control cavity arranged above the connecting frame; A plurality of three-dimensional coordinate scanners are arranged at the bottom of the scanning cavity along the width direction of the AGV trolley toward the road surface, and the scanning ranges of adjacent three-dimensional coordinate scanners are continuous in the width direction of the AGV trolley; A control board is arranged in the control cavity, and a plurality of three-dimensional coordinate scanners are electrically connected to the control board.

[0007] Preferably, the curing agent spreading assembly is arranged close to the path extraction unit, and comprises: A pair of mounting frames, which are arranged in mirror image, each mounting frame comprises a mounting frame arranged between a pair of horizontal frames and a supporting frame arranged on the mounting frame, and a T-shaped fixing frame is arranged on opposite sides of the pair of supporting frames, and the vertical portion of the T-shaped fixing frame is arranged upward; A curing agent storage barrel is arranged on the top of a pair of support frames, a feed inlet is arranged on the top of the curing agent storage barrel, and a first stirring frame is arranged inside the curing agent storage barrel; A curing agent storage box, which is arranged on the horizontal part of the pair of T-shaped fixing frames; A curing agent stirring barrel, which is connected to the curing agent storage barrel and the curing agent temporary storage box, and a second stirring frame is provided in the curing agent stirring barrel; A curing agent spreading pipe is arranged downward and communicated with the bottom of the curing agent storage box. A first control valve is arranged at the bottom of the curing agent spreading pipe, and the first control valve is electrically connected to the control panel. A pair of laser positioning sensors are respectively arranged on both sides of the curing agent spreading pipe along the length direction of the AGV; The connecting point between the curing agent storage barrel and the curing agent stirring barrel, and the connecting point between the curing agent stirring barrel and the curing agent temporary storage box are both provided with control valves electrically connected to the control panel.

[0008] Preferably, the curing agent paving assembly is arranged near the other end of the horizontal frame, and comprises: A pair of upright posts, which are symmetrically arranged on a pair of horizontal frames, and a horizontal axis is connected between the pair of upright posts; The drum has hinged shafts at both ends thereof, and the other ends of the hinged shafts are hinged to the transverse shaft; A pair of driving cylinders are respectively connected to a pair of hinge shafts to drive the roller to swing relative to the horizontal axis, and the driving cylinders are electrically connected to the control panel.

[0009] Preferably, the curing agent spreading assembly further comprises: A shunt pipe, which connects the curing agent storage tank and the curing agent stirring tank, a second control valve is provided at the connection point between the shunt pipe and the curing agent stirring tank, and the second control valve is electrically connected to the control board; A pair of curing agent recovery barrels are respectively arranged on both sides of the curing agent stirring barrel. Any curing agent recovery barrel is connected to the diversion pipe through a guide pipe. A delivery pump is provided on the guide pipe, and the delivery pump is electrically connected to the control board.

[0010] Preferably, the asphalt pavement maintenance device further includes a plurality of laser radars, and the laser radars are arranged outside the scanning cavity and the AGV body.

[0011] The present invention further claims protection for a maintenance method based on the asphalt pavement maintenance device, comprising: Step 1: Travel a preset distance along the asphalt road surface so that the path extraction unit scans the asphalt road surface to obtain three-dimensional road surface data, and merge the obtained three-dimensional road surface data with the two-dimensional position information after removing the depth direction into an electronic map; Step 2: Mark the downwardly sunken point set in the three-dimensional road surface data on the electronic map obtained in step 1, and remove the texture point set according to the depth direction data information on the point set to form a suspected crack point set, wherein the depth of the texture point is not greater than 3 mm; Step 3: Mark the suspected crack point set with a depth greater than 1 cm, and find the crack trend lines in different areas by partitioning; Step 4: setting a plurality of crack lines whose distances perpendicular to the crack strike line are within a preset range into crack segments; Step 5: planning the driving path of the AGV according to the direction of a crack segment, so that when the AGV is traveling along the driving path, the curing agent spreading pipe travels along the crack segment and spreads the curing agent along the crack segment; Step 6: While the curing agent spreading pipe is spreading the curing agent along the crack section, the roller is positioned on the road surface and spreads the curing agent along the crack section.

[0012] The present invention has at least the following beneficial effects: First, the asphalt pavement maintenance device provided by the present invention includes an AGV trolley, a path extraction unit and a maintenance unit, wherein the path extraction unit and the maintenance unit are arranged on the AGV trolley, and automatically operate along the planned driving path and driving speed with the AGV, and the path extraction unit uses a three-dimensional coordinate scanner to obtain an accurate coordinate electronic map of the maintenance section, and extracts the crack section of the maintenance section, and plans the driving path of the AGV trolley according to the direction of the crack section, so that the maintenance unit travels along the crack section of the asphalt pavement, and accurately repairs the crack, the repair surface is more accurate, and the waste of curing agent is greatly reduced; Second, the asphalt pavement maintenance device provided by the present invention has a path extraction unit that uses a three-dimensional coordinate scanner to obtain an accurate coordinate map of the maintenance section and accurately mark the crack section of the maintenance section, thereby overcoming the defect that asphalt pavement cracks can only be repaired blindly without manual repair, and laying a foundation for the realization of fully automatic maintenance of asphalt pavements; Third, the curing agent spreading assembly of the asphalt pavement maintenance device provided by the present invention is provided with a curing agent storage barrel, a curing agent stirring barrel and a curing agent temporary storage box, wherein the curing agent storage barrel and the curing agent stirring barrel are both provided with a stirring structure, and the stirring directions are different, which fully ensures the fluidity of the curing agent in the asphalt pavement maintenance device, greatly improves the curing agent spreading efficiency, and thus improves the asphalt pavement maintenance efficiency; Fourthly, the asphalt pavement maintenance device provided by the present invention is provided with a maintenance agent recovery structure, which can recover the excess maintenance agent in time, and prevent the maintenance agent from being stored in the maintenance agent storage barrel for a long time to form precipitation, thereby ensuring both the single operation time of the asphalt pavement maintenance device and the spreading efficiency of the maintenance agent; Fifth, the asphalt pavement maintenance device provided by the present invention can be arranged in multiple units simultaneously along the width direction of the asphalt pavement or the extension direction of the asphalt pavement. The asphalt pavement maintenance device is provided with an avoidance laser radar. Multiple asphalt pavement maintenance devices operate simultaneously without affecting each other, which greatly improves the maintenance efficiency of the asphalt pavement and shortens the downtime during asphalt pavement maintenance.

[0013] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the asphalt pavement maintenance device in one technical solution of the present invention; Figure 2 A cross-sectional schematic diagram of the path extraction unit in another technical solution of the present invention; Figure 3 It is a structural schematic diagram of the mounting frame in another technical solution of the present invention; Figure 4It is a schematic diagram of the assembly of the curing agent paving component in another technical solution of the present invention. DETAILED DESCRIPTION

[0015] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0016] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

[0017] like Figures 1 to 4 As shown, the present invention provides an asphalt pavement maintenance device, comprising: The AGV vehicle, whose body includes a pair of horizontally arranged cross frames 1 and a connecting frame connecting one end of the pair of cross frames 1, automatically travels according to the planned driving path and driving speed; A path extraction unit, which is arranged on the connecting frame, is used to draw an electronic map and extract the locations of road cracks on the electronic map, and then plan the AGV driving path according to the locations of road cracks; The maintenance part spreads curing agent on the cracks of the road surface and smoothes them during the driving process of the AGV, and includes a curing agent spreading component and a curing agent smoothing component which are sequentially arranged on the AGV trolley.

[0018] In the above technical scheme, the asphalt pavement maintenance device provided in the present application is aimed at asphalt pavements that have been cleaned of debris, and the asphalt pavement maintenance device includes an AGV trolley, a path extraction unit and a maintenance unit, wherein the AGV trolley can automatically travel according to the planned driving path and driving speed; the path extraction unit is used to draw an accurate coordinate electronic map of the maintenance section, and extract the location of pavement cracks on the electronic map, and then plan the AGV driving path according to the location of the pavement cracks; when the maintenance unit is running with the AGV trolley, the curing agent spreading pipe 18 thereof travels along the crack section and spreads the curing agent along the crack section, and at the same time, the roller 17 is located on the pavement and flattens the curing agent along the crack section, thereby realizing accurate repair of cracks in the asphalt pavement, with an accurate repair surface, and greatly reducing the waste of curing agent.

[0019] In the above technical scheme, the AGV trolley adopts an existing product, and this application does not specifically elaborate on its specific mechanical structure and internal navigation system. The AGV trolley has different driving paths at different stages of asphalt pavement maintenance, wherein the first stage is the information collection stage, and its driving path is set to travel in a straight line along the extension direction of the maintenance section or the width direction of the maintenance section; the second stage is the maintenance stage, and its driving path is based on the precise coordinate map obtained in the information collection stage and the driving path planned according to the location of the crack section, so that the maintenance department can accurately place the maintenance agent along the direction of the crack section; the third stage is the maintenance detection stage, and its driving path is set to travel in a straight line along the extension direction of the maintenance section or the width direction of the maintenance section to check whether there are any missing cracks in the maintenance section that have not been repaired. Therefore, the asphalt pavement maintenance device provided by the present invention can accurately locate and repair pavement cracks during the maintenance stage, and can also perform maintenance detection work to ensure high-quality maintenance of the asphalt pavement.

[0020] In the above technical solution, the path extraction unit can not only obtain the accurate coordinate map of the maintenance section, but also accurately mark the crack section of the maintenance section, overcoming the defect that asphalt pavement cracks can only be repaired blindly when not repaired manually, and laying the foundation for the full automatic maintenance of asphalt pavement.

[0021] In the above technical solution, the maintenance unit is arranged on the AGV trolley. Preferably, the spreading pipe mouth of the curing agent spreading assembly is located in the middle of the AGV trolley (in the width direction), which is convenient for planning the driving path of the AGV trolley. The maintenance unit moves along the crack section of the asphalt pavement to accurately repair the asphalt pavement, which is beneficial to control the size of the repair surface and prevent the waste of curing agent.

[0022] In one of the technical solutions, the path extraction unit includes: The installation cavity includes a scanning cavity arranged in front of the connecting frame and a control cavity arranged above the connecting frame; A plurality of three-dimensional coordinate scanners are arranged at the bottom of the scanning cavity along the width direction of the AGV trolley toward the road surface, and the scanning ranges of adjacent three-dimensional coordinate scanners are continuous in the width direction of the AGV trolley; A control board is arranged in the control cavity, and a plurality of three-dimensional coordinate scanners are electrically connected to the control board.

[0023] In the above technical solution, the path extraction unit includes a mounting cavity, a plurality of three-dimensional coordinate scanners and a control board arranged in the mounting cavity, the mounting cavity includes an integrated scanning cavity and a control cavity, wherein the scanning cavity is located in front of the AGV trolley (the end where the connecting frame is arranged is the front end of the AGV trolley, the end where the curing agent paving assembly is arranged is the rear end of the AGV, the front of the AGV trolley refers to the front of the front end of the AGV trolley, that is, the rear end of the AGV trolley). Figure 1), the control cavity is arranged above the AGV trolley, and a plurality of three-dimensional coordinate scanners are arranged at the bottom of the scanning cavity. The arrangement density of the three-dimensional coordinate scanners is based on the scanning width of the plurality of three-dimensional coordinate scanners just enough to splice a complete map of the asphalt road surface that has been traveled. Preferably, the scanning ranges of adjacent three-dimensional coordinate scanners are continuous along the width direction of the AGV trolley (the boundary positions are just connected). For example, the scanning range of the three-dimensional coordinate scanner along the width direction of the AGV trolley is A value. Preferably, the first three-dimensional coordinate scanner scans data information of a distance of 0 to A, and the coordinate starting point along the width direction of the AGV trolley is set to 0. The second three-dimensional coordinate scanner scans data information of a distance of A to 2A, and the coordinate starting point along the width direction of the AGV trolley is set to A, and so on.

[0024] In the above technical solution, the path extraction unit uses a three-dimensional coordinate scanner to obtain three-dimensional data information, namely, the two-dimensional data information of the asphalt pavement and the depression distance information in the depth direction. The two-dimensional data information of the asphalt pavement is used to obtain an electronic map containing precise coordinate information of the maintenance pavement, and the depression distance information in the depth direction is used to obtain the maintenance pavement crack information, so as to plan the precise maintenance route of the AGV vehicle, overcoming the defect that the cracks in the asphalt pavement can only be repaired blindly when not repaired manually, and laying the foundation for the realization of fully automatic maintenance of asphalt pavements.

[0025] In one of the technical solutions, the curing agent spreading component is arranged near the path extraction part, and includes: A pair of mounting frames, which are arranged in mirror image, each mounting frame comprises a mounting frame arranged between a pair of horizontal frames 1 and a supporting frame arranged on the mounting frame, and a T-shaped fixing frame is arranged on opposite sides of the pair of supporting frames, and the vertical part of the T-shaped fixing frame is arranged upward; A curing agent storage barrel 2 is arranged on the top of a pair of support frames, a feed port 4 is arranged on the top of the curing agent storage barrel 2, and a first stirring frame 3 is arranged inside the curing agent storage barrel 2; A curing agent storage box, which is arranged on the horizontal part of the pair of T-shaped fixing frames; A curing agent stirring barrel, which is connected to the curing agent storage barrel 2 and the curing agent temporary storage box, and a second stirring frame 20 is provided in the curing agent stirring barrel; A curing agent spreading pipe 18 is arranged downward and communicated with the bottom of the curing agent storage box. A first control valve is arranged at the bottom of the curing agent spreading pipe 18, and the first control valve is electrically connected to the control panel. A pair of laser positioning sensors 19 are respectively arranged on both sides of the curing agent spreading pipe 18 along the length direction of the AGV; The connecting point between the curing agent storage barrel and the curing agent stirring barrel, and the connecting point between the curing agent stirring barrel and the curing agent temporary storage box are both provided with control valves electrically connected to the control panel.

[0026] In the above technical scheme, the maintenance agent spreading assembly is arranged in the middle position in the width direction of the AGV trolley, including a maintenance agent storage barrel 2, a maintenance agent mixing barrel, a maintenance agent temporary storage box and a maintenance agent spreading pipe 18 which are connected in sequence from top to bottom. The preferred distance between the spreading pipe and the road surface is 3 to 10 cm, so that the maintenance agent can accurately enter the road cracks. The maintenance agent storage barrel 2 and the maintenance agent mixing barrel are respectively provided with a first stirring frame 3 and a second stirring frame 20. The axial direction of the first stirring frame 3 is vertical, and the axial direction of the second stirring frame 20 is perpendicular to the axial direction of the first stirring frame 3. The stirring directions of the first stirring frame 3 and the second stirring frame 20 are perpendicular, which ensures sufficient shearing of the maintenance agent and improves the flowability of the maintenance agent. The maintenance agent with high flowability can extend downward along the road cracks by itself to repair the road cracks, and at the same time facilitates the spreading of the maintenance agent.

[0027] In the above technical solution, the curing agent is temporarily stored in the curing agent storage box after being fully stirred, so as to facilitate the regular spreading of the curing agent. The regular spreading of the curing agent is realized by a pair of laser positioning sensors 19. Along the length direction of the AGV, a pair of laser positioning sensors 19 are arranged on both sides of the curing agent spreading pipe 18, and the distance from the spreading pipe is less than 2mm. When the AGV travels on the planned driving path, the curing agent spreading pipe 18 will definitely pass through the road cracks. The pair of laser positioning sensors 19 further locate whether the curing agent spreading pipe 18 is located at the road cracks. When the pair of laser positioning sensors 19 both detect that the distance data from the asphalt road surface is abnormal (that is, both detect that the curing agent spreading pipe 18 is located directly above the road cracks), the first control valve at the bottom of the curing agent spreading pipe 18 opens and starts to spread the curing agent. When a laser positioning sensor 19 does not detect the cracks, the first control valve at the bottom of the curing agent spreading pipe closes and stops spreading the curing agent. The curing agent passes through the curing agent mixing barrel and the curing agent temporary storage box in sequence from the curing agent storage barrel 2, and is finally spread on the road cracks through the curing agent spreading pipe, which extends the flow path of the curing agent and improves the accuracy of curing agent spreading.

[0028] In the above technical solution, the connecting points between the curing agent storage barrel and the curing agent mixing barrel, and the connecting points between the curing agent mixing barrel and the curing agent temporary storage box are all provided with control valves electrically connected to the control board; the path extraction unit adopts a three-dimensional coordinate scanner to obtain the precise coordinate electronic map of the maintenance section, and extracts the crack section of the maintenance section, and plans the driving path of the AGV trolley according to the direction of the crack section. When the AGV trolley moves according to the direction of the crack section, the control valve is opened, otherwise the control valve is closed.

[0029] In one of the technical solutions, the curing agent paving assembly is arranged near the other end of the horizontal frame 1, and includes: A pair of upright posts 14, which are symmetrically arranged on a pair of cross frames 1, and a horizontal axis 24 is connected between the pair of upright posts 14; The roller 17 has hinged shafts 16 at both ends thereof, and the other ends of the hinged shafts 16 are hinged to the transverse shaft 24; A pair of driving cylinders 15 are arranged on a cylinder base 25, and the pair of driving cylinders 15 are respectively connected to a pair of hinge shafts 16 to drive the roller 17 to swing relative to the horizontal axis 24. The cylinder base 25 is arranged between a pair of horizontal frames 1, and the driving cylinder 15 is electrically connected to the control board.

[0030] In the above technical solution, the curing agent paving component is arranged at the rear end of the AGV trolley. After the curing agent spreading component spreads the curing agent on the cracks in the road surface, the AGV continues to move forward, and the roller 17 rolls over the curing agent to pave the curing agent. The roller 17 is provided between a pair of driving cylinders 15 and a pair of cross frames 1. Under the action of the driving cylinder 15, the roller 17 swings back and forth with the horizontal axis 24 as the axis. During the swinging process, the roller 17 at least has a state of being set on the road surface. After the curing agent is spread, the roller 17 swings to the road surface under the action of the driving cylinder 15 to pave the curing agent. When the curing agent is not spread, the roller 17 is set away from the asphalt road surface under the action of the driving cylinder 15, and does not affect the normal driving of the AGV trolley.

[0031] In one of the technical solutions, the curing agent spreading assembly further includes: A shunt pipe, which connects the curing agent storage tank 2 and the curing agent stirring tank, and a second control valve is provided at the connection point between the shunt pipe and the curing agent stirring tank, and the second control valve is electrically connected to the control board; A pair of curing agent recovery barrels are respectively arranged on both sides of the curing agent stirring barrel. Any curing agent recovery barrel is connected to the diversion pipe through a guide pipe. A delivery pump 5 is provided on the guide pipe, and the delivery pump 5 is electrically connected to the control board.

[0032] In the above technical solution, the curing agent recovery barrel is used to recover the curing agent in the curing agent storage barrel 2 after the curing operation, to prevent the curing agent from settling in the curing agent storage barrel 2 and to prevent the curing agent storage barrel 2 from being blocked.

[0033] In one of the technical solutions, the asphalt pavement maintenance device also includes multiple laser radars, which are arranged on the outside of the scanning cavity and the AGV body, so that the multiple asphalt pavement maintenance devices can avoid each other when operating at the same time.

[0034] The present invention further claims protection for a maintenance method based on the asphalt pavement maintenance device, comprising: Step 1: Travel a preset distance along the asphalt road surface so that the path extraction unit scans the asphalt road surface to obtain three-dimensional road surface data, and merge the obtained three-dimensional road surface data with the two-dimensional position information after removing the depth direction into an electronic map; Step 2: Mark the downwardly sunken point set in the three-dimensional road surface data on the electronic map obtained in step 1, and remove the texture point set according to the depth direction data information on the point set to form a suspected crack point set, wherein the depth of the texture point is not greater than 3 mm; Step 3: Mark the suspected crack point set with a depth greater than 1 cm, and find the crack trend lines in different areas by partitioning; Step 4: setting a plurality of crack lines whose distances perpendicular to the crack strike line are within a preset range into crack segments; Step 5: planning the driving path of the AGV according to the direction of a crack segment, so that when the AGV is traveling along the driving path, the curing agent spreading pipe 18 travels along the crack segment and spreads the curing agent along the crack segment; Step 6: While the curing agent spreading pipe 18 spreads the curing agent along the crack section, the roller 17 is positioned on the road surface and spreads the curing agent along the crack section.

[0035] In the above technical solution, the specific maintenance method of the asphalt pavement maintenance device is as follows: Step 1, control the AGV trolley to travel a preset distance in a straight line along the extension direction of the maintained asphalt pavement or the width direction of the maintained asphalt pavement, the preset distance is 3~15m; make the path extraction part obtain the three-dimensional road surface data of the asphalt pavement within the traveled distance, and merge the two-dimensional position information of the obtained three-dimensional road surface data after removing the depth direction into an electronic map; the operation is as follows: set the point density of each three-dimensional coordinate scanner to 1mm, set the scanning range of each three-dimensional coordinate scanner along the width direction of the AGV trolley to A, and the starting points of the coordinates of each three-dimensional coordinate scanner set along the width direction of the AGV trolley along the width direction of the AGV are 0, A, 2A, 3A..., respectively, and the two-dimensional position information obtained by multiple three-dimensional coordinate scanners is sequentially spliced ​​to form an electronic map of the asphalt pavement within the traveled distance, and the electronic map is transmitted to the control system of the AGV trolley; Step 2: Mark the point set that is sunken downward in the three-dimensional road surface data on the obtained electronic map, and remove the texture point set according to the depth direction data information on the point set to form a suspected crack point set, wherein the depth of the texture point is not greater than 3 mm; the specific operation is: mark the point set with depth direction data greater than 3 mm on the electronic map as the suspected crack point set, and mark the points with depth direction data of 3-10 mm as light color, and mark the points with depth direction data greater than 10 mm as dark color; Step 3: Mark the suspected crack point set with a depth greater than 1 cm, and find the crack trend lines in different areas by partitioning; the specific operation is: after deleting the light-colored points, process the relatively concentrated dark-colored dotted areas separately, set the width direction of the AGV trolley as the X-axis direction, and the Y-axis direction perpendicular to the width direction of the AGV trolley as the Y-axis direction, take the minimum value point in the X-axis direction as the starting point (or the minimum value point in the Y-axis direction as the starting point), and extend continuously in different directions to find the longest crack line, which is defined as the crack trend line; among them, when the number of points with the minimum value in the X-axis direction is less than the number of points with the minimum value in the Y-axis direction, take the minimum value point in the X-axis direction as the starting point, and when the number of points with the minimum value in the X-axis direction is greater than or equal to the number of points with the minimum value in the Y-axis direction, take the minimum value point in the Y-axis direction as the starting point; Step 4: multiple fracture lines whose distances perpendicular to the fracture strike line are within a preset range are set as fracture segments. The specific operation is: further dividing the fracture strike line into multiple straight line segments, removing points whose distances from each straight line segment exceed the preset range, and the point set formed by the remaining points is the fracture segment; Step 5: planning the driving path of the AGV according to the direction of a crack segment, so that when the AGV is traveling along the driving path, the curing agent spreading pipe 18 travels along the crack segment and spreads the curing agent along the crack segment; Step 6: While the curing agent spreading pipe 18 spreads the curing agent along the crack section, the roller 17 is positioned on the road surface and spreads the curing agent along the crack section.

[0036] In the above technical scheme, after step six, there is also a step of inspecting the maintenance section. The inspection step of the maintenance section needs to be 2 hours after the curing agent is spread. The AGV is controlled to repeat the path of step one to check whether there are cracks that have not been repaired. If so, steps two to six are repeated. If not, the maintenance work is completed.

[0037] The number of equipment and processing scale described here are used to simplify the description of the present invention. The application, modification and variation of the asphalt pavement maintenance device and method of the present invention will be obvious to those skilled in the art.

[0038] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. Asphalt pavement maintenance device, characterized in that: include: The AGV vehicle body includes a pair of horizontally arranged cross frames and a connecting frame connecting one end of the pair of cross frames, and automatically drives according to the planned driving path and driving speed; A path extraction unit, which is arranged on the connecting frame, is used to draw an electronic map and extract the locations of road cracks on the electronic map, and then plan the AGV driving path according to the locations of road cracks; The maintenance part spreads curing agent on the cracks of the road surface and smoothes them during the driving process of the AGV, and includes a curing agent spreading component and a curing agent smoothing component which are sequentially arranged on the AGV trolley.

2. The asphalt pavement maintenance device according to claim 1, characterized in that: The path extraction unit comprises: The installation cavity includes a scanning cavity arranged in front of the connecting frame and a control cavity arranged above the connecting frame; A plurality of three-dimensional coordinate scanners are arranged at the bottom of the scanning cavity along the width direction of the AGV trolley toward the road surface, and the scanning ranges of adjacent three-dimensional coordinate scanners are continuous in the width direction of the AGV trolley; A control board is arranged in the control cavity, and a plurality of three-dimensional coordinate scanners are electrically connected to the control board.

3. The asphalt pavement maintenance device according to claim 2, characterized in that: The curing agent spreading assembly is arranged near the path extraction part, and includes: A pair of mounting frames, which are arranged in mirror image, each mounting frame comprises a mounting frame arranged between a pair of horizontal frames and a supporting frame arranged on the mounting frame, and a T-shaped fixing frame is arranged on opposite sides of the pair of supporting frames, and the vertical portion of the T-shaped fixing frame is arranged upward; A curing agent storage barrel is arranged on the top of a pair of support frames, a feed inlet is arranged on the top of the curing agent storage barrel, and a first stirring frame is arranged inside the curing agent storage barrel; A curing agent storage box, which is arranged on the horizontal part of the pair of T-shaped fixing frames; A curing agent stirring barrel, which is connected to the curing agent storage barrel and the curing agent temporary storage box, and a second stirring frame is provided in the curing agent stirring barrel; A curing agent spreading pipe is arranged downward and communicated with the bottom of the curing agent storage box. A first control valve is arranged at the bottom of the curing agent spreading pipe, and the first control valve is electrically connected to the control panel. A pair of laser positioning sensors are respectively arranged on both sides of the curing agent spreading pipe along the length direction of the AGV; The connecting point between the curing agent storage barrel and the curing agent stirring barrel, and the connecting point between the curing agent stirring barrel and the curing agent temporary storage box are both provided with control valves electrically connected to the control panel.

4. The asphalt pavement maintenance device according to claim 3, characterized in that: The curing agent paving assembly is arranged near the other end of the horizontal frame, and includes: A pair of upright posts, which are symmetrically arranged on a pair of horizontal frames, and a horizontal axis is connected between the pair of upright posts; The drum has hinged shafts at both ends thereof, and the other ends of the hinged shafts are hinged to the transverse shaft; A pair of driving cylinders are respectively connected to a pair of articulated shafts to drive the roller to swing relative to the transverse axis, and the driving cylinders are electrically connected to the control panel.

5. The asphalt pavement maintenance device according to claim 4, characterized in that: The curing agent spreading assembly also includes: A shunt pipe, which connects the curing agent storage tank and the curing agent stirring tank, a second control valve is provided at the connection point between the shunt pipe and the curing agent stirring tank, and the second control valve is electrically connected to the control board; A pair of curing agent recovery barrels are respectively arranged on both sides of the curing agent stirring barrel. Any curing agent recovery barrel is connected to the diversion pipe through a guide pipe. A delivery pump is provided on the guide pipe, and the delivery pump is electrically connected to the control board.

6. The asphalt pavement maintenance device according to claim 5, characterized in that: It also includes a plurality of laser radars, which are arranged outside the scanning cavity and the AGV body.

7. The maintenance method of the asphalt pavement maintenance device according to claim 6, characterized in that: include: Step 1: Travel a preset distance along the asphalt road surface so that the path extraction unit scans the asphalt road surface to obtain three-dimensional road surface data, and merge the obtained three-dimensional road surface data with the two-dimensional position information after removing the depth direction into an electronic map; Step 2: Mark the downwardly sunken point set in the three-dimensional road surface data on the electronic map obtained in step 1, and remove the texture point set according to the depth direction data information on the point set to form a suspected crack point set, wherein the depth of the texture point is not greater than 3 mm; Step 3: Mark the suspected crack point set with a depth greater than 1 cm, and find the crack trend lines in different areas by zoning; Step 4: setting a plurality of crack lines whose distances perpendicular to the crack strike line are within a preset range into crack segments; Step 5: planning the driving path of the AGV according to the direction of a crack segment, so that when the AGV is traveling along the driving path, the curing agent spreading pipe travels along the crack segment and spreads the curing agent along the crack segment; Step 6: While the curing agent spreading pipe spreads the curing agent along the crack section, the roller is positioned on the road surface and spreads the curing agent along the crack section.

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