Intelligent pavement crack pouring device

Abstract

The invention discloses an intelligent pavement crack pouring device which comprises a mobile vehicle body system, a control system and an operation system, wherein the control system and the operation system are integrated on a trolley; the mobile vehicle body system comprises a frame, and the movement of the frame is controlled by the control system; the operation system comprises a crack image detection and recognition module, a longitudinal moving guide rail assembly, a slotting and cleaning operation module and a crack pouring, flattening and sand blasting operation module; the crack image detection and recognition module is used for recognizing cracks, photographing the cracks on the road surface and uploading a result to the control system for recognition; the grooving and cleaning operation module is used for conducting grooving operation and groove cleaning operation. The crack pouring, flattening and sand blasting operation module is used for carrying out crack pouring and flattening operation on cracks; the longitudinal moving guide rail assembly is used for driving the grooving device, the dust collection device and the crack pouring and trowelling device to move in the X direction or the Y direction on the horizontal plane. And intelligentization of asphalt pavement operation is realized.

Description

Technical Field

[0001] The invention relates to the field of asphalt pavement repair, and in particular to an intelligent pavement crack filling device. Background Art

[0002] The main processes of asphalt pavement grouting include grooving, grooving cleaning, grouting, leveling and sandblasting. Currently, the grouting equipment is mainly a partial assembly and combination of grooving, cleaning and grouting equipment. It does not have the function of full-process grouting, and does not have intelligent functions such as automatic grouting identification and automatic grouting. It is highly dependent on manual experience, has low efficiency and poses safety hazards. To address these problems, there is a need for a grouting equipment that can improve the process and intelligence of asphalt pavement grouting. Summary of the invention

[0003] The invention provides a crack filling device which can improve the process and intelligence of crack filling of asphalt pavement.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] An intelligent road surface crack filling device comprises a mobile body system, a control system and an operation system respectively integrated on the vehicle;

[0006] The mobile vehicle body system includes a frame rotatably supported by wheels, and the movement of the frame is controlled by the control system;

[0007] The operation system includes a crack image detection and recognition module, a longitudinal moving guide rail assembly, a slotting and cleaning operation module, and a grouting and leveling sandblasting operation module;

[0008] The crack image detection and recognition module is used to identify cracks. It takes pictures of cracks on the road surface and uploads the results to the control system for identification;

[0009] The slot opening and cleaning operation module is used to perform slot opening and slot cleaning operations;

[0010] The grouting, leveling and sandblasting operation module is used to perform grouting, leveling and sandblasting operations on the cracks;

[0011] The longitudinal moving guide rail assembly is used to drive the slotting and cleaning operation module and the grouting, leveling and sandblasting operation module to move in the X direction or Y direction on the horizontal plane.

[0012] Furthermore, the two end faces of the main body of the frame in the Y direction are inverted "concave" shape, the width direction of the main body has two legs of a rectangular frame, the two legs support the top of the main body, and the two end faces of the frame in the length direction have two crossbeams, each crossbeam is vertically connected to the middle part of the legs, and the middle concave part of the main body is used to integrate the crack image detection and recognition module and the longitudinal moving guide rail assembly from top to bottom respectively;

[0013] A circle of fence is fixed on the top of the main body.

[0014] Furthermore, the crack image detection and recognition module includes a Y-axis image linear module, two X-axis image linear modules, and a camera;

[0015] The camera is fixed on the slider of the Y-axis image linear module, so that the camera moves along the Y direction;

[0016] Both ends of the module body of the Y-axis image linear module are respectively fixed to the sliders of the X-axis image linear module, so that the camera moves along the X direction;

[0017] The module body of the X-axis image linear module is arranged on the frame.

[0018] Furthermore, the longitudinal movable guide rail assembly includes a slotting slider and a caulking slider which can move in two dimensions along the X direction and the Y direction respectively;

[0019] The slotting and cleaning operation module is integrated on the slotting slider, and the grouting and leveling sandblasting operation module is integrated on the grouting slider.

[0020] Further, the longitudinal moving guide rail component includes two Y-axis longitudinal moving slide rails arranged along the Y direction, a Y-axis longitudinal guide rail slider slidably matched with the Y-axis longitudinal moving slide rails, a longitudinal lead screw arranged between the two Y-axis longitudinal moving slide rails, a longitudinal nut block sleeved on the longitudinal lead screw, an X-axis slotting moving module, an X-axis caulking moving module, and an X-axis longitudinal crossbeam arranged along the X direction;

[0021] The two ends of the longitudinal lead screw are rotatably connected by the frame, and the motor drives the longitudinal lead screw to rotate and drives the longitudinal nut block to move along the Y direction;

[0022] Both ends of the X-axis longitudinal crossbeam moving along the Y direction are respectively fixed to the Y-axis longitudinal guide rail slider, and the middle of the X-axis longitudinal crossbeam is fixedly connected to the longitudinal nut block;

[0023] The X-axis slotting moving module and the X-axis caulking moving module arranged in parallel are respectively integrated between the two Y-axis longitudinal guide rail sliders; the longitudinal nut block, the X-axis slotting moving module and the X-axis caulking moving module move synchronously along the Y direction;

[0024] The slotting cleaning operation module is integrated on the slotting slider that can move along the X direction of the X-axis slotting movable module, and the slotting leveling and sandblasting operation module is integrated on the slotting slider that can move along the X direction of the X-axis slotting movable module.

[0025] Furthermore, the slot cleaning operation module includes a Z-axis slotting linear module, a two-dimensional slotting rotating platform, a slotting sheet, a dust suction nozzle, and a slot housing with an opening on the bottom surface;

[0026] The module body of the Z-axis slotted linear module is fixed on the slotted slider, and a two-dimensional slotted rotating platform component is integrated on the slider of the Z-axis slotted linear module;

[0027] The two-dimensional slotted rotating platform outputs a slotted rotating plate with a rotating axis in the Z direction, the slot housing is fixed on the slotted rotating plate, the slotted sheet is rotatably connected in the slot housing, and the slotted motor drives the slotted sheet to rotate;

[0028] The dust suction nozzle is fixed on the card slot housing, and the dust suction nozzle is connected to a dust collector fixed on the vehicle frame through a pipeline.

[0029] Furthermore, a vertical middle partition is arranged inside the slot housing to separate the slot housing into two spaces for accommodating the slotted sheet and the dust nozzle respectively.

[0030] Furthermore, the caulking and leveling sandblasting operation module includes a Z-axis caulking linear module, a two-dimensional caulking rotating platform, a caulking nozzle, two caulking trowel plates, a caulking device connecting plate, a caulking rotating connecting plate, and a sandblasting head for providing sandblasting;

[0031] The module body of the Z-axis caulking linear module is fixed on the caulking slider, a caulking device connecting plate is fixed on the slider of the Z-axis caulking linear module, and the caulking device connecting plate is integrated with a two-dimensional caulking rotating platform;

[0032] The two-dimensional caulking rotating platform drives the caulking rotating connecting plate to rotate, and the rotation axis is along the Z direction;

[0033] The grouting nozzle is fixed on the grouting rotating connecting plate and is connected to the asphalt pump and the heating kettle fixed on the frame through pipelines; the sandblasting head for sandblasting is fixed on the grouting rotating connecting plate and is connected to the sandblasting machine body fixed on the frame through pipelines;

[0034] The caulking trowel plate is arranged on the caulking rotating connecting plate and is used for leveling the cracks.

[0035] Furthermore, the middle part of the caulking trowel plate in the length direction is an arched plate, and the two ends are flat plates; the two flat plates are hinged in the width direction of the caulking trowel plate by elastic hinges;

[0036] The caulking nozzle passes through any arched plate.

[0037] Furthermore, it also includes a dust suction device fixed on the caulking rotating connecting plate.

[0038] In the above technical solution, the present invention has the following beneficial effects:

[0039] The intelligent asphalt pavement grouting equipment provided by the present invention realizes the full process and intelligence of asphalt pavement operations, can improve the efficiency of grouting operations by more than 20%, and reduce manpower input costs by more than 30%. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0041] Figure 1 The schematic diagram of the structure of the crack filling device disclosed in the present invention is shown;

[0042] Figure 2 The schematic diagram of the structure of the crack image detection and recognition module disclosed in the present invention is shown;

[0043] Figure 3 A schematic structural diagram of a vehicle frame disclosed in the present invention is shown;

[0044] Figure 4 A schematic structural diagram of a longitudinal movable guide rail component disclosed in the present invention is shown;

[0045] Figure 5 The schematic diagram of the structure of the seam filling and leveling sandblasting operation module disclosed in the present invention is shown;

[0046] Figure 6 The schematic diagram of the structure of the slotting and cleaning operation module disclosed in the present invention is shown.

[0047] Reference numerals list

[0048] Frame 1-1, crossbeam 1-2, Y-axis image linear module 2-1, X-axis image linear module 2-2, camera 2-3, slotted slider 3-8, Y-axis longitudinal movable slide rail 3-1, Y-axis longitudinal guide slider 3-2, longitudinal lead screw 3-3, longitudinal nut block 3-4, X-axis slotted movable module 3-6, X-axis grouting movable module 3-7, X-axis longitudinal crossbeam 3-5, Z-axis slotted linear module 4-1, two-dimensional slotted rotating platform 4-2, slotted sheet 4-3, dust suction nozzle 4-4, slot housing 4-5, Z-axis grouting linear module 5-1, two-dimensional grouting rotating platform 5-2, grouting nozzle 5-3, grouting smear plate 5-4, grouting device connecting plate 5-5, grouting rotating connecting plate 5-6, sandblasting head 5-7, dust suction port 5-8. DETAILED DESCRIPTION

[0049] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0050] It should be noted that the terms "above", "one end", "upper", etc. used in this article to indicate the orientation or position relationship is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description. Similar expressions are only for the purpose of explanation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention; in addition, the terms "one part", "two parts", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0051] Figures 1 to 6 An intelligent pavement caulking device is shown, comprising an intelligent caulking vehicle, a control system and an operating system respectively integrated on the intelligent caulking vehicle. Figure 1-6 The pipelines are not shown.

[0052] The intelligent seam filling vehicle includes a frame 1-1 supported by wheels, the movement of the frame 1-1 is controlled by a control system, and the frame 1-1 can perform acceleration, deceleration, left turn, right turn, forward, backward, etc. The intelligent seam filling vehicle is an existing technology, and its main function is to provide a mobile function, and the control system and the operation system are mounted on the vehicle.

[0053] The operating system includes a crack image detection and recognition module, a longitudinal moving guide rail assembly, a slotting and cleaning operation module, and a grouting, leveling and sandblasting operation module.

[0054] The crack image detection and recognition module is used to identify cracks. It takes pictures of cracks on the road surface and uploads the results to the control system for identification.

[0055] The slot opening and cleaning operation module is used for slot opening and slot cleaning operations.

[0056] The grouting and leveling sandblasting module is used to grout and level the cracks.

[0057] The longitudinal moving guide rail assembly is used to drive the slotting and cleaning operation module and the caulking and leveling sandblasting operation module to move in the X direction or Y direction on the horizontal plane.

[0058] Such a grouting device provides a full-process operation of grooving, grooving cleaning, grouting, leveling and sandblasting. The intelligent grouting vehicle provides the function of an intelligent vehicle, integrating the components involved in each operation together.

[0059] The intelligent seam filling vehicle is an existing technology, which preferably includes a wheel assembly, a steering motor, and a coupling. The wheel assembly adopts a four-wheel four-steering chassis design, which is connected to the frame by bolts, and the wheel assembly and the steering motor are connected by a coupling. The wheel assembly receives control system instructions and uses the internal speed control motor to control the movement speed of the body system.

[0060] The steering motor is connected to the frame through bolts, and the steering motor and the wheel assembly are connected through a coupling. The steering motor receives the control system command and transmits the torque to the wheel assembly through the coupling to realize wheel steering. The wheel assembly is located outside the operating system.

[0061] Preferably, the two end faces of the main body of the frame 1-1 in the Y direction are inverted "concave" shape, and there are two rectangular legs in the width direction of the main body, and the two legs support the top of the main body. There are two cross beams 1-2 on the two end faces in the length direction of the frame 1-1, and each cross beam 1-2 is vertically connected to the middle part of the legs. The middle recessed part of the main body is used to integrate the crack image detection and recognition module and the longitudinal movable guide rail assembly from top to bottom respectively; a circle of fence is fixed on the top of the main body.

[0062] like Figure 2-3 The two Y-direction end faces and the cross-section in the length direction of the frame 1-1 shown are inverted "concave" shape as a whole, and the middle depression of the main body is used to integrate the crack image detection and recognition module and the longitudinal moving guide rail assembly from top to bottom. The direction from the front to the rear of the frame 1-1 is the Y direction, the width direction of the vehicle is the X direction, and the end face on the plane perpendicular to the Y direction is an inverted "concave" shape. A circle of fences is fixed on the top of the main body. In this way, the top surface of the main body can be used to place devices such as heating axes, asphalt pumps, vacuum cleaners, etc.; these devices are surrounded by fences. The interior of the main body can be used to integrate the operating system, which plays a role in highly utilizing the space of the frame 1-1. The wheels are placed on the two legs.

[0063] The crack image detection and recognition module includes a two-dimensional platform motion mechanism and a camera 2-3, and the two-dimensional platform motion mechanism drives the camera 2-3 to perform two-dimensional motion in X and Y directions. Preferably, the two-dimensional platform motion mechanism includes a Y-axis image linear module 2-1 and two X-axis image linear modules 2-2.

[0064] Two X-axis image linear modules 2-2 are installed on the two sides of the main body along the X direction. The two sliders of the X-axis image linear module 2-2 can move along the X direction, and the two ends of the Y-axis image linear module 2-1 are installed on the two sliders of the X-axis image linear module 2-2, so that the Y-axis image linear module 2-1 can move in the X direction. Figure 2As shown, the camera 2-3 is fixed on the slider of the Y-axis image linear module 2-1, so that the camera 2-3 moves along the Y direction; the two ends of the module body of the Y-axis image linear module 2-1 are respectively fixed to the slider of the X-axis image linear module 2-2, so that the camera 2-3 moves along the X direction.

[0065] The module body of the X-axis image linear module 2-2 is arranged on the frame 1-1.

[0066] Two X-axis image linear modules 2-2 are installed on the two sides of the top of the main body arranged along the X direction. The two sliders of the X-axis image linear module 2-2 can move along the X direction, and the two ends of the Y-axis image linear module 2-1 are installed on the two sliders of the X-axis image linear module 2-2, so that the slider of the Y-axis image linear module 2-1 can move in the X and Y directions. The X-axis image linear module 2-2 is above the Y-axis image linear module 2-1. In this way, the X-axis image linear module 2-2 is highly integrated on the frame and occupies a small height space.

[0067] Preferably, the longitudinal movable guide rail assembly includes a slotted slider 3-8 and a caulking slider which can move in two dimensions along the X direction and the Y direction respectively.

[0068] The slotting and cleaning operation module is integrated on the slotting slider 3-8, and the grouting and leveling sandblasting operation module is integrated on the grouting slider.

[0069] Specifically, the longitudinal movable guide rail component includes two Y-axis longitudinal movable slide rails 3-1 arranged along the Y direction, a Y-axis longitudinal guide rail slider 3-2 slidingly matched with each Y-axis longitudinal movable slide rail 3-1, a longitudinal lead screw 3-3 arranged in parallel between the two Y-axis longitudinal movable slide rails 3-1, a longitudinal nut block 3-4 sleeved on the longitudinal lead screw 3-3, an X-axis slotting movable module 3-6, an X-axis grouting movable module 3-7, and an X-axis longitudinal crossbeam 3-5 arranged along the X direction.

[0070] Two Y-axis longitudinal moving slide rails 3 - 1 are arranged on opposite sides of the two legs and are located below the crack image detection and recognition module.

[0071] The two ends of the longitudinal lead screw 3-3 arranged in the Y direction are rotatably connected by the frame 1-1, and the motor drives the longitudinal lead screw 3-3 to rotate and drives the longitudinal nut block 3-4 to move along the Y direction.

[0072] The middle of the X-axis longitudinal beam 3-5 arranged along the X direction is fixedly connected to the longitudinal nut block 3-4, and the two ends of the X-axis longitudinal beam 3-5 moving along the Y direction are respectively fixed to the Y-axis longitudinal guide slider 3-2, and the two ends of the X-axis longitudinal beam 3-5 are respectively slidably connected to the Y-axis longitudinal moving slide rail 3-1.

[0073] The X-axis slotting moving module 3-6 and the X-axis caulking moving module 3-7 arranged in parallel are respectively integrated between the two Y-axis longitudinal guide sliders 3-2. The longitudinal nut block 3-4 moves in the Y direction to drive the X-axis longitudinal crossbeam 3-5 and the Y-axis longitudinal guide slider 3-2 to move synchronously in the Y direction. The longitudinal nut block 3-4, the module body of the X-axis slotting moving module 3-6 and the module body of the X-axis caulking moving module 3-7 move synchronously in the Y direction. The slotting cleaning operation module is integrated on the slotting slider 3-8 of the X-axis slotting moving module 3-6 that can move in the X direction, and the caulking leveling sandblasting operation module is integrated on the caulking slider of the X-axis caulking moving module 3-7 that can move in the X direction.

[0074] During operation, the X-axis slotting moving module 3-6 is used first and then the X-axis caulking moving module 3-7 is used. Therefore, the X-axis slotting moving module 3-6 is closer to the front of the machine than the X-axis caulking moving module 3-7.

[0075] The longitudinal moving module is used to drive the slotting and cleaning operation module and the caulking and leveling sandblasting operation module to move in the Y and X directions, and is fixed to the lower side of the frame. The slotting slider 3-8 and the caulking slider move synchronously in the Y direction and move separately in the X direction. This arrangement has the advantage of reducing the volume of the entire equipment.

[0076] Preferably, the slotting and cleaning operation module includes a Z-axis slotting linear module 4-1, a two-dimensional slotting rotating platform 4-2, a slotting sheet 4-3, a dust suction nozzle 4-4, and a slot shell 4-5 with an opening on the bottom surface.

[0077] The module body of the vertically arranged Z-axis slotted linear module 4-1 is fixed on the slotted slider 3-8, and is arranged vertically. The slider of the Z-axis slotted linear module 4-1 is integrated with a two-dimensional slotted rotating platform assembly 4-2; the Z-axis slotted linear module 4-1 drives the two-dimensional slotted rotating platform assembly 4-2 to move in the up and down directions and the Z direction. Preferably, an L-shaped adapter plate is fixed on the slider of the Z-axis slotted linear module 4-1, and the two-dimensional slotted rotating platform 4-2 is connected to the bottom surface of the horizontal plate of the adapter plate, so that the two-dimensional slotted rotating platform 4-2 is set on the side of the slider of the Z-axis slotted linear module 4-1 to prevent movement interference.

[0078] The two-dimensional slotted rotating platform 4-2 outputs a slotted rotating plate with a rotation axis in the Z direction. The slotted rotating plate can rotate 360 ​​degrees, and the rotation axis is vertical. The slot housing 4-5 is fixed on the slotted rotating plate, and the slotted sheet 4-3 is rotatably connected in the slot housing 4-5. The slotted motor integrated on the slotted rotating plate drives the slotted sheet 4-3 to rotate. Figure 6 As shown, when the card slot housing 4-5 is removed, it can be seen that the slotted sheet 4-3 is a round sheet or an annular sheet, which can be used to slot the crack.

[0079] The dust suction nozzle 4-4 is fixed on the card slot shell 4-5, and the dust suction nozzle 4-4 is connected to the dust collector fixed on the frame 1-1 through a pipeline.

[0080] Preferably, a vertical middle partition is provided inside the slot housing 4-5 to separate the slot housing 4-5 into two spaces for accommodating the slotted sheet 4-3 and the dust nozzle 4-4 respectively.

[0081] The slotting and cleaning operation module is carried by the vehicle frame. The data obtained by the image recognition module is used to obtain the slotting route. The module has four degrees of freedom, namely the three axial degrees of freedom of movement in the X, Y, and Z directions and the vertical degree of freedom of rotation, to complete the cutting of the cracks. The Y-axis movement and the X-axis moving slide rail are completed by the longitudinal moving module, the free movement of the Z-axis is completed by the Z-axis slotting linear module 4-1, and the rotation movement in the vertical direction of the ground is completed by the two-dimensional slotting rotating platform 4-2. The four degrees of freedom cooperate to realize the following and slotting functions of the center line of the crack. The dust suction nozzle is connected to the vacuum cleaner and the waste storage container through a pipeline, and the dust suction nozzle is used to vacuum to realize the slot cleaning function.

[0082] Preferably, the caulking and leveling sandblasting operation module includes a Z-axis caulking linear module 5-1, a two-dimensional caulking rotating platform 5-2, a caulking nozzle 5-3, two oppositely arranged caulking trowel plates 5-4, a caulking device connecting plate 5-5, a caulking rotating connecting plate 5-6, and a sandblasting head 5-7 for providing sandblasting. The Z-axis caulking linear module 5-1 is used to output vertical and Z-direction movements.

[0083] The module body of the vertically arranged Z-axis caulking linear module 5-1 is fixed on the caulking slider, and a caulking device connecting plate 5-5 is fixed on the slider of the Z-axis caulking linear module 5-1, and the caulking device connecting plate 5-5 is integrated with a two-dimensional caulking rotating platform 5-2. The two-dimensional caulking rotating platform 5-2 moves synchronously with the slider of the Z-axis caulking linear module 5-1. Preferably, an L-shaped caulking device connecting plate 5-5 is fixed on the slider of the Z-axis caulking linear module 5-1, and the two-dimensional caulking rotating platform 5-2 is connected to the bottom surface of the horizontal plate of the caulking device connecting plate 5-5, so that the two-dimensional caulking rotating platform 5-2 is fixed to the side of the slider of the Z-axis caulking linear module 5-1 to prevent movement interference.

[0084] The two-dimensional caulking rotating platform 5-2 drives the caulking rotating connecting plate 5-6 to rotate, and the rotation axis is along the Z direction; the caulking rotating connecting plate 5-6 is fixed on the output plate of the two-dimensional caulking rotating platform 5-2 which can rotate in the XY plane.

[0085] The caulking nozzle 5-3 is fixed on the caulking rotating connecting plate 5-6 and connected to the asphalt pump and heating kettle fixed on the frame 1-1 through pipelines; the heating kettle is used to heat the asphalt. The sandblasting head 5-7 for providing sandblasting is fixed on the caulking rotating connecting plate 5-6 and connected to the sandblasting machine body fixed on the frame 1-1 through pipelines; the sandblasting machine body is connected to the air compressor and the sand storage tank.

[0086] The grouting rotating connecting plate 5-6 includes an inverted U-shaped main body, and a first flat plate and a second inclined plate are fixed on both sides of the outer surface of the main body. The first flat plate is used to fix the dust suction port 5-8, and the second inclined plate is used to install the sandblasting head 5-7.

[0087] The grouting plate 5-4 is arranged on the grouting rotating connecting plate 5-6 and is used to smooth the cracks, and can smooth the asphalt poured around the cracks.

[0088] The structure of the caulking nozzle 5-3 and the caulking trowel plate 5-4 can refer to the preferred embodiments below, or refer to the prior art, such as the Chinese utility model patent "A Asphalt Pavement Repair Device" with application number CN202323272812.5 and the Chinese utility model patent "A Convenient Asphalt Pavement Caulking Gun Structure" with application number CN201921052967.9.

[0089] The preferred embodiment of the structure of the caulking nozzle 5-3 and the caulking trowel plate 5-4 is as follows: the middle part of the length direction of the caulking trowel plate 5-4 is an arched plate, and the two ends are flat plates; the lower part of the arched plate connects two flat plates. The two flat plates are hinged in the width direction of the caulking trowel plate 5-4 by elastic hinges. The two caulking trowel plates 5-4 are inverted V shape.

[0090] The caulking nozzle 5-3 penetrates and connects one of the arched plates. Compared with the traditional technology, a caulking trowel plate 5-4 is used to scrape asphalt. Because there is a ground drop in vertical operation during caulking and leveling operations, an elastic hinge can be used to form a contour to the ground. After the potting glue flows out of the caulking nozzle 5-3, a caulking trowel plate is used to achieve the effect of "the caulking formation should be full, 1 to 2 mm high from the interface, 2 cm ± 2 mm wide on both sides of the seam, and no leaking points in the entire seam". The arc plates of the two caulking trowel plates 5-4 form a caulking path, and there are two hinged plates on each side of the path. The two caulking trowel plates 5-4 are hinged with elastic hinges to achieve flexible connection, which can adapt to undulating terrain. The caulking trowel plate 5-4 is connected to the caulking nozzle 5-3 to achieve the setting of the caulking trowel plate 5-4 on the caulking rotating connecting plate 5-6.

[0091] Preferably, it also includes a dust suction port 5-8 fixed on the caulking rotating connecting plate 5-6. Usually, there is dust in the cracks on the road, which can be cleaned by suction. The dust suction port 5-8 can be equipped with a dust suction nozzle, which is connected to the dust suction body fixed to the frame through a pipeline.

[0092] The grouting, leveling and sandblasting module is used to complete the grouting, leveling and sandblasting of previously cut cracks during the operation. This module is similar to the slotting and cleaning module and also has four degrees of freedom, which are the three axial degrees of freedom of movement in the X, Y and Z directions and the vertical degree of freedom of rotation. It can realize asphalt grouting, leveling and sandblasting of cracks during the operation. Among them, the X and Y degrees of freedom share the longitudinal moving guide rail assembly with the slotting and cleaning module.

[0093] The Z-axis movement can be completed by a common linear movement module such as a lifting screw and a lifting screw motor, namely, a Z-axis caulking linear module 5-1, and the vertical rotational freedom can be completed by a rotating platform with a rotation function, namely, a two-dimensional caulking rotating platform 5-2. Considering the timing logic and rationality of the spatial arrangement of the operation, the caulking and leveling sandblasting operation module is placed behind the slotting and cleaning operation module.

[0094] The dust suction port 5-8 is mounted on the dust suction connecting piece, and the dust suction connecting piece is fixed to the output plate of the two-dimensional caulking rotating platform 5-2. The dust suction device is connected to the dust suction body through a pipeline, and the dust suction connecting piece 4-10 is bolted to the caulking rotating connecting plate 5-6. The dust suction port 5-8 is opened for use under non-grooving conditions.

[0095] The sandblasting hose is fixed on the output plate of the two-dimensional grouting rotating platform 5-2 and is connected to the air compressor and the sand storage tank.

[0096] The control system is used for crack image detection and recognition, crack repair operation control and intelligent caulking vehicle motion control, and is composed of hardware equipment and control software. The host of the control system uses an industrial host with an AI computing power of no less than 6TOPS processor, and the operating system uses Linux / Windows. The control system software realizes real-time control of the movement of the intelligent caulking vehicle and various operating devices, mainly including three parts: crack image detection and recognition software, crack repair operation control software and intelligent caulking vehicle motion control software. The control system software is installed and run in the host of the intelligent caulking vehicle control system.

[0097] The caulking device also includes a power system that provides power energy for the movement of the intelligent caulking vehicle, heating and heat preservation of the caulking glue, grooving, vacuuming, caulking, sandblasting and other equipment and operations. It is composed of a power battery pack and a generator. The generator supplies power to the AC equipment on the asphalt pavement intelligent caulking equipment.

[0098] The caulking device also includes a handheld control tablet. The control system can be integrated on the handheld control tablet. The handheld control tablet is the remote control device and human-machine interface of the caulking device. It is responsible for monitoring and operating the intelligent caulking vehicle to perform crack repair operations. The handheld control tablet communicates with each module through LoRa and control.

[0099] During operation, (1) the operator uses the handheld control tablet to guide the handheld control tablet to the top of the crack in the construction area, releases the control of the handheld control tablet, and then completes the subsequent detection and repair tasks with the handheld control tablet.

[0100] (2) The intelligent caulking vehicle uses a crack image monitoring and recognition module to automatically scan the cracks and upload the images to the crack detection image recognition and positioning unit of the operating system for identification and positioning.

[0101] (3) The crack detection image recognition and positioning unit transmits the recognition results to the control system, which controls the crack grooving and cleaning operation module, the grouting and leveling sandblasting operation module, and the longitudinal moving guide rail to perform subsequent operations such as grooving, vacuuming, grouting, and leveling.

[0102] (4) The grouting device moves autonomously within the construction area to complete the repair of multiple road cracks. The operator can also use a handheld control to move the flat-panel asphalt pavement intelligent grouting equipment within the construction area to the next cracked construction road surface.

[0103] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A road surface intelligent crack filling device, characterized in that: It includes an intelligent seam filling vehicle, a control system and an operation system respectively integrated on the intelligent seam filling vehicle; The intelligent seam filling vehicle comprises a frame (1-1) rotatably supported by wheels, and the movement of the frame (1-1) is controlled by the control system; The operation system includes a crack image detection and recognition module, a longitudinal moving guide rail assembly, a slotting and cleaning operation module, and a grouting and leveling sandblasting operation module; The crack image detection and recognition module is used to identify cracks. It takes pictures of cracks on the road surface and uploads the results to the control system for identification; The slot opening and cleaning operation module is used to perform slot opening and slot cleaning operations; The grouting, leveling and sandblasting operation module is used to perform grouting, leveling and sandblasting operations on the cracks; The longitudinal moving guide rail assembly is used to drive the slotting and cleaning operation module and the grouting, leveling and sandblasting operation module to move in the X direction or Y direction on the horizontal plane.

2. The intelligent pavement crack filling device according to claim 1 is characterized in that: The two end faces of the main body of the vehicle frame (1-1) in the length direction are inverted "concave" shapes, the width direction of the main body has two legs of a rectangular parallelepiped frame, the two legs support the top of the main body, the two end faces of the vehicle frame (1-1) in the length direction have two crossbeams (1-2), each crossbeam (1-2) vertically connects the middle part of the legs, and the middle concave part of the main body is used to integrate the crack image detection and recognition module and the longitudinal moving guide rail assembly from top to bottom respectively; A circle of fence is fixed on the top of the main body.

3. The intelligent pavement crack filling device according to claim 1 is characterized in that: The crack image detection and recognition module comprises a Y-axis image linear module (2-1), two X-axis image linear modules (2-2), and a camera (2-3); The camera (2-3) is fixed on the slider of the Y-axis image linear module (2-1), so that the camera (2-3) moves along the Y direction; Both ends of the module body of the Y-axis image linear module (2-1) are respectively arranged on the slider of the X-axis image linear module (2-2), so that the camera (2-3) moves along the X direction; The module body of the X-axis image linear module (2-2) is arranged on the vehicle frame (1-1).

4. The intelligent pavement crack filling device according to claim 1, characterized in that: The longitudinal movable guide rail assembly comprises a slotted slider (3-8) and a caulking slider which can move in two dimensions along the X direction and the Y direction respectively; The slotting and cleaning operation module is integrated on the slotting slider (3-8), and the seam filling and leveling sandblasting operation module is integrated on the seam filling slider.

5. The intelligent pavement crack filling device according to claim 4 is characterized in that: The longitudinal moving guide rail component comprises two Y-axis longitudinal moving slide rails (3-1) arranged along the Y direction, a Y-axis longitudinal guide rail slider (3-2) slidably matched with the Y-axis longitudinal moving slide rails (3-1), a longitudinal lead screw (3-3) arranged between the two Y-axis longitudinal moving slide rails (3-1), a longitudinal nut block (3-4) sleeved on the longitudinal lead screw (3-3), an X-axis slotting moving module (3-6), an X-axis caulking moving module (3-7), and an X-axis longitudinal crossbeam (3-5) arranged along the X direction; The two ends of the longitudinal lead screw (3-3) are rotatably connected by the vehicle frame (1-1), and a motor drives the longitudinal lead screw (3-3) to rotate, thereby driving the longitudinal nut block (3-4) to move along the Y direction; The two ends of the X-axis longitudinal crossbeam (3-5) moving along the Y direction are respectively fixed to the Y-axis longitudinal guide rail slider (3-2), and the middle of the X-axis longitudinal crossbeam (3-5) is fixedly connected to the longitudinal nut block (3-4); The X-axis slotting moving module (3-6) and the X-axis caulking moving module (3-7) arranged in parallel are respectively integrated between the two Y-axis longitudinal guide rail sliders (3-2); the longitudinal nut block (3-4), the X-axis slotting moving module (3-6) and the X-axis caulking moving module (3-7) move synchronously along the Y direction; The slotting cleaning operation module is integrated on the slotting slider (3-8) of the X-axis slotting movable module (3-6) that can move along the X direction, and the slotting leveling sandblasting operation module is integrated on the slotting slider of the X-axis slotting movable module (3-7) that can move along the X direction.

6. The intelligent pavement crack filling device according to claim 4 is characterized in that: The slotting and cleaning operation module comprises a Z-axis slotting linear module (4-1), a two-dimensional slotting rotating platform (4-2), a slotting sheet (4-3), a dust suction nozzle (4-4), and a slot housing (4-5) with an opening on the bottom surface; The module body of the Z-axis slotted linear module (4-1) is fixed on the slotted slider (3-8), and a two-dimensional slotted rotating platform (4-2) is integrated on the slider of the Z-axis slotted linear module (4-1); The two-dimensional slotted rotating platform (4-2) outputs a slotted rotating plate with a rotating axis in the Z direction, the slot housing (4-5) is fixed on the slotted rotating plate, the slotted sheet (4-3) is rotatably connected in the slot housing (4-5), and the slotting motor drives the slotted sheet (4-3) to rotate; The dust suction nozzle (4-4) is fixed on the card slot housing (4-5), and the dust suction nozzle (4-4) is connected to a dust collector fixed on the vehicle frame (1-1) through a pipeline.

7. The intelligent pavement crack filling device according to claim 6 is characterized in that: An upright middle partition is provided inside the slot housing (4-5) to separate the slot housing (4-5) into two spaces for respectively accommodating the slotted sheet (4-3) and the dust suction nozzle (4-4).

8. The intelligent pavement crack filling device according to claim 4 is characterized in that: The caulking and leveling sandblasting operation module comprises a Z-axis caulking linear module (5-1), a two-dimensional caulking rotating platform (5-2), a caulking nozzle (5-3), two caulking smearing plates (5-4), a caulking device connecting plate (5-5), a caulking rotating connecting plate (5-6), and a sandblasting head (5-7) for providing sandblasting; The module body of the Z-axis caulking linear module (5-1) is fixed on the caulking slider, a caulking device connecting plate (5-5) is fixed on the slider of the Z-axis caulking linear module (5-1), and the caulking device connecting plate (5-5) is integrated with a two-dimensional caulking rotating platform (5-2); The two-dimensional caulking rotating platform (5-2) drives the caulking rotating connecting plate (5-6) to rotate, and the rotation axis is along the Z direction; The caulking nozzle (5-3) is fixed on the caulking rotating connecting plate (5-6) and connected to the asphalt pump and the heating kettle fixed on the frame (1-1) through pipelines; the sandblasting head (5-7) is fixed on the caulking rotating connecting plate (5-6) and connected to the sandblasting machine body fixed on the frame (1-1) through pipelines; The caulking trowel plate (5-4) is arranged on the caulking rotating connecting plate (5-6) and is used to smooth the cracks.

9. The intelligent pavement crack filling device according to claim 8, characterized in that: The middle part of the caulking trowel plate (5-4) in the length direction is an arched plate, and the two ends are flat plates; the two flat plates are hinged in the width direction of the caulking trowel plate (5-4) through elastic hinges; The caulking nozzle (5-3) passes through one of the arched plates.

10. The intelligent pavement crack filling device according to claim 8, characterized in that: It also includes a dust suction port (5-8) fixed on the caulking rotating connecting plate (5-6).

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