Method and device for fully automatically detecting and repairing pavement cracks

Abstract

The invention discloses a pavement crack full-automatic detection and repair method and device, and relates to the field of road detection and repair, and the method comprises the steps: monitoring the position change of a target ball on an automatic driving operation vehicle through a laser tracker on an automatic driving positioning vehicle, so as to obtain the position data of the target ball; a laser scanner is adopted to detect a driving road surface, a detection result is transmitted to a vehicle-mounted computer, and crack characteristics are identified; according to the position data of the target ball, the crack position and the operation relative coordinates are determined, the coordinates of the repairing device are adjusted based on the operation relative coordinates, and cutting and repairing work is executed in combination with crack characteristics; and after the repair of the current road section is completed, automatically driving the positioning vehicle to a new position, and repeating the operation until all the pavement cracks needing to be processed are repaired. According to the invention, high-precision detection and positioning of pavement cracks can be realized, and the accuracy and effectiveness of repairing work are ensured.

Description

Technical Field

[0001] The present invention relates to the field of road detection and repair, and in particular to a method and device for fully automatic detection and repair of road cracks. Background Art

[0002] Asphalt pavement will have a variety of diseases with the increase of service life, among which cracks are one of the most common and most frequent forms of damage. Cracks in asphalt pavement not only damage the appearance of the road and driving comfort, but also if not repaired in time, the cracks will allow surface water to penetrate into the pavement structure layer, thereby reducing the bearing capacity of the pavement, and ultimately causing local or large-scale damage to the pavement, significantly shortening the service life of the pavement. At present, the commonly used treatment method for cracks in asphalt pavements is groove repair.

[0003] However, the existing crack repair process is relatively cumbersome: first, a road inspection vehicle is required to conduct a comprehensive inspection of the road surface, identify crack characteristics and mark the crack locations; then, a slotting and filling vehicle is called to repair the cracks at the marked locations. This method is not only time-consuming and labor-intensive, but also requires the use of multiple equipment, and the inspection vehicle often has certain deviations when marking the crack locations.

[0004] Currently, no effective solution has been proposed for the problems in the related technologies. Summary of the invention

[0005] In view of the problems in the related art, the present invention proposes a method and device for fully automatic detection and repair of road cracks to overcome the above-mentioned technical problems existing in the existing related art.

[0006] To this end, the specific technical solution adopted by the present invention is as follows:

[0007] According to one aspect of the present invention, a method for fully automatic detection and repair of pavement cracks is provided, the method comprising:

[0008] S1. Use the laser tracker on the autonomous driving positioning vehicle to monitor the position change of the target ball on the autonomous driving operation vehicle to obtain the position data of the target ball;

[0009] S2, using a laser scanner to detect the road surface, and transmitting the detection results to the on-board computer to identify crack characteristics;

[0010] S3. Determine the crack position and the relative coordinates of the operation according to the position data of the target ball, adjust the coordinates of the repair device based on the relative coordinates of the operation, and perform cutting and repairing work in combination with the crack characteristics;

[0011] S4. After completing the repair of the current road section, the autonomous driving positioning vehicle drives to a new location and repeats steps S1 to S3 until all the road cracks that need to be processed are repaired.

[0012] Furthermore, the laser tracker on the autonomous driving positioning vehicle is used to monitor the position change of the target ball on the autonomous driving operation vehicle to obtain the position data of the target ball including:

[0013] S11, the autonomous driving positioning vehicle starts and drives in advance to the target position set in front of the autonomous driving working vehicle and stops, and the autonomous driving working vehicle starts and drives forward along the predetermined path;

[0014] S12, using a laser tracker installed on the autonomous driving positioning vehicle to monitor the position change of the target ball on the autonomous driving operation vehicle, and obtaining azimuth angle data, pitch angle data and distance data of the target ball;

[0015] S13, using the conversion formula from spherical coordinates to rectangular coordinates, convert the obtained azimuth angle data, pitch angle data and distance data into coordinate data in a rectangular coordinate system to obtain the position data of the target sphere.

[0016] Furthermore, the conversion formula from spherical coordinates to rectangular coordinates is:

[0017]

[0018] z1=d*cosθ;

[0019] Where x1 represents the horizontal coordinate of the target ball relative to the laser tracker; d represents the distance; represents the azimuth angle; θ represents the pitch angle; y1 represents the ordinate of the target sphere relative to the laser tracker; z1 represents the vertical coordinate of the target sphere relative to the laser tracker.

[0020] Furthermore, a laser scanner is used to detect the road surface, and the detection results are transmitted to the on-board computer. The crack characteristics are identified including:

[0021] S21, calculating and obtaining road surface data according to the reflected light from the laser scanner;

[0022] S22, transmitting the road surface data to the on-board computer, the on-board computer receives and processes the road surface data, constructs a three-dimensional model of the road surface, and identifies crack characteristics based on the three-dimensional model of the road surface.

[0023] Further, the pavement data is transmitted to the onboard computer, the onboard computer receives and processes the pavement data, constructs a three-dimensional model of the pavement, and identifies crack features based on the three-dimensional model of the pavement, including:

[0024] S211, the laser scanner continuously emits light to the road surface during the scanning process, and the light reflected by the road surface is imaged at a point on the camera imaging surface through the camera lens of the laser scanner;

[0025] S212. According to the position of the point, the laser scanner calculates the distance between the road surface and the reference plane to obtain road surface data.

[0026] Further, the pavement data is transmitted to the onboard computer, the onboard computer receives and processes the pavement data, and constructs a three-dimensional pavement model. The crack characteristics are identified based on the three-dimensional pavement model, including:

[0027] S221, the on-board computer receives the road surface data, and processes the road surface data using the pre-calibrated camera internal parameters and the light plane equation, extracts the center line of the laser light strip, and determines the three-dimensional coordinates of each point on the center line in the camera coordinate system;

[0028] S222, the on-board computer fuses the three-dimensional coordinates of all laser center lines collected during the continuous scanning process, unifies them into the same coordinate system, and performs three-dimensional reconstruction to construct a three-dimensional model of the road surface;

[0029] S223. Based on the three-dimensional road surface model, the on-board computer extracts road surface data and identifies crack characteristics.

[0030] Further, according to the position data of the target ball, the crack position and the relative coordinates of the operation are determined, the coordinates of the repair device are adjusted based on the relative coordinates of the operation, and the cutting and repairing work is performed in combination with the crack characteristics, including:

[0031] S31, the laser tracker transmits the position data of the target ball monitored to the on-board computer through the wireless gateway, obtains the trajectory change data of the target ball, and combines the preset guide rail coordinates to obtain the guide rail relative coordinates of the crack position relative to the guide rail;

[0032] S32, obtaining the crack position and the relative coordinates of the operation of the repair device relative to the guide rail according to the relative coordinates of the guide rail and the pre-acquired fixed coordinates of the repair device relative to the guide rail;

[0033] S33, based on the relative coordinates of the operation, calculating the required travel distance of the three axes of the guide rail, and determining the number of revolutions required to control the motor of the three axes of the guide rail in combination with the relationship between the motor revolutions and the travel distance of the guide rail slider;

[0034] S34, using the number of rotations to drive the motor to drive the slider to move, adjusting the repair device to the target coordinates, and combining the crack characteristics and the relative coordinates of the operation, the computer controls the repair device to perform the grooving work;

[0035] S35, calculating the volume of the groove according to the length, width and depth of the groove, obtaining the required filler volume information, and performing repair work based on the filler volume information.

[0036] According to another aspect of the present invention, there is also provided a device for fully automatic detection and repair of road cracks, including an automatic driving work vehicle and an automatic driving positioning vehicle, wherein a work vehicle head is arranged on one side of the top of the automatic driving work vehicle, a target ball is arranged on one side of the work vehicle head, a laser scanner is arranged on the other side of the work vehicle head, and a computer is arranged at one end of the work vehicle head; a filling device is arranged on the other side of the top of the automatic driving work vehicle, a heating device is arranged inside the filling device, a filling pump is arranged on one side of the filling device, a filling device guide rail and a grooving device guide rail are arranged in sequence in the middle of the automatic driving work vehicle, the filling device guide rail and the filling pump are matched through a filling pipe, and the grooving device guide rail and the grooving device are matched.

[0037] Furthermore, in order to detect and locate road cracks and ensure the accuracy and effectiveness of the repair work, a laser tracker is installed on the top of the autonomous driving positioning vehicle, and a wireless gateway is installed at one end of the autonomous driving positioning vehicle.

[0038] Furthermore, in order to achieve high-precision detection and positioning of road cracks and ensure the accuracy and effectiveness of the repair work, the target ball and the laser scanner cooperate with each other through laser.

[0039] The beneficial effects of the present invention are:

[0040] 1. The present invention greatly improves the safety of operation through the fully automated unmanned operation of the grooving device and the filling device. Combined with the use of laser scanners and laser trackers, it can achieve high-precision detection and positioning of road cracks, ensuring the accuracy and effectiveness of the repair work.

[0041] 2. The present invention uses the intelligent coordinated control of the automatic driving work vehicle, the grooving device and the filling device to efficiently complete the grooving and filling processes according to the real-time motion data and crack position information transmitted by the computer, thereby maximizing the use of working time, reducing waiting time, and significantly improving work efficiency.

[0042] 3. The present invention realizes wireless real-time transmission and processing of data through a wireless gateway. The computer can instantly receive and process the data, optimize trajectory planning and crack identification through advanced algorithms, and generate crack diagnosis reports and repair plans, which not only improves work efficiency, but also enhances the flexibility and adaptability of the system, providing a more efficient solution for road maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention 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 of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 is a flow chart of a method for fully automatic detection and repair of pavement cracks according to an embodiment of the present invention;

[0045] Figure 2 is a working schematic diagram of a method for fully automatic detection and repair of pavement cracks according to an embodiment of the present invention;

[0046] Figure 3 2 is a schematic diagram of the principle of vertical incident laser scanning in a method for fully automatic detection and repair of pavement cracks according to an embodiment of the present invention;

[0047] Figure 4 is a schematic diagram of the forward movement of an automatic driving working vehicle in a method for fully automatic detection and repair of road cracks according to an embodiment of the present invention;

[0048] Figure 5 is a schematic diagram of the stopping of an automatic driving working vehicle in a method for fully automatic detection and repair of road cracks according to an embodiment of the present invention;

[0049] Figure 6 is a schematic diagram of the movement of an automatic driving positioning vehicle in a method for fully automatic detection and repair of road cracks according to an embodiment of the present invention;

[0050] Figure 7 is a schematic diagram of a device for fully automatic detection and repair of pavement cracks according to an embodiment of the present invention;

[0051] Figure 8 is a schematic structural diagram of an automatic driving working vehicle in a device for fully automatic detection and repair of road cracks according to an embodiment of the present invention;

[0052] Fig. 9 is a cross-sectional view of an automatic driving working vehicle in a device for fully automatic detection and repair of road cracks according to an embodiment of the present invention;

[0053] Fig.10 is a structural schematic diagram of an automatic driving positioning vehicle in a device for fully automatic detection and repair of road cracks according to an embodiment of the present invention;

[0054] Fig.11 It is a schematic structural diagram of a device for fully automatic detection and repair of pavement cracks according to an embodiment of the present invention.

[0055] In the figure:

[0056] 1. Autonomous driving work vehicle; 2. Autonomous driving positioning vehicle; 3. Work vehicle head; 4. Target ball; 5. Laser scanner; 6. Computer; 7. Filling device; 8. Heating device; 9. Filling pump; 10. Filling device guide rail; 11. Grooving device guide rail; 12. Filling pipe; 13. Grooving device; 14. Laser tracker; 15. Wireless gateway. DETAILED DESCRIPTION

[0057] To further illustrate each embodiment, the present invention provides drawings, which are part of the disclosure of the present invention and are mainly used to illustrate the embodiments. They can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, ordinary technicians in this field should be able to understand other possible implementation methods and advantages of the present invention.

[0058] According to an embodiment of the present invention, a method and device for fully automatic detection and repair of pavement cracks are provided.

[0059] The present invention will now be further described with reference to the accompanying drawings and specific embodiments. Figure 1-Figure 2 As shown, according to the method for fully automatic detection and repair of pavement cracks according to an embodiment of the present invention, the method comprises:

[0060] S1. Use the laser tracker on the autonomous driving positioning vehicle to monitor the position change of the target ball on the autonomous driving work vehicle to obtain the position data of the target ball.

[0061] Preferably, using a laser tracker on the autonomous driving positioning vehicle to monitor the position change of the target ball on the autonomous driving operation vehicle to obtain the position data of the target ball includes:

[0062] S11, the autonomous driving positioning vehicle starts and drives in advance to the target position set in front of the autonomous driving working vehicle and stops, and the autonomous driving working vehicle starts and drives forward along the predetermined path;

[0063] S12, using a laser tracker installed on the autonomous driving positioning vehicle to monitor the position change of the target ball on the autonomous driving operation vehicle, and obtaining azimuth angle data, pitch angle data and distance data of the target ball;

[0064] S13, using the conversion formula from spherical coordinates to rectangular coordinates, convert the obtained azimuth angle data, pitch angle data and distance data into coordinate data in a rectangular coordinate system to obtain the position data of the target sphere.

[0065] It should be noted that, in a specific embodiment, in order to determine the precise trajectory of the autonomous driving work vehicle 1, a target sphere 4 is installed in front of the front of the work vehicle 3, and a laser tracker 14 is installed on the roof of the autonomous driving positioning vehicle 2 to accurately track the position and posture changes of the target sphere 4, that is, the position and posture changes of the autonomous driving work vehicle 1 in real time. The laser tracker 14 is a high-precision measurement tool, but it is rarely used in the field of road disease detection. However, the laser tracker 14 has the advantages of high precision, high speed, and a wide detection range. Therefore, it has strong applicability in determining the position and posture changes of the autonomous driving work vehicle 1. The laser tracker 14 uses a spherical coordinate system. After it locates the target sphere 4, it will obtain the azimuth. The three data of pitch angle θ and distance d can be used to convert spherical coordinates into rectangular coordinates. The formula is:

[0066]

[0067] z1=d*cosθ;

[0068] Where x1 represents the horizontal coordinate of the target ball relative to the laser tracker; d represents the distance; represents the azimuth angle; θ represents the pitch angle; y1 represents the ordinate of the target sphere relative to the laser tracker; z1 represents the vertical coordinate of the target sphere relative to the laser tracker.

[0069] This coordinate is the coordinate of the target ball 4 relative to the laser tracker 14. The automatic driving vehicle 1 moves forward, causing the target ball 4 to move forward. The laser tracker 14 obtains the azimuth of the target ball 4 in real time. The changes in the pitch angle θ and the distance d are converted into the motion trajectory of the target ball 4 in the rectangular coordinate system. The target ball 4 is installed on the front of the work vehicle 3, so it is the motion trajectory of the autonomous driving work vehicle 1. The laser tracker 14 transmits the motion trajectory to the computer 6 in real time through the wireless gateway 15.

[0070] S2. Use a laser scanner to detect the road surface and transmit the detection results to the on-board computer to identify crack characteristics.

[0071] Preferably, a laser scanner is used to detect the road surface, and the detection results are transmitted to the on-board computer. The crack characteristics are identified by:

[0072] S21. Calculate and obtain road surface data based on the reflected light from the laser scanner.

[0073] Preferably, the road surface data is transmitted to an onboard computer, the onboard computer receives and processes the road surface data, constructs a three-dimensional model of the road surface, and identifies crack features based on the three-dimensional model of the road surface, including:

[0074] S211, the laser scanner continuously emits light to the road surface during the scanning process, and the light reflected by the road surface is imaged at a point on the camera imaging surface through the camera lens of the laser scanner;

[0075] S212. According to the position of the point, the laser scanner calculates the distance between the road surface and the reference plane to obtain road surface data.

[0076] S22, transmitting the pavement data to the on-board computer, the on-board computer receiving and processing the pavement data, constructing a three-dimensional pavement model, and identifying crack features based on the three-dimensional pavement model.

[0077] Preferably, the pavement data is transmitted to an onboard computer, the onboard computer receives and processes the pavement data, and constructs a three-dimensional pavement model. Identifying crack features based on the three-dimensional pavement model includes:

[0078] S221, the on-board computer receives the road surface data, and processes the road surface data using the pre-calibrated camera internal parameters and the light plane equation, extracts the center line of the laser light strip, and determines the three-dimensional coordinates of each point on the center line in the camera coordinate system;

[0079] S222, the on-board computer fuses the three-dimensional coordinates of all laser center lines collected during the continuous scanning process, unifies them into the same coordinate system, and performs three-dimensional reconstruction to construct a three-dimensional model of the road surface;

[0080] S223. Based on the three-dimensional road surface model, the on-board computer extracts road surface data and identifies crack characteristics.

[0081] It should be noted that, in a specific embodiment, in order to realize the coordinated work of the automatic driving vehicle 1, the laser scanner 5, the grooving device 13, and the filling device 7, a linear guide rail is used for precise control; the laser scanner 5, the grooving device guide rail 11, and the filling device guide rail 10 are all installed on the automatic driving vehicle 1, wherein the laser scanner 5 is installed behind the front of the vehicle 3, and the guide rail is installed on the chassis, and the guide rail movement range is 2m. With the target ball 4 as the coordinate origin O, the coordinates (x2, y2, z2) of the laser scanner 5, the coordinates (x3, y3, z3) of the grooving device guide rail 11, and the coordinates (x4, y4, z4) of the filling device guide rail 10 can be obtained. These are the relative coordinates of each device relative to the target ball 4. Since each device and the target ball 4 are mechanically fixed on the automatic driving vehicle 1, these relative coordinates are constant values ​​and can be measured after installation. When the automatic driving vehicle 1 is moving forward, the laser scanner 5 scans the road surface, and the laser scanner 5 uses vertical incident line laser scanning.

[0082] like Figure 3As shown, when the laser emits incident light EC, it is incident on the measurement plane, and the generated reflected light EF is imaged at point A on the camera imaging surface through the camera lens F. After the system is built, the incident light EC is perpendicular to the reference plane, and the reflected light EB on the reference plane is perpendicular to the camera imaging surface AB. When measuring an object, the height of the measured object is different, and its corresponding imaging position on the camera imaging surface is also different. Therefore, the distance between the surface of the measured object and the reference plane, that is, the height of the measured object, can be calculated through the different positions of the laser on the camera imaging surface. Based on the projection relationship of camera imaging and triangulation knowledge, the geometric relationship of the light in the figure can be obtained, as shown in the formula:

[0083]

[0084] Where AB represents the position deviation of the laser line on the imaging surface after being reflected on two planes; EC represents the incident light; α represents the angle between the camera and the horizontal plane; FB represents the focal length of the industrial camera; and FD represents the height of the camera from the reference plane.

[0085] After simplification, the formula is:

[0086]

[0087] Where EC represents the incident light; AB represents the position deviation of the laser line on the imaging surface after being reflected on two planes; FD represents the height of the camera from the reference plane; FB represents the focal length of the industrial camera; α represents the angle between the camera and the horizontal plane.

[0088] The height of the measured object can be calculated using the formula, where EF and CF are reflected light.

[0089] The laser scanner 5 transmits the scanned data to the computer 6, which processes the data through an algorithm and identifies the characteristics of the pavement cracks, and obtains the coordinates (x5, y5, z5) of the pavement cracks relative to the target ball 4 and their length a, width b and depth h. The algorithm process is as follows:

[0090] (1) The camera’s intrinsic parameters are obtained through camera calibration, and the light plane equation in the camera coordinate system is obtained through light plane calibration.

[0091] (2) Scan the road surface and take images.

[0092] (3) The center line of the laser light strip is extracted to determine the pixel coordinates of the points on the center line. Then, the three-dimensional coordinates of the laser center line in the camera coordinate system can be obtained by combining the camera intrinsic parameters and the light plane equation.

[0093] (4) Continuously photograph the road surface to obtain the three-dimensional coordinates of the laser center line in each image, unify all the three-dimensional coordinates into the same coordinate system, and reconstruct them in three dimensions to obtain a three-dimensional model of the road surface.

[0094] (5) Extract the crack features to obtain the length, width and depth information of the crack.

[0095] S3. Determine the crack position and the relative coordinates of the operation according to the position data of the target ball, adjust the coordinates of the repair device based on the relative coordinates of the operation, and perform cutting and repair work in combination with the crack characteristics.

[0096] Preferably, determining the crack position and the relative coordinates of the operation according to the position data of the target ball, adjusting the coordinates of the repair device based on the relative coordinates of the operation, and performing the cutting and repairing work in combination with the crack characteristics include:

[0097] S31, the laser tracker transmits the position data of the target ball monitored to the on-board computer through the wireless gateway, obtains the trajectory change data of the target ball, and combines the preset guide rail coordinates to obtain the guide rail relative coordinates of the crack position relative to the guide rail;

[0098] S32, obtaining the crack position and the relative coordinates of the operation of the repair device relative to the guide rail according to the relative coordinates of the guide rail and the pre-acquired fixed coordinates of the repair device relative to the guide rail;

[0099] S33, based on the relative coordinates of the operation, calculating the required travel distance of the three axes of the guide rail, and determining the number of revolutions required to control the motor of the three axes of the guide rail in combination with the relationship between the motor revolutions and the travel distance of the guide rail slider;

[0100] S34, using the number of rotations to drive the motor to drive the slider to move, adjusting the repair device to the target coordinates, and combining the crack characteristics and the relative coordinates of the operation, the computer controls the repair device to perform the grooving work;

[0101] S35, calculating the volume of the groove according to the length, width and depth of the groove, obtaining the required filler volume information, and performing repair work based on the filler volume information.

[0102] It should be noted that, in a specific embodiment, after detecting a road crack, the automatic driving vehicle 1 moves forward for 1 m. However, due to accuracy problems and road surface problems, the automatic driving vehicle 1 has a lateral deviation and the driving distance is less than 1 m or exceeds 1 m during the forward movement. At this time, the laser tracker 14 tracks the trajectory change (Δx, Δy, Δz) obtained by tracking the target ball 4. At this time, the coordinates of the road crack relative to the target ball 4 are (x-Δx, y-Δy, z-Δz), and the relative coordinates of the road crack relative to the filling device guide rail 10 and the grooving device guide rail 11 are (x-Δx-x3, y-Δy-y3, z-Δz-z3) and (x-Δx-x4, y-Δy-y4, z-Δz-z4), respectively. The filling tube 12 and the grooving device 13 are both fixed on the sliders on the filling device guide rail 10 and the grooving device guide rail 11. The positions relative to the filling device guide rail 10 and the grooving device guide rail 11 have been determined. These coordinates are transmitted to the computer 6 to obtain the road crack relative coordinates. After the relative coordinates of the filler guide rail 10 and the grooving guide rail 11 are known, the positions of the grooving device 13 and the filler 7 relative to the guide rail are calculated, and the relative positions of the road surface cracks relative to the grooving device 13 and the filler 7 are calculated. The required travel distances of the X, Y, and Z axes of the filler guide rail 10 and the grooving guide rail 11 are calculated. The travel distance of the guide rail slider for each rotation of the motor is determined, and the number of revolutions of the motor that controls the three axes can be calculated, and the number of signals required by the motor can be calculated. The data is processed and transmitted to the motors on the filler guide rail 10 and the grooving guide rail 11, and the driving motor drives the slider to move, so that the grooving device 13 and the filler tube 12 reach the specified position. The computer 6 controls the grooving device 13 to perform grooving according to the length, width, depth information of the crack and the position coordinates. The volume of the groove is calculated according to the length, width, and depth of the grooving of the grooving device, which is the required filler volume and is transmitted to the filler pump to control the discharge to complete the repair work.

[0103] S4. After completing the repair of the current road section, the autonomous driving positioning vehicle drives to a new location and repeats steps S1 to S3 until all the road cracks that need to be processed are repaired.

[0104] It is necessary to add that, if Figure 7As shown, the device for fully automatic detection and repair of road cracks mainly consists of an automatic driving positioning vehicle 2, a laser tracker 14, a laser scanner 5 in the automatic driving working vehicle 1, an automatic grooving device (grooving device 13, grooving device guide rail 11), and an automatic filling device (filling device guide rail 10, filling pipe 12, filling pump 9, filling device 7, heating device 8). By determining the precise trajectory of the automatic driving working vehicle 1, the precise position of the road cracks detected by the laser scanner 5 relative to the grooving device 13 and the filling device 7 is determined, and the coordinated work of the automatic driving working vehicle 1, the automatic driving positioning vehicle 2, the laser scanner 5, the grooving device 13, and the filling device 7 is realized.

[0105] In addition, in order to realize the coordinated work of the autonomous driving work vehicle 1 and the autonomous driving positioning vehicle 2, the driving of the autonomous driving work vehicle 1 and the autonomous driving positioning vehicle 2 is controlled as follows:

[0106] Step 1: Figure 4 As shown, when the operation starts, the operation lane is closed, and a command is given to the automatic driving positioning vehicle 2 to automatically drive to the front of the automatic driving working vehicle 1 (the starting point of the operation) and stop at a distance of about 150m. After that, the automatic driving working vehicle 1 starts to move forward. At this time, the laser tracker 14 behind the automatic driving positioning vehicle 2 monitors the movement of the target ball 4 at the front of the working vehicle 3, and transmits the data to the computer 6 in the automatic driving working vehicle 1 through the wireless gateway 15. The laser scanner 5 carried by the automatic driving working vehicle 1 scans the road surface and identifies the crack characteristics, and transmits the information to the computer 6. The computer 6 integrates the data of the laser tracker 14 to obtain the crack position, depth, shape, length and other parameters, and transmits them to the grooving device 13 and the filling device 7 at the rear to start the road surface crack repair.

[0107] Step 2: Figure 5 As shown, the laser tracker 14 measures that the target ball 4 is about 2 meters away from the autonomous driving positioning vehicle 2 when the autonomous driving working vehicle 1 reaches the position, and the autonomous driving working vehicle 1 stops moving.

[0108] Step 3: Figure 6 As shown, after the autonomous driving work vehicle 1 stops, the autonomous driving positioning vehicle 2 automatically moves forward to a distance of about 150m from the autonomous driving work vehicle 1. During the movement of the autonomous driving positioning vehicle 2, the laser tracker 14 keeps tracking the target ball 4 on the autonomous driving work vehicle 1. Therefore, the position change of the autonomous driving positioning vehicle 2 relative to the autonomous driving work vehicle 1 can always be obtained through the laser tracker 14.

[0109] Step 4: Repeat steps 1, 2 and 3 until the task is completed.

[0110] like Figure 8-Figure 11As shown, according to another aspect of the present invention, there is also provided a device for fully automatic detection and repair of road cracks, including an automatic driving work vehicle 1 and an automatic driving positioning vehicle 2, a work vehicle head 3 is arranged on one side of the top of the automatic driving work vehicle 1, a target ball 4 is arranged on one side of the work vehicle head 3, a laser scanner 5 is arranged on the other side of the work vehicle head 3, and a computer 6 is arranged at one end of the work vehicle head 3; a filling device 7 is arranged on the other side of the top of the automatic driving work vehicle 1, a heating device 8 is arranged inside the filling device 7, a filling pump 9 is arranged on one side of the filling device 7, a filling device guide rail 10 and a grooving device guide rail 11 are arranged in sequence in the middle of the automatic driving work vehicle 1, the filling device guide rail 10 and the filling pump 9 are matched through a filling pipe 12, and the grooving device guide rail 11 is matched with the grooving device 13.

[0111] Preferably, a laser tracker 14 is provided at the top of the autonomous driving positioning vehicle 2, and a wireless gateway 15 is provided at one end of the autonomous driving positioning vehicle 2, so as to realize the detection and positioning of road cracks and ensure the accuracy and effectiveness of the repair work.

[0112] Preferably, the target ball 4 cooperates with the laser scanner 5 through laser, so as to achieve high-precision detection and positioning of road cracks, thereby ensuring the accuracy and effectiveness of the repair work.

[0113] It should be noted that the autonomous driving work vehicle 1, as the core execution unit of the entire system, carries a variety of inspection and maintenance equipment. In addition to the filler device 7 and the grooving device 13, other auxiliary equipment can also be integrated, such as a hair dryer (to clean up debris in the cracks), a heating device 8 (to heat the filler to improve the bonding effect), etc., to ensure the quality of the repair; at the same time, through the linkage between the autonomous driving system and the autonomous driving positioning vehicle 2, the operation strategy can be adjusted in real time to improve the repair accuracy.

[0114] The autonomous driving positioning vehicle 2 is used for intelligent navigation and path planning as well as precise positioning of the autonomous driving work vehicle 1. It performs real-time positioning through built-in sensors (such as GPS, IMU, etc.) to ensure accurate navigation under complex road conditions. It can work in coordination with the autonomous driving work vehicle 1 to dynamically adjust the path to adapt to changes on site, avoid obstacles, and ensure that the work vehicle can smoothly perform the repair task.

[0115] The laser scanner 5 is loaded onto the self-driving work vehicle 1 to perform laser scanning on the road surface. It mainly includes a camera and a laser. The camera has a resolution of 4000*3096, is 2m away from the ground, has a depth of field of 3.2m, and is a 650nm 100w high-power laser. The minimum resolution of the entire laser scanner 5 in the height direction of the road surface reaches 1mm, generating a high-precision three-dimensional model to identify cracks, wear and other diseases on the road surface; the results are used for feature extraction and classification of cracks to determine the optimal repair plan; during the scanning process, the device can distinguish different types of road surface diseases, and transmit information such as the location and type of the disease to the computer to provide decision support for subsequent repairs.

[0116] The laser tracker 14 is loaded onto the autonomous driving positioning vehicle 2, and the target ball 4 is installed on the autonomous driving working vehicle 1, so as to realize high-precision real-time tracking of the target ball 4 on the autonomous driving working vehicle 1. The tracking distance of the laser tracker 14 to the target ball 4 reaches more than 160mm, the spatial coordinate accuracy can reach 6μm / m, the absolute ranging accuracy can reach 10μm, the measurement resolution can reach 1μm, and the measurement repeatability is better than 2.5ppm; it can accurately determine the posture change of the autonomous driving working vehicle 1 and provide the working vehicle with accurate position information. The instrument can make rapid adjustments during operation to cope with environmental changes, and feed back the information to the computer 6 on the autonomous driving working vehicle 1 through the wireless gateway 15, and combine with the information such as the location of the disease in the computer 6 to determine the position change of the disease relative to the working device with ultra-high precision, provide accurate information for repair, support real-time monitoring and data analysis, and improve the automation and accuracy of repair.

[0117] The grooving device 13 accurately grooves the detected crack positions to create a base suitable for filler bonding, with adjustable width and depth to accommodate cracks of different specifications; the grooving device 13 is also equipped with an automatic level control system to ensure accurate grooving under complex road conditions to avoid unnecessary damage.

[0118] The filling device 7 automatically and accurately fills the corresponding filler into the crack after the groove is opened. The filling device 7 can adjust the amount and pressure of the filler according to different crack types and environmental conditions to ensure uniform filling and enhance bonding performance. In addition, the filling device 7 can also monitor the state and temperature of the filler to ensure that it is in the best state for use.

[0119] As the center of data transmission and communication, the wireless gateway 15 is responsible for data interaction between different devices. It can connect various hardware such as the computer 6, the autonomous driving positioning vehicle 2, the autonomous driving work vehicle 1, the laser tracker 14, etc. to achieve data synchronization and remote monitoring. It also supports data encryption and secure transmission to ensure the security and stability of the system.

[0120] Computer 6 is responsible for the control and management of the entire system, processes and analyzes data in real time, generates crack diagnosis reports and repair plans, and uses advanced algorithms (such as machine learning, image processing, etc.) to improve the accuracy of trajectory planning and crack identification; in addition, Computer 6 is also responsible for monitoring the entire operation process, providing real-time feedback and fault diagnosis to facilitate timely adjustments.

[0121] In addition, the guide rail control system provides a stable and precise motion trajectory for the grooving device 13 and the filling device 7 to ensure cutting and filling operations under complex road conditions. The system is equipped with a high-precision servo motor and a position feedback device to monitor the equipment position in real time and maintain the horizontal and vertical position of the grooving device 13 and the filling device 7 through closed-loop control to ensure the consistency of the groove depth and width. At the same time, the guide rail system can intelligently adjust the equipment parameters according to the real-time road conditions, flexibly respond to different repair requirements, and improve the efficiency and safety of the operation.

[0122] Among them, the automatic driving work vehicle 1 and the automatic driving positioning vehicle 2 both adopt automatic driving systems to automatically plan routes. The grooving device 13 and the filling device 7 also adopt automated devices. The entire operation process does not require human presence on site, effectively avoiding casualties during the operation.

[0123] The road surface is laser scanned. The laser scanner 5 mainly includes a camera and a laser. The camera resolution is 4000*3096, the distance from the ground is 2m, the depth of field is 3.2m, and the laser is a 650nm 100w high-power laser. The minimum resolution of the whole set of laser scanner 5 in the height direction of the road surface reaches 1mm, and the detection accuracy of road surface cracks is very high.

[0124] The laser tracker 14 has the advantages of high precision and wide range. The laser tracker 14 is used to monitor the posture changes of the autonomous driving work vehicle 1 and transmit this information to the computer 6. After the laser scanner 5 detects the position of the road cracks, the autonomous driving work vehicle 1 continues to move forward, but the data obtained by the laser tracker 14 can be combined to know the position changes of the cracks relative to the autonomous driving work vehicle 1 in real time.

[0125] The laser tracker 14 is very sensitive to changes in the tracking angle of the target ball 4. Therefore, even if the autonomous driving work vehicle 1 has a certain lateral offset in the lane, the laser tracker 14 can obtain the offset of the autonomous driving work vehicle 1 and feed it back to the computer 6 in the autonomous driving work vehicle 1. The computer 6 controls the autonomous driving system to make corrections.

[0126] The laser tracker 14 monitors the position changes of the target ball 4 on the autonomous driving work vehicle 1 with very high accuracy. Therefore, the autonomous driving work vehicle 1 can obtain accurate crack information regardless of whether it is moving in a straight line, and the automatic grooving device and the automatic filling device can work freely within a certain working range. Therefore, there is no need to worry about the inability to cut grooves and fill materials due to the deviation of the autonomous driving work vehicle 1.

[0127] When the autonomous driving work vehicle 1 moves, the autonomous driving positioning vehicle 2 is stationary, and when the autonomous driving positioning vehicle 2 is stationary, the autonomous driving work vehicle 1 moves. The stationary state can ensure that the position information measured by the laser tracker 14 is more accurate, thereby improving the measurement accuracy.

[0128] During the driving process of the automatic driving work vehicle 1, the grooving device 13 and the filling device 7 obtain the motion data and crack position obtained by the laser tracker 14 transmitted by the computer 6, and can accurately complete the grooving, filling and other processes during the driving process; at the same time, the grooving device 13 and the filling device 7 can operate independently. If there are two or more cracks within the working range of the grooving device, the grooving device 13 can cut another groove while the filling device 7 fills one of the cut grooves. The use of algorithm collaborative control can minimize the time for driving, grooving and filling, and maximize efficiency.

[0129] A wireless gateway 15 is installed on the autonomous driving positioning vehicle 2, which can transmit various data of the autonomous driving positioning vehicle 2 to the computer 6 in the autonomous driving work vehicle 1. The computer 6 processes these data and the data of each device on the autonomous driving work vehicle 1 in real time, and feeds back to each device. It is responsible for the control and management of the entire system, processes and analyzes the data in real time, generates crack diagnosis reports and repair plans, and uses advanced algorithms (such as machine learning, image processing, etc.) to improve the accuracy of trajectory planning and crack identification.

[0130] In summary, with the help of the above technical solution of the present invention, the fully automated unmanned operation of the grooving device 13 and the filling device 7 greatly improves the safety of the operation. Combined with the use of the laser scanner 5 and the laser tracker 14, it is possible to achieve high-precision detection and positioning of road cracks, ensuring the accuracy and effectiveness of the repair work. Through the intelligent collaborative control of the automatic driving work vehicle 1, the grooving device 13 and the filling device 7, the grooving and filling processes can be efficiently completed according to the real-time motion data and crack position information transmitted by the computer 6, maximizing the use of working time, reducing waiting time, and significantly improving work efficiency. Wireless real-time transmission and processing of data are achieved through the wireless gateway 15, and the computer 6 can receive and process these data in real time, optimize trajectory planning and crack identification through advanced algorithms, and generate crack diagnosis reports and repair plans, which not only improves the operating efficiency, but also enhances the flexibility and adaptability of the system, providing a more efficient solution for road maintenance.

[0131] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for fully automatic detection and repair of road cracks, characterized in that: The method includes: S1. Use the laser tracker on the autonomous driving positioning vehicle to monitor the position change of the target ball on the autonomous driving operation vehicle to obtain the position data of the target ball; S2, using a laser scanner to detect the road surface, and transmitting the detection results to the on-board computer to identify crack characteristics; S3. Determine the crack position and the relative coordinates of the operation according to the position data of the target ball, adjust the coordinates of the repair device based on the relative coordinates of the operation, and perform cutting and repairing work in combination with the crack characteristics; S4. After completing the repair of the current road section, the autonomous driving positioning vehicle drives to a new location and repeats steps S1 to S3 until all the road cracks that need to be processed are repaired.

2. A method for fully automatic detection and repair of road cracks according to claim 1, characterized in that: The method of using a laser tracker on the autonomous driving positioning vehicle to monitor the position change of the target ball on the autonomous driving operation vehicle to obtain the position data of the target ball includes: S11, the autonomous driving positioning vehicle starts and drives in advance to the target position set in front of the autonomous driving working vehicle and stops, and the autonomous driving working vehicle starts and drives forward along the predetermined path; S12, using a laser tracker installed on the autonomous driving positioning vehicle to monitor the position change of the target ball on the autonomous driving operation vehicle, and obtaining azimuth angle data, pitch angle data and distance data of the target ball; S13, using the conversion formula from spherical coordinates to rectangular coordinates, convert the obtained azimuth angle data, pitch angle data and distance data into coordinate data in a rectangular coordinate system to obtain the position data of the target sphere.

3. A method for fully automatic detection and repair of road cracks according to claim 2, characterized in that: The conversion formula from spherical coordinates to rectangular coordinates is: z1=d*cosθ; Where x1 represents the horizontal coordinate of the target ball relative to the laser tracker; d represents the distance; represents the azimuth angle; θ represents the pitch angle; y1 represents the ordinate of the target sphere relative to the laser tracker; z1 represents the vertical coordinate of the target sphere relative to the laser tracker.

4. The method for fully automatic detection and repair of road cracks according to claim 1, characterized in that: The laser scanner is used to detect the road surface, and the detection results are transmitted to the on-board computer. The crack characteristics are identified including: S21, calculating and obtaining road surface data according to the reflected light from the laser scanner; S22, transmitting the road surface data to the on-board computer, the on-board computer receives and processes the road surface data, constructs a three-dimensional model of the road surface, and identifies crack characteristics based on the three-dimensional model of the road surface.

5. A method for fully automatic detection and repair of road cracks according to claim 4, characterized in that: The transmitting of the road surface data to the on-board computer, the on-board computer receiving and processing the road surface data, constructing a three-dimensional road surface model, and identifying crack features based on the three-dimensional road surface model includes: S211, the laser scanner continuously emits light to the road surface during the scanning process, and the light reflected by the road surface is imaged at a point on the camera imaging surface through the camera lens of the laser scanner; S212. According to the position of the point, the laser scanner calculates the distance between the road surface and the reference plane to obtain road surface data.

6. A method for fully automatic detection and repair of road cracks according to claim 5, characterized in that: The transmitting of the pavement data to the on-board computer, the on-board computer receiving and processing the pavement data, constructing a three-dimensional pavement model, and identifying crack features based on the three-dimensional pavement model include: S221, the on-board computer receives the road surface data, and processes the road surface data using the pre-calibrated camera internal parameters and the light plane equation, extracts the center line of the laser light strip, and determines the three-dimensional coordinates of each point on the center line in the camera coordinate system; S222, the on-board computer fuses the three-dimensional coordinates of all laser center lines collected during the continuous scanning process, unifies them into the same coordinate system, and performs three-dimensional reconstruction to construct a three-dimensional model of the road surface; S223. Based on the three-dimensional road surface model, the on-board computer extracts road surface data and identifies crack characteristics.

7. The method for fully automatic detection and repair of road cracks according to claim 1, characterized in that: The method of determining the crack position and the relative coordinates of the operation according to the position data of the target ball, adjusting the coordinates of the repair device based on the relative coordinates of the operation, and performing the cutting and repairing work in combination with the crack characteristics includes: S31, the laser tracker transmits the position data of the monitored target ball to the on-board computer through the wireless gateway, obtains the trajectory change data of the target ball, and combines the preset guide rail coordinates to obtain the guide rail relative coordinates of the crack position relative to the guide rail; S32, obtaining the crack position and the relative coordinates of the operation of the repair device relative to the guide rail according to the relative coordinates of the guide rail and the pre-acquired fixed coordinates of the repair device relative to the guide rail; S33, based on the relative coordinates of the operation, calculating the required travel distance of the three axes of the guide rail, and determining the number of revolutions required to control the motor of the three axes of the guide rail in combination with the relationship between the motor revolutions and the travel distance of the guide rail slider; S34, using the number of rotations to drive the motor to drive the slider to move, adjusting the repair device to the target coordinates, and combining the crack characteristics and the relative coordinates of the operation, the computer controls the repair device to perform the grooving work; S35, calculating the volume of the groove according to the length, width and depth of the groove, obtaining the required filler volume information, and performing repair work based on the filler volume information.

8. A device for fully automatic detection and repair of road cracks, used to implement the method for fully automatic detection and repair of road cracks as claimed in any one of claims 1 to 7, comprising an automatic driving working vehicle and an automatic driving positioning vehicle, characterized in that: A work vehicle head is arranged on one side of the top of the automatic driving work vehicle, a target ball is arranged on one side of the work vehicle head, a laser scanner is arranged on the other side of the work vehicle head, and a computer is arranged at one end of the work vehicle head; A filling device is arranged on the other side of the top of the automatic driving work vehicle, a heating device is arranged inside the filling device, a filling pump is arranged on one side of the filling device, and a filling device guide rail and a grooving device guide rail are arranged in sequence in the middle of the automatic driving work vehicle, the filling device guide rail cooperates with the filling pump through a filling pipe, and the grooving device guide rail cooperates with the grooving device.

9. The device for fully automatic detection and repair of road cracks according to claim 8, characterized in that: A laser tracker is arranged on the top of the automatic driving positioning vehicle, and a wireless gateway is arranged at one end of the automatic driving positioning vehicle.

10. The device for fully automatic detection and repair of road cracks according to claim 9, characterized in that: The target ball cooperates with the laser scanner through laser.

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