Road maintenance and repair equipment

Abstract

The invention belongs to the field of road repair equipment, and provides road maintenance and repair equipment which comprises a cart and a storage barrel. The storage barrel is mounted on the upper surface of the cart, and a road surface recognition module, a control module and a displacement driving module are mounted on the cart; by arranging the road surface recognition module, the control module and the displacement driving module, the crack position can be automatically recognized, the displacement of the spray head can be controlled, the crack can be rapidly and accurately repaired, the time for manually searching and positioning the crack is shortened, and the maintenance work efficiency is greatly improved; and the nozzle flow can be automatically adjusted according to the crack width to ensure that the use amount of the repairing material is proper.

Description

Technical Field

[0001] The invention belongs to the field of highway repair equipment, in particular to a highway maintenance and repair equipment. Background Art

[0002] As an important infrastructure, highways will inevitably suffer various damages and defects during long-term use, which makes highway maintenance and repair equipment necessary. If cracks, potholes and other defects on the highway are not repaired in time, it will seriously affect the driving stability and safety of vehicles. For example, when a vehicle passes through a pothole, it may lose control and cause a traffic accident. The timely use of maintenance and repair equipment to repair these problems can provide a safe driving environment for drivers and passengers.

[0003] With the rapid development of highway traffic and the continuous improvement of road quality requirements, these limitations of traditional highway maintenance and repair equipment have become increasingly obvious, and more advanced, efficient and precise equipment is urgently needed to meet the needs of modern highway maintenance.

[0004] Traditional highway maintenance and repair equipment lacks automatic road surface recognition capabilities, making it difficult to accurately locate the locations that need repair and assess the extent of damage. It is also difficult to adapt to the needs of different locations and repair widths. Repairs are usually performed manually, and locations with wider cracks are repeatedly sprayed, affecting the quality and efficiency of the repair.

[0005] Therefore, those skilled in the art have proposed a highway maintenance and repairing device to solve the problems raised by the background technology. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a highway maintenance and repair equipment to solve the problems that the highway maintenance and repair equipment in the prior art lacks the function of automatic road surface recognition, is difficult to accurately locate the position that needs to be repaired and assess the degree of damage, is difficult to adapt to the needs of different positions and repair widths, and is usually repaired manually, and repeatedly sprays the positions with wider cracks, affecting the repair quality and efficiency.

[0007] A highway maintenance and repair device comprises a cart and a material storage barrel; the material storage barrel is installed on the upper surface of the cart, and a road surface recognition module, a control module and a displacement drive module are installed on the cart;

[0008] The road surface recognition module includes a support frame fixed to the upper surface of the cart, an extension frame fixed to the side wall of the support frame, a camera installed on the inner wall of the extension frame, and a micro motor installed on the outer wall;

[0009] The displacement drive module includes a telescopic plate telescopically mounted on the side wall of the trolley, a guide frame fixed to the side wall of the telescopic plate, a second screw mounted on the inner wall of the guide frame, a second motor mounted at the end of the second screw, a slide seat threadedly engaged with the circumference of the second screw, a first rangefinder mounted on the side wall of the trolley, and a second rangefinder mounted on the side wall of the second motor. A discharge pipe is connected between the storage barrel and the slide seat, a feed pump is mounted on the circumference of the discharge pipe, and a nozzle is mounted at one end of the discharge pipe.

[0010] Preferably, the cart includes a support plate, a plurality of pillars fixed to the bottom surface of the support plate, and universal wheels installed on the bottom surfaces of the pillars. A push handle is also fixedly connected to the upper surface of the support plate.

[0011] Preferably, a telescopic groove is provided on the side wall of the support plate, and a first screw is rotatably connected to the inner wall of the telescopic groove. A first motor is installed at one end of the first screw, and the first screw is threadably matched with the telescopic plate.

[0012] Preferably, the control module is a control panel fixed to the side wall of the push handle, and a power supply component is also installed on the upper surface of the support plate.

[0013] Preferably, a fixed tube is installed on the inner wall of the slide seat, a telescopic tube is slidably installed on the inner wall of the fixed tube, a nozzle is installed on one end of the telescopic tube, a mounting plate is fixedly connected to the bottom surface of the slide seat, an electric push rod is installed on the side wall of the mounting plate, and a connecting rod is fixed between the telescopic end of the electric push rod and the telescopic tube.

[0014] Preferably, a solenoid valve is installed on the inner wall of the nozzle.

[0015] Preferably, a feed port is provided on the top wall of the storage barrel, and a drive motor is installed on the upper surface of the storage barrel, the output end of the drive motor is connected to a rotating shaft, and a plurality of stirring blades are arrayed around the rotating shaft; a heating chamber is opened on the inner wall of the storage barrel, and a heating wire is arranged in the heating chamber.

[0016] Preferably, the side wall of the second motor is fixedly connected with a side plate, the second rangefinder is installed on the surface of the side plate, and the second rangefinder faces the slide seat, and the first rangefinder faces the guide frame.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The present invention can automatically identify the crack position and control the displacement of the nozzle by setting a pavement recognition module, a control module and a displacement drive module, so as to quickly and accurately repair the cracks, reduce the time of manual search and positioning of the cracks, and greatly improve the efficiency of the maintenance work; and can automatically adjust the nozzle flow according to the crack width to ensure that the amount of repair material used is just right, without excessive waste or insufficient repair effect. For wider cracks, sufficient repair material can be provided to enhance the structural strength, and for narrower cracks, material accumulation can be avoided; the automated operation reduces the physical labor of maintenance workers, so that they can complete their work more easily and reduce work errors caused by fatigue. Workers no longer need to hold tools for a long time for repair operations, thereby reducing the degree of physical fatigue. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0020] Figure 2 for Figure 1 A partial enlarged view of part B;

[0021] Figure 3 for Figure 1 A partial enlarged view of part C in the middle;

[0022] Figure 4 It is a schematic diagram of the structure of the present invention viewed from above;

[0023] Figure 5 for Figure 4 Schematic diagram of the AA section structure;

[0024] Figure 6 for Figure 1 A partial enlarged view of part D in the middle.

[0025] In the figure:

[0026] 1. Cart; 101. Support plate; 102. Pillar; 103. Universal wheel; 2. Storage barrel; 3. Feed inlet; 4. Driving motor; 5. Rotating shaft; 6. Stirring blade; 7. Heating chamber; 8. Heating wire; 9. Discharge pipe; 10. Feed pump; 11. Telescopic slot; 12. First screw; 13. Telescopic plate; 14. First motor; 15. Guide frame; 16. Second screw; 17. Second motor; 18. Slide seat; 19. Fixed pipe; 20. Telescopic pipe; 21. Nozzle; 22. Mounting plate; 23. Electric push rod; 24. Connecting rod; 25. Solenoid valve; 26. Support frame; 27. Extension frame; 28. Camera; 29. ​​Micro motor; 30. Push handle; 31. Control panel; 32. Power supply assembly; 33. First rangefinder; 34. Side panel; 35. Second rangefinder. DETAILED DESCRIPTION

[0027] The following is a further detailed description of the embodiments of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0028] Embodiment 1: As shown in the attached Figure 1 To Attachment Figure 6 As shown: The present invention provides a highway maintenance and repair equipment, including a cart 1 and a storage barrel 2, the cart 1 includes a support plate 101, a plurality of pillars 102 fixed to the bottom surface of the support plate 101, and a universal wheel 103 installed on the bottom surface of the pillar 102, and a push handle 30 is fixedly connected to the upper surface of the support plate 101; the storage barrel 2 is installed on the upper surface of the cart 1, and a road surface recognition module, a control module and a displacement drive module are installed on the cart 1;

[0029] The road surface recognition module includes a support frame 26 fixed to the upper surface of the cart 1, an extension frame 27 fixed to the side wall of the support frame 26, a camera 28 installed on the inner wall of the extension frame 27, and a micro motor 29 installed on the outer wall;

[0030] The displacement drive module includes a telescopic plate 13 telescopically installed on the side wall of the trolley 1, a guide frame 15 fixed at the side wall of the telescopic plate 13, a second screw 16 installed on the inner wall of the guide frame 15, a second motor 17 installed at the end of the second screw 16, a slide 18 threadedly engaged with the side of the second screw 16, a first rangefinder 33 installed on the side wall of the trolley 1, and a second rangefinder 35 installed at the side wall of the second motor 17. A discharge pipe 9 is connected between the storage barrel 2 and the slide 18, a feed pump 10 is installed on the side of the discharge pipe 9, and a nozzle 21 is installed at one end of the discharge pipe 9; a side plate 34 is fixedly connected to the side wall of the second motor 17, and the second rangefinder 35 is installed on the surface of the side plate 34, and the second rangefinder 35 faces the slide 18, and the first rangefinder 33 faces the guide frame 15.

[0031] A telescopic groove 11 is provided on the side wall of the support plate 101, and a first screw 12 is rotatably connected to the inner wall of the telescopic groove 11. A first motor 14 is installed at one end of the first screw 12, and the first screw 12 is threadedly matched with the telescopic plate 13; the first motor 14 drives the first screw 12 to rotate, thereby adjusting the distance of the telescopic plate 13 and adjusting the position of the nozzle 21 on the X-axis; the second motor 17 drives the second screw 16 to rotate, and the second screw 16 cooperates with the slide seat 18 to adjust the position of the nozzle 21 on the Y-axis.

[0032] The control module is a control panel 31 fixed to the side wall of the push handle 30, and a power supply assembly 32 is also installed on the upper surface of the support plate 101; the start and stop of each component in the device can be controlled by the control panel 31, and the power supply assembly 32 supplies power to the electrical components in the device.

[0033] A fixed tube 19 is installed on the inner wall of the slide 18, and a telescopic tube 20 is slidably installed on the inner wall of the fixed tube 19. A nozzle 21 is installed on one end of the telescopic tube 20. A mounting plate 22 is fixedly connected to the bottom surface of the slide 18, and an electric push rod 23 is installed on the side wall of the mounting plate 22. A connecting rod 24 is fixed between the telescopic end of the electric push rod 23 and the telescopic tube 20, and a solenoid valve 25 is installed on the inner wall of the nozzle 21. The telescopic tube 20 is driven up and down by the electric push rod 23 to achieve height adjustment of the nozzle 21, which is convenient for lowering the nozzle 21 to stably repair the cracks in the road surface.

[0034] Determine the initial parameters of the equipment: measure and determine the resolution of the camera 28, and set the frame rate of the camera 28, such as 60 frames per second, to ensure that the road surface image is obtained in a timely manner;

[0035] The crack detection threshold is set. If the gray value difference of the crack in the image exceeds a certain value, it is judged as a crack. The distance measurement accuracy is determined to be accurate to 0.01 meter.

[0036] The first rangefinder 33 and the second rangefinder 35 are calibrated. Since the first rangefinder 33 measures the distance L1 between the support plate 101 and the guide frame 15, by additionally calculating the fixed distance L3 between the guide frame 15 and the nozzle 21, the distance between the first rangefinder 33 and the nozzle 21 is L1+L3;

[0037] Since the second distance meter 35 measures the distance L2 between the side plate 34 and the slide 18, by additionally calculating the distance L4 between the outer wall of the slide 18 and the nozzle 21, the distance between the second distance meter 35 and the nozzle 21 is L2+L4, thereby ensuring the accuracy of the measurement data.

[0038] The camera 28 is calibrated to ensure that its shooting angle and focal length are accurate, so that the road surface conditions can be clearly captured and the performance parameters of the motor and the electric push rod 23 can be determined; the road surface image is acquired through the camera 28, and the image is pre-processed by graying, filtering and denoising through a conventional image processing system, and the position of the crack in the image is calculated based on the set crack detection threshold, and the position in the image is converted into the coordinates of the actual road surface according to the installation angle and height of the camera 28 and other parameters, so as to obtain the actual position coordinates (Xc, Yc) of the crack and the crack width W;

[0039] Calculation of the expected position of the nozzle 21: The position coordinates of the crack are set as the expected position (Xd, Yd) of the nozzle 21;

[0040] Calculation of the current position of the nozzle 21: Calculate the current position (Xe, Ye) of the nozzle 21 based on the measurement data of the first rangefinder 33 and the second rangefinder 35 and the geometric structure of the device;

[0041] Motor speed calculation: Calculate the difference between the desired position and the current position of the nozzle 21 in the X and Y directions: ΔX=Xd-Xe, ΔY=Yd-Ye.

[0042] Calculate the distance that nozzle 21 needs to move

[0043] The speed proportional coefficient K1 is set, and the speeds of the first motor 14 and the second motor 17 are calculated according to the distance D:

[0044] The first motor 14 speed

[0045] Second motor 17 speed

[0046] Calculation of the extension and retraction speed of the electric push rod 23: It is necessary to adjust the height of the nozzle 21 in the Z direction and calculate the difference ΔZ between the desired position and the current position in the Z direction;

[0047] Set the speed proportional coefficient K2 of the electric push rod 23, and calculate the extension and retraction speed V3 of the electric push rod 23 = K2 × ΔZ;

[0048] Flow calculation of electromagnetic valve 25: set the flow proportional coefficient K3, and calculate the flow of electromagnetic valve 25 Q3 = K3 × W according to the crack width.

[0049] Control the first motor 14 to rotate forward, reverse or stop according to the positive or negative speed V1 of the first motor 14;

[0050] Control the second motor 17 to rotate forward, reverse or stop according to the positive or negative speed V2 of the second motor 17;

[0051] The electric push rod 23 is controlled to extend, retract or stop according to the positive or negative value of the extension and retraction speed V3 of the electric push rod 23;.

[0052] The opening of the solenoid valve 25 is controlled according to the calculated flow rate Q of the solenoid valve 25 to achieve flow regulation.

[0053] As can be seen from the above, the equipment is moved to the position where the road surface needs to be repaired, and the material for repairing the road surface is added to the storage barrel 2. The material can be transferred to the nozzle 21 through the operation of the discharge pipe 9 and the feed pump 10. Due to the setting of the support frame 26 and the extension frame 27, the camera 28 can shoot and identify the entire road surface in front of the cart 1;

[0054] After the equipment is started, the camera 28 captures road surface images at a frame rate of 30 frames per second. After the image is preprocessed, a crack is identified through the crack detection algorithm. Its position in the image is (300, 400) pixels. After coordinate conversion, the position of the crack on the actual road surface is (1.2 meters, 1.6 meters), and the crack width is 0.05 meters.

[0055] At this time, the expected position of the nozzle 21 is calculated to be (1.2 meters, 1.6 meters), and the current position of the nozzle 21 measured by the rangefinder is (0.2 meters, 0.5 meters).

[0056] The difference in the X direction is calculated to be 0.5 meters, and the difference in the Y direction is 1.1 meters. The distance that the nozzle 21 needs to move is about 1.208 meters. The speed proportional coefficient K1 is set to 50, and the speed of the first motor 14 is calculated to be about 35.7 rpm, and the speed of the second motor 17 is about 35.7 rpm.

[0057] The nozzle 21 needs to be lowered by 0.1 m in the Z direction, and the speed proportional coefficient K2 of the electric push rod 23 is set to 2. The calculated extension and retraction speed of the electric push rod 23 is 0.2 m / s.

[0058] The flow rate of the solenoid valve 25 is calculated according to the crack width, the flow rate proportional coefficient K3 is set to 0.5, the crack width is 0.05 meters, and the calculated flow rate of the solenoid valve 25 is about 0.25 liters / minute.

[0059] The first motor 14 and the second motor 17 rotate forward according to the calculated speed to push the nozzle 21 to the crack position, and the electric push rod 23 extends to lift the nozzle 21 to a suitable height; the solenoid valve opens and sprays the repair material at a flow rate of 1 liter / minute to repair the crack.

[0060] This equipment can repair the cracks quickly and accurately by automatically identifying the crack positions and controlling the displacement of the nozzle 21, thus reducing the time for manual search and positioning of the cracks and greatly improving the efficiency of the maintenance work; and can automatically adjust the flow of the nozzle 21 according to the width of the crack to ensure that the amount of repair material used is just right, neither too much to cause waste nor too little to affect the repair effect. For wider cracks, sufficient repair materials can be provided to enhance the structural strength, and for narrower cracks, material accumulation can be avoided; automated operation reduces the physical labor of maintenance workers, allowing them to complete their work more easily and reduce work errors caused by fatigue. Workers no longer need to hold tools for a long time for repair operations, thus reducing physical fatigue.

[0061] Embodiment 2: This embodiment is basically the same as the previous embodiment, except that a feed port 3 is provided on the top wall of the storage barrel 2, and a drive motor 4 is installed on the upper surface of the storage barrel 2, a rotating shaft 5 is connected to the output end of the drive motor 4, and a plurality of stirring blades 6 are arranged in an array around the rotating shaft 5; a heating chamber 7 is opened on the inner wall of the storage barrel 2, and an electric heating wire 8 is arranged in the heating chamber 7.

[0062] As can be seen from the above, by setting up a driving motor 4 to drive the stirring blade 6 to rotate, the material in the storage barrel 2 can be quickly and stably stirred and mixed; through the heating chamber 7 and the heating wire 8, the material in the storage barrel 2 can be heated during the stirring process to improve the mixing efficiency.

[0063] The embodiments of the present invention are provided for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and deform the above embodiments within the scope of the present invention.

[0064] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0065] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0066] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0067] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0068] In the drawings of the embodiments disclosed in the present invention, only the structures involved in the embodiments disclosed in the present invention are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other.

[0069] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A highway maintenance and repair equipment, characterized in that: It comprises a cart (1) and a material storage barrel (2); the material storage barrel (2) is installed on the upper surface of the cart (1), and a road surface recognition module, a control module and a displacement drive module are installed on the cart (1); The road surface recognition module comprises a support frame (26) fixed to the upper surface of the cart (1), an extension frame (27) fixed to the side wall of the support frame (26), a camera (28) installed on the inner wall of the extension frame (27), and a micro motor (29) installed on the outer wall; The displacement drive module comprises a telescopic plate (13) telescopically mounted on the side wall of the trolley (1), a guide frame (15) fixed on the side wall of the telescopic plate (13), a second screw (16) mounted on the inner wall of the guide frame (15), a second motor (17) mounted at the end of the second screw (16), a slide seat (18) threadedly engaged with the circumference of the second screw (16), a first distance meter (33) mounted on the side wall of the trolley (1), and a second distance meter (35) mounted on the side wall of the second motor (17); a discharge pipe (9) is connected between the storage barrel (2) and the slide seat (18); a feed pump (10) is mounted on the circumference of the discharge pipe (9); and a nozzle (21) is mounted at one end of the discharge pipe (9).

2. A road maintenance and repair equipment as claimed in claim 1, characterized in that: The pushcart (1) comprises a support plate (101), a plurality of pillars (102) fixed to the bottom surface of the support plate (101), and universal wheels (103) installed on the bottom surface of the pillars (102); a push handle (30) is also fixedly connected to the upper surface of the support plate (101).

3. A road maintenance and repair equipment as claimed in claim 2, characterized in that: The side wall of the support plate (101) is provided with a telescopic groove (11), the inner wall of the telescopic groove (11) is rotatably connected to a first screw rod (12), one end of the first screw rod (12) is mounted with a first motor (14), and the first screw rod (12) is threadedly matched with the telescopic plate (13).

4. A road maintenance and repair equipment as claimed in claim 3, characterized in that: The control module is a control panel (31) fixed to the side wall of the push handle (30), and a power supply component (32) is also installed on the upper surface of the support plate (101).

5. A road maintenance and repair equipment as claimed in claim 4, characterized in that: A fixed tube (19) is installed on the inner wall of the slide seat (18), a telescopic tube (20) is slidably installed on the inner wall of the fixed tube (19), a nozzle (21) is installed on one end of the telescopic tube (20), a mounting plate (22) is fixedly connected to the bottom surface of the slide seat (18), an electric push rod (23) is installed on the side wall of the mounting plate (22), and a connecting rod (24) is fixed between the telescopic end of the electric push rod (23) and the telescopic tube (20).

6. A road maintenance and repair equipment as claimed in claim 5, characterized in that: A solenoid valve (25) is installed on the inner wall of the spray head (21).

7. A road maintenance and repair equipment as claimed in claim 1, characterized in that: The top wall of the material storage barrel (2) is provided with a material feed port (3), and a driving motor (4) is installed on the upper surface of the material storage barrel (2); the output end of the driving motor (4) is connected to a rotating shaft (5), and a plurality of stirring blades (6) are arranged in an array around the rotating shaft (5); a heating chamber (7) is provided on the inner wall of the material storage barrel (2), and a heating wire (8) is provided in the heating chamber (7).

8. A road maintenance and repair equipment as claimed in claim 1, characterized in that: The side wall of the second motor (17) is fixedly connected to a side plate (34), the second distance meter (35) is installed on the surface of the side plate (34), and the second distance meter (35) faces the slide seat (18), and the first distance meter (33) faces the guide frame (15).

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