Asphalt pavement pre-camber automatic measuring device based on laser scanning

Abstract

The invention provides an asphalt pavement pre-camber automatic measuring device based on laser scanning, and the asphalt pavement pre-camber automatic measuring device based on laser scanning comprises a bottom frame, an image sensor, a controller, a supporting frame, a laser scanning module, a connecting line, a scanning head and a walking assembly.The asphalt pavement pre-camber automatic measuring device based on laser scanning is provided with the walking assembly; the driving wheel is driven to be meshed with the inner side of the crawler belt assembly for adjustment while the driving assembly performs opposite or reverse transfer adjustment, and the crawler belt is ensured to run along a preset track all the time and is prevented from derailing through the multiple sets of guide wheels. And the adjusting cylinder drives the adjusting frame to enable the adjusting wheel to support the crawler belt and adjust the transmission efficiency, the service life of parts and the stability of the whole machine, and the problem of collecting and measuring the pre-camber signal of the asphalt surface is solved.

Description

Technical Field

[0001] The invention relates to the field related to automatic measurement of pavement pre-camber, and in particular to an automatic measurement device for asphalt pavement pre-camber based on laser scanning. Background Art

[0002] In the current asphalt pavement construction quality control, pre-camber is a key indicator for measuring pavement flatness and drainage performance. Traditional pre-camber detection mainly relies on manual level measurement or contact sensors, which are inefficient and easily affected by human errors. In recent years, laser ranging technology has gradually been applied to the field of road detection, but it is mostly focused on flatness detection after completion. An automated measurement system for pre-camber during the construction phase has not yet been formed. During the maintenance of highway asphalt pavements, it is also necessary to detect the flatness of the pavement. The commonly used method for detection is the three-meter ruler test method, which requires manual measurement or naked eye observation of vehicle driving to record which sections of the road have potholes and which areas have road inclinations. Then, record them again to achieve an overall measurement record of the road section. However, this method is too traditional and has low detection efficiency. If it relies on manual visual observation, it is easy to make mistakes in data judgment, resulting in large errors in measurement results.

[0003] For example, the invention with publication number CN202510072580.3 is "A flatness measuring device for highway asphalt pavement maintenance". Through the set measuring components, it can realize dual measurement of depression and inclination of highway asphalt pavement, and automatically mark the depression and inclination of the pavement. After that, highway maintenance personnel can directly check the road section according to the position and line of the mark, and then perform pavement repair according to the position of the mark, thereby improving the overall pavement measurement efficiency. There is no need to make a road section map or rely on naked eye observation. The mobile detection and marking of the equipment are directly used, which is convenient for the measurement of the surveyor and the observation and maintenance of subsequent maintenance personnel. By using the depth of the depression and the angle of inclination, the marking points are automatically marked and measured, and the automatic center of gravity offset is used to realize the inclination check of the road surface, so that the inclination of the road surface will be marked as a line, thereby achieving accurate measurement and accurate marking.

[0004] When conducting road inspections, existing automatic pavement pre-camber measuring devices are mostly only suitable for post-inspection of hardened pavements, and are not suitable for measurement on uncompacted asphalt mixtures. This results in the inability to obtain the required pre-camber detection data for asphalt pavements. If the pre-camber does not meet the design requirements, it will cause water accumulation on the road surface, accelerate asphalt peeling and pothole formation; and excessive camber will cause vehicles to deviate from the road, increase tire wear and safety hazards, and thus cause a large number of safety hazards. The above problems need to be solved. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present invention aims to provide an automatic asphalt pavement pre-camber measuring device based on laser scanning to solve the problem that the existing automatic asphalt pavement pre-camber measuring device is only suitable for post-testing of hardened pavement and cannot be used for measurement on uncompacted asphalt mixture. In addition, the traditional pulley movement method results in a small contact area between the pulley and the pavement and a high ground pressure, which easily forms indentations on the surface of soft asphalt (such as newly paved road sections), causing the measuring device itself to change the pavement pre-camber shape and distort the data. At the same time, high-temperature asphalt may adhere to the pulley surface, causing uneven rolling resistance or slippage, affecting the accuracy of displacement measurement. The pulley has weak adaptability to pavement bumps, cracks or loose aggregates, which easily causes the device to jump, resulting in jump noise in the data collected by the laser scanning head or image sensor. On transverse slopes (such as road crowns), the pulley device has poor anti-roll capability, which may cause the vehicle body to tilt, the sensor posture to shift, and introduce elevation measurement errors, thereby causing the asphalt pavement to affect the inaccurate automatic pre-camber measurement data.

[0006] In order to solve the above technical problems, the purpose of the present invention is to provide an automatic measurement device for asphalt pavement pre-camber based on laser scanning.

[0007] Based on this, the present invention proposes an automatic measuring device for asphalt pavement pre-camber based on laser scanning, including a base frame, an image sensor, a controller, a support frame, a laser scanning module, a connecting line, a scanning head and a walking assembly. The image sensor is installed at the top middle part of the base frame, the controller is installed at the upper left end of the image sensor, and the image sensor is electrically connected to the controller. The support frame is installed at the left middle part of the base frame, the laser scanning module is installed at the lower inner side of the left end of the support frame, the input end of the laser scanning module and the output end of the image sensor are electrically connected through a connecting line, the scanning head is installed at the bottom of the laser scanning module, the walking assembly is installed at the bottom of the base frame, and the walking assembly is installed at the bottom of the base frame. The components include a fixed plate, a drive assembly, a drive wheel, a track assembly, a fixed frame, a movable platform, a guide wheel, a support block, an adjusting cylinder, an adjusting frame and an adjusting wheel. A drive assembly is installed at the inner right end of the fixed plate, and the drive assembly is transmission-connected to the middle part of the drive wheel, and the drive assembly is rotationally matched with the right end front side of the fixed frame. The drive wheel is meshed with the inner right upper side of the track assembly for transmission. The fixed frame is fixed to the top right side of the movable platform, and a guide wheel is installed on the inner side of the lower end of the movable platform, and the guide wheel is transmission-connected to the inner lower side of the track assembly. A support block is installed on the top left side of the movable platform, and an adjusting cylinder is installed on the top of the support block. The fixed plate is installed on the bottom front side of the chassis.

[0008] Optionally, the drive assembly includes a rotating shaft 1, a bevel gear 1, a rotation assembly, a bevel gear 2, a rotating shaft 2, a bevel gear 3, a bevel gear 4, a driving shaft 1, an adjusting motor 1, a fixing plate, an adjusting motor 2, a driving shaft 2, a bevel gear 5, a bevel gear 6, a rotating shaft 3 and an adjusting gear. The rear end of the rotating shaft 1 is connected to the bevel gear 1 in a transmission manner. The bevel gear 1 and the bevel gear 2 are respectively meshed with the middle parts of the front and rear ends of the rotation assembly for transmission. The rear end of the bevel gear 2 and the inner middle side of the bevel gear 3 are respectively connected to the rotating shaft 2 in a transmission manner. The bevel gear 3 is meshed with the bevel gear 4 for transmission. The left end of the bevel gear 4 is connected to the driving shaft 1 in a transmission manner. The left end of the driving shaft one is connected to the output end of the adjusting motor one through a coupling, and the adjusting motor one and the adjusting motor two are respectively installed on the left end of the fixed plate. The output end of the adjusting motor two is connected to the left end of the driving shaft two through a coupling, and the right end of the driving shaft two is connected to the left end of the bevel gear five. The bevel gear five is meshed with the bevel gear six for transmission, and the rear end of the bevel gear six is ​​connected to the middle inner side of the adjusting gear through a three-phase transmission of the rotating shaft. The front end of the rotating shaft one is connected to the middle of the driving wheel, and the front end of the rotating shaft one is rotatably matched with the front side of the right end of the fixed frame, and the fixed plate is installed on the middle inner side of the fixed plate.

[0009] Optionally, the track assembly includes a track, a hollow screw, an anti-sliding block, an alignment slide, a widening block, a widening plate and a solid screw. The outer surface of the track is provided with an anti-sliding block, and the inner side of the anti-sliding block is provided with a hollow screw. The inner side of the anti-sliding block is locked with the outer side of the bottom of the alignment slide. The middle part of the upper end of the alignment slide is provided with a widening block, the right end of the alignment slide and the left end of the widening plate are respectively aligned with the hollow screw, the solid screw is threadedly fixed to the inner side of the hollow screw, the driving wheel is meshed with the inner upper right side of the track for transmission, the guide wheel is transmission-connected to the inner lower side of the track, and the adjusting wheel is transmission-connected to the inner upper left side of the track.

[0010] Optionally, the rotary adjustment component includes an adjusting ring gear, a movable shaft and bevel gear six. A movable shaft is provided on the inner side of the adjusting ring gear. The movable shaft is connected to the bevel gear six for transmission. The bevel gear one and bevel gear two are respectively engaged with the inner bevel gear six of the adjusting ring gear for transmission.

[0011] Optionally, five sets of guide wheels are provided on the inner side of the lower end of the movable platform, and the five sets of guide wheels are transmission-connected to the inner side of the track assembly through cooperating adjusting wheels, so as to ensure that the track always runs along the predetermined track and avoids derailment.

[0012] Optionally, the output end of the adjusting cylinder is connected to the right end of the adjusting frame, and the adjusting wheel is connected to the upper left side of the inner part of the track assembly through the adjusting frame to support the track while adjusting the transmission efficiency, component life and overall machine stability.

[0013] Optionally, two groups of rotary adjustment components are provided, and the two groups of rotary adjustment components are connected through synchronous transmission of rotating shaft one and rotating shaft two. Rotating shaft two is adjusted to a fixed point by bevel gear three along with bevel gear four, so as to achieve the flexibility of left and right split adjustment drive or same direction drive adjustment through the two groups of rotary adjustment components.

[0014] Optionally, there are two groups of bevel gear six, and the two groups of bevel gear six are in opposite meshing transmission with the front and rear sides of bevel gear five. The two groups of adjusting gears are respectively adjusted to rotate synchronously with bevel gear six through rotating shaft three, and the adjusting gears are coordinated with the opposite adjustment of bevel gear six to ensure the driving flexibility of the rotary adjustment component for left and right distribution adjustment.

[0015] Optionally, the lower ends of the two groups of anti-sliding blocks are provided with grooves that fit with the widening plates and edges on the inner sides, and six groups of widening plates are provided. The six groups of widening plates are distributed in groups of three or so and are arranged in the concave parts of the middle parts of the upper ends of the two groups of anti-sliding blocks, so as to increase and widen the support surface and ensure that the center of gravity of the vehicle is lowered and the stability of the rollover tendency is reduced by adding six groups of widening plates.

[0016] Optionally, circular notches are provided at the edge of the alignment slide and the upper end connection of the widening plate, which fit into the hollow screw. The inner side of the anti-sliding block is threadedly fastened to the connection between the right end of the alignment slide and the inner side of the left end of the widening plate through the upper end of the solid screw and the hollow screw, and the solid screw is combined with the hollow screw to improve the fastening of the track base, provide shear and tensile strength, and ensure that the widening module does not loosen under dynamic load.

[0017] The present invention has the following advantages: The present invention provides an automatic measurement device for asphalt pavement pre-camber based on laser scanning through improvement. Compared with similar devices, the present invention has the following improvements: Advantage 1: The present invention provides an automatic measuring device for asphalt pavement pre-camber based on laser scanning. By setting up a walking assembly, the driving assembly is adjusted in opposite or reverse directions and the driving wheel is driven to engage and adjust with the inner side of the track assembly. A plurality of guide wheels are used to ensure that the track always runs along the predetermined track and avoid derailment. The cylinder drives the adjustment frame to make the adjustment wheel support the track and adjust the transmission efficiency, component life and overall machine stability, thereby overcoming the problem of collecting and measuring the pre-camber signal of the asphalt surface.

[0018] Advantage 2: The present invention provides an automatic measuring device for asphalt pavement pre-camber based on laser scanning, which is provided with a driving assembly, and the bevel gear four and the bevel gear five are respectively adjusted for transmission through the adjusting motor one and the adjusting motor two through the driving shaft one and the driving shaft two, and the meshing transmission adjustment is respectively performed through the rotary adjustment assembly or the bevel gear three so that the rotary adjustment assemblies on both sides can realize the drive adjustment of the driving wheels on both sides in the forward or reverse left and right direction under the transmission adjustment of the rotating shaft one and the rotating shaft two, so as to improve the flexibility of the track assembly adjustment.

[0019] Advantage 3: The present invention provides an automatic measuring device for the pre-camber of asphalt pavement based on laser scanning. By setting up a track assembly, the edge of the alignment slide is fitted with the connection of the two sets of anti-sliding blocks, and the widening plate is arranged parallel to the edge of the alignment slide, and the solid screw and the hollow screw are matched and pressed and tightened by the solid screw, thereby providing shear and tensile strength, ensuring that the track widening module does not loosen under dynamic load, and then the texture of the track is changed by the widening plate, and the area of ​​the track is extended to improve practicality.

[0020] Advantage 4: The present invention provides an automatic measuring device for the pre-camber of asphalt pavement based on laser scanning. By setting a rotary adjustment component, the four sets of movable shafts and bevel gear six set at the four sides of the inner side of the gear ring are adjusted, and the four sides of bevel gear one are respectively meshed with bevel gear six and simultaneously transmitted to bevel gear two to achieve bidirectional synchronous transmission, avoid unilateral overload and ensure speed stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a front planar structural schematic diagram of the present invention; Figure 3 This is a schematic diagram of the three-dimensional structure of the walking assembly of the present invention; Figure 4 This is a schematic diagram of the front plan structure of the walking assembly of the present invention; Figure 5 This is a schematic diagram of the top plan structure of the drive assembly of the present invention; Figure 6 It is a schematic diagram of the crawler assembly structure from a top view of the present invention; Figure 7 A schematic diagram of the crawler assembly separation structure from above of the present invention; Figure 8 It is a schematic diagram of the front planar structure of the rotary adjustment component of the present invention.

[0022] Explanation of the accompanying symbols: 1. chassis, 2. image sensor, 3. controller, 4. support frame, 5. laser scanning module, 6. connecting line, 7. scanning head, 8. walking assembly, 81. fixed plate, 82. driving assembly, 83. driving wheel, 84. track assembly, 85. fixed frame, 86. movable platform, 87. guide wheel, 88. support block, 89. adjusting cylinder, 810. adjusting frame, 811. adjusting wheel, 821. rotating shaft 1, 822. bevel gear 1, 823. rotary adjustment assembly, 824. bevel gear 2, 825. rotating shaft 2, 826 , bevel gear three, 827, bevel gear four, 828, drive shaft one, 829, adjustment motor one, 8210, fixed plate, 8211, adjustment motor two, 8212, drive shaft two, 8213, bevel gear five, 8214, bevel gear six, 8215, rotating shaft three, 8216, adjustment gear, 841, track, 842, hollow screw, 843, anti-sliding block, 844, alignment slide, 845, widening block, 846, widening, 847, solid screw, 8231, adjustment gear ring, 8232, movable shaft, 8233, bevel gear six. DETAILED DESCRIPTION

[0023] In the description of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0024] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0025] Furthermore, in the description of the present invention, unless otherwise specified, “plurality” means two or more.

[0026] For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] The following embodiments of the present invention are described in further detail with reference to 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] Please refer to Figure 1 and 2 , this embodiment provides an automatic measuring device for asphalt pavement pre-camber based on laser scanning, including a base frame 1, an image sensor 2, a controller 3, a support frame 4, a laser scanning module 5, a connecting line 6, a scanning head 7 and a walking assembly 8. The image sensor 2 is installed in the middle of the top of the base frame 1, the controller 3 is installed on the upper left side of the image sensor 2, and the image sensor 2 and the controller 3 are electrically connected. The support frame 4 is installed in the middle of the left end of the base frame 1, the laser scanning module 5 is installed on the lower inner side of the left end of the support frame 4, the input end of the laser scanning module 5 and the output end of the image sensor 2 are electrically connected through the connecting line 6, the scanning head 7 is installed at the bottom of the laser scanning module 5, and the walking assembly 8 is installed at the bottom of the base frame 1. The image sensor 2 realizes contactless measurement by cooperating with the laser scanning module 5 and the scanning head 7. The touch detection principle uses remote sensing technology to obtain road information at a distance without direct contact with the road surface, thus avoiding damage to the road and accurately measuring road conditions such as ice, snow, water and their thickness; the controller 3 converts the optical image captured by the image sensor into an electronic signal and performs a series of processing and conversion tasks; the laser scanning module 5 uses the scanning head 7 to accurately measure the distance information of the target object and provides high-precision distance data through laser ranging, providing a reliable basis for subsequent image processing and analysis; the connecting line 6 plays the role of signal connection and transmission between the image sensor 2 and the laser scanning module 5; the scanning head 7 emits a laser beam and receives the reflected light, calculates the propagation time and angle of the light, and thus obtains the three-dimensional coordinate data of the object surface.

[0029] Please refer to Figure 3 and 4The present embodiment provides an automatic measuring device for the pre-camber of an asphalt pavement based on laser scanning. The walking assembly 8 includes a fixed plate 81, a driving assembly 82, a driving wheel 83, a crawler assembly 84, a fixed frame 85, a movable platform 86, a guide wheel 87, a support block 88, an adjusting cylinder 89, an adjusting frame 810 and an adjusting wheel 811. The driving assembly 82 is installed at the right end of the inner part of the fixed plate 81. The driving assembly 82 is connected to the middle part of the driving wheel 83 in a transmission manner, and the driving assembly 82 is rotatably matched with the front side of the right end of the fixed frame 85. The driving wheel 83 is meshed with the upper right side of the inner part of the crawler assembly 84 for transmission. The fixed frame 85 is fixed to the top right side of the movable platform 86. The lower part of the movable platform 86 is fixed to the upper right side of the movable platform 86. A guide wheel 87 is installed on the inner side of the end, and the guide wheel 87 is connected to the inner lower side of the crawler assembly 84 in a transmission manner. A support block 88 is installed on the top left side of the movable platform 86, and an adjusting cylinder 89 is installed on the top of the support block 88. The fixed plate 81 is installed on the bottom front side of the chassis 1. Five groups of guide wheels 87 are provided on the inner side of the lower end of the movable platform 86. The five groups of guide wheels 87 are connected to the inner side of the crawler assembly 84 in a transmission manner by cooperating with the adjusting wheel 811 to ensure that the crawler always runs along the predetermined track and avoids derailment. The output end of the adjusting cylinder 89 is connected to the right end of the adjusting frame 810 in a transmission manner, and the adjusting wheel 811 is connected to the inner left upper side of the crawler assembly 84 through the adjusting frame 810. The crawler assembly 84 is connected to support the crawler and adjust the transmission efficiency, component life and overall stability at the same time. The driving assembly 82 is adjusted in opposite or reverse directions and drives the driving wheel 83 to engage with the inner side of the crawler assembly 84 for adjustment. A plurality of guide wheels 87 are used to ensure that the crawler always runs along the predetermined track and avoids derailment. The adjusting cylinder 89 drives the adjusting frame 810 to make the adjusting wheel 811 support the crawler and adjust the transmission efficiency, component life and overall stability at the same time, and overcome the problem of collecting and measuring the pre-camber signal of the asphalt surface. The crawler assembly 84 can move stably on the uncompacted asphalt mixture, resist sinking and not damage the key to the road surface structure. The motion module is made of a base layer of aramid fiber reinforced rubber with a tensile strength of ≥25MPa and a surface layer of high-temperature resistant silicone, so it has the effect of high-temperature resistant elastic protection; at the same time, the track assembly 84 provides stable traction on the uncompacted asphalt mixture without slipping or sinking, shock-absorbing bearing and isolation of road vibration, protecting precision sensors; and the setting of the track assembly 84 can reduce the traditional road pre-camber automatic measuring device's inability to detect asphalt pavement and slipping and vibration during movement, thereby avoiding positioning errors caused by sliding, thereby improving the accuracy of the pre-camber data, and at the same time can disperse the impact caused by uneven road surface and reduce the noise generated by bumps in the measuring sensor.

[0030] Please refer to Figure 5This embodiment provides an automatic measuring device for asphalt pavement pre-camber based on laser scanning. The driving assembly 82 includes a rotating shaft 1 821, a bevel gear 1 822, a rotary adjustment assembly 823, a bevel gear 2 824, a rotating shaft 2 825, a bevel gear 3 826, a bevel gear 4 827, a driving shaft 1 828, an adjusting motor 1 829, a fixing plate 8210, an adjusting motor 2 8211, a driving shaft 2 8212, a bevel gear 5 8213, a bevel gear 6 8214, a rotating shaft 3 8215 and an adjusting gear 8216. The rear end of the rotating shaft 1 821 is connected to the bevel gear 1 822 in transmission connection. The bevel gear 1 822 and the bevel gear 2 824 are respectively meshed with the middle parts of the front and rear ends of the rotary adjustment assembly 823 for transmission. The rear end of the bevel gear 2 824 is connected to the rear end of the bevel gear 2 The ends and the middle inner side of bevel gear three 826 are respectively connected to rotating shaft two 825, bevel gear three 826 is meshed with bevel gear four 827 for transmission, the left end of bevel gear four 827 is connected to driving shaft one 828, the left end of driving shaft one 828 is connected to the output end of adjusting motor one 829 through a coupling, adjusting motor one 829 and adjusting motor two 8211 are respectively installed on the left end of fixed plate 8210, the output end of adjusting motor two 8211 is connected to the left end of driving shaft two 8212 through a coupling, the right end of driving shaft two 8212 is connected to the left end of bevel gear five 8213, bevel gear five 8213 is meshed with bevel gear six 8214 for transmission, the rear end of bevel gear six 8214 is connected to adjusting gear The inner side of the middle part of the wheel 8216 is connected by the transmission of the rotating shaft three 8215, the front end of the rotating shaft one 821 is connected by the transmission of the middle part of the driving wheel 83, and the front end of the rotating shaft one 821 is rotatably matched with the front side of the right end of the fixed frame 85, and the fixed plate 8210 is installed on the inner side of the middle part of the base frame 1. There are two groups of rotary adjustment components 823. The two groups of rotary adjustment components 823 are synchronously connected by the rotating shaft one 821 and the rotating shaft two 825. The rotating shaft two 825 is adjusted by the bevel gear three 826 along with the bevel gear four 827 to make fixed-point rotation adjustment, so as to facilitate the flexibility of left and right split adjustment drive or same-direction drive adjustment through the two groups of rotary adjustment components 823, and the adjustment motor one 829 and the adjustment motor two 8211 are respectively driven by the drive shaft one 828 The bevel gear 4 827 and the bevel gear 5 8213 are respectively adjusted for transmission with the drive shaft 2 8212, and the meshing transmission adjustment is respectively performed through the rotary adjustment component 823 or the bevel gear 3 826 so that the rotary adjustment components 823 on both sides can realize the drive adjustment of the driving wheels 83 on both sides in the forward or reverse left and right direction under the transmission adjustment of the rotating shaft 1 821 and the rotating shaft 2 825, so as to improve the adjustment flexibility of the crawler assembly 84. The switching of the same direction transmission and the reverse transmission is realized by the bevel gear matching transmission system. At the same time, when the asphalt pavement pre-camber automatic measuring device needs to quickly turn back or avoid obstacles, the reverse transmission of the bevel gear, such as changing the meshing direction or switching the driving shaft direction, can realize the reverse movement of the crawler assembly without turning around as a whole, thereby improving the measurement efficiency.During normal measurement, the drive is maintained in the same direction, ensuring that both tracks advance synchronously and preventing path deviation. Reverse drive via bevel gears allows for differential steering when one track slows down or reverses, making it suitable for curves or obstacle avoidance scenarios, reducing the turning radius and improving maneuverability. During automatic measurement, if a path deviation, such as a laser navigation signal offset, is detected, a brief reverse drive can fine-tune the direction to maintain straight-line driving accuracy. If a track becomes stuck on an obstacle, reverse drive can attempt to free it, preventing motor stalling and damage. Reverse drive also allows the device to quickly turn around and perform multiple measurements through forward and reverse movement, improving data reliability.

[0031] Please refer to Figure 6 and 7, This embodiment provides an automatic measuring device for asphalt pavement pre-camber based on laser scanning, the track assembly 84 includes a track 841, a hollow screw 842, an anti-sliding block 843, an alignment slide 844, a widening block 845, a widening plate 846 and a solid screw 847. The outer surface of the track 841 is provided with an anti-sliding block 843, the inner side of the anti-sliding block 843 is provided with a hollow screw 842, the inner side of the anti-sliding block 843 is locked with the outer side of the bottom of the alignment slide 844, the middle part of the upper end of the alignment slide 844 is installed with a widening block 845, the right end of the alignment slide 844 and the left end of the widening plate 846 are respectively aligned with the hollow screw 842, the solid The screw 847 is threadedly fixed to the inner side of the hollow screw 842, the driving wheel 83 is meshed with the inner upper right side of the track 841 for transmission, the guide wheel 87 is connected to the inner lower side of the track 841 for transmission, and the adjusting wheel 811 is connected to the inner upper left side of the track 841. The lower ends of the two groups of anti-slip blocks 843 are provided with a groove that fits with the widening plate 846 and the edge. There are six groups of widening plates 846, and the six groups of widening plates 846 are distributed in threes and threes and are arranged in the concave part of the middle part of the upper end of the two groups of anti-slip blocks 843, so as to increase the widening support surface and ensure the lowering of the center of gravity of the vehicle and reduce the stability of the rollover tendency by adding six groups of widening plates 846. The edge of the alignment slide 843 and the upper end connection of the widening plate 845 are both provided with circular notches, which fit into the hollow screw 842. The inner side of the anti-sliding block 843 and the right end of the alignment slide 843 and the inner left end of the widening plate 845 are connected by the upper end of the solid screw 847 and the hollow screw 842 through threads. The solid screw is combined with the hollow screw to improve the fastening of the track base, provide shear and tensile strength, and ensure that the widening module does not loosen under dynamic loads. The track assembly 84 adopts a hollow screw to match the solid screw, and as the core connector of the widening structure, the hollow screw can be nested in the original bolt of the track plate. Hole or special mounting position, through its internal through hole through the solid screw, to achieve internal and external double fixation; at the same time, different lengths of hollow screws can be selected to achieve stepped adjustment of the widening range, such as 20mm, 50mm, etc.; as the main load-bearing component, the solid screw passes through the hollow screw and is fastened to the track base, providing shear and tensile strength to ensure that the widening module does not loosen under dynamic load, and the combination of hollow screw + solid screw allows quick disassembly and assembly, which is convenient for flexible adjustment of the track width according to terrain requirements. Finally, the double-screw structure disperses stress, is more impact-resistant than a single bolt connection, and is suitable for high vibration environments, and finally helps to improve the accuracy of asphalt pavement data detection.

[0032] Please refer to Figure 8, This embodiment provides an automatic measuring device for asphalt pavement pre-camber based on laser scanning, the rotary adjustment component 823 includes an adjusting gear ring 8231, a movable shaft 8232 and a bevel gear six 8233, the inner side of the adjusting gear ring 8231 is provided with a movable shaft 8232, the movable shaft 8232 is transmission-connected with the bevel gear six 8233, the bevel gear one 822 and the bevel gear two 824 are respectively meshed with the inner bevel gear six 8233 of the adjusting gear ring 8231 for transmission, the four sides of the inner side of the adjusting gear ring 8231 are respectively provided with movable shafts 8232, the movable shafts 8232 are respectively transmission-connected with four groups of bevel gear six 8233, so as to synchronize the meshing of the four groups of bevel gear six 8233 and perform meshing drive adjustment through the bevel gear one 822, and the four groups of movable shafts 8232 and the bevel gear six 8233 are provided on the four sides of the inner side of the adjusting gear ring 8231, and the four groups of bevel gear one 822 are respectively meshed with the bevel gear six 8233. The edges are respectively meshed with bevel gear six 8233 and simultaneously transmitted to bevel gear two 824 to achieve bidirectional synchronous transmission, avoid unilateral overload and ensure speed stability. Compared with traditional mobile wheels, two sets of large bevel gears are used as main drive gears, which can simultaneously receive power from the motor or engine, and distribute the power symmetrically to the track or wheel set through four sets of small bevel gears, avoiding the overload problem caused by single-point transmission; the size advantage of the large bevel gear can withstand higher torque, and cooperate with multiple sets of small bevel gears to disperse the load, which is suitable for stable transmission under heavy loads or complex road conditions; by reversing the rotation direction of a set of large bevel gears, the track can be turned in place or quickly turned back without the need for additional steering mechanism; multiple gears share the transmission load, reduce the wear rate of a single gear, and extend the life of key components; the large-size bevel gears have a larger heat dissipation area, and cooperate with multiple meshing points to disperse friction heat, avoiding lubrication failure caused by local overheating.

[0033] The present invention provides an improved automatic measurement device for asphalt pavement pre-camber based on laser scanning, and its working principle is as follows: First, by controlling the regulating motor 1 829 and regulating motor 2 8211 of the drive assembly 82, the regulating motor 1 829 drives the driving shaft 1 828 to rotate the bevel gear 4 827, and the bevel gear 4 827 rotates and meshes with the bevel gear 3 826 at the same time. The bevel gear 3 826 causes the bevel gears 2 824 on the front and rear sides to rotate synchronously through the rotating shaft 2 825, thereby achieving the synergy of power transmission at the same frequency. Secondly, the four sides of the bevel gears 2 824 on both sides are respectively engaged with the four groups of bevel gears 6 8233 of the rotary adjustment components 823 on both sides along the inner side of the adjustment gear ring 8231 through the movable shaft 8232 for synchronous meshing transmission, and then the four groups of bevel gears 6 8233 rotate and transmit the power to the bevel gear 1 822 on the other side, and then the rotating shaft 1 821 on the front and rear sides respectively transmits the power to the driving wheel 83 in a two-way manner, so that the driving wheel 83 rotates and meshes with the inner side of the crawler track 841 at the same time, so that the crawler track 841 operates and performs translational adjustment along the asphalt surface at the same time, so as to symmetrically distribute the power to the crawler track or wheel group through the four groups of small bevel gears, avoiding the problem of eccentric load caused by single-point transmission, and the size advantage of the large bevel gear can withstand higher torque, and cooperate with multiple groups of small bevel gears to disperse the load, which is suitable for stable transmission under heavy load or complex road conditions; Third, the drive assembly 82 is adjusted in opposite or reverse directions while driving the drive wheel 83 to engage and adjust with the inner side of the crawler assembly 84. Multiple sets of guide wheels 87 are used to ensure that the crawler always runs along the predetermined track and avoid derailment. At the same time, the adjustment cylinder 89 drives the adjustment frame 810 so that the adjustment wheel 811 and the upper left side of the crawler 841 support the crawler and adjust the transmission efficiency of the crawler 841, the life of the components and the stability of the whole machine, and overcome the problem of collecting and measuring the pre-camber signal of the asphalt surface. Fourth, the controller 3 acts as the "brain" to coordinate the synchronous work of all modules, and at the same time controls the image sensor 2 to process sensor data and control the actuator. Then the image sensor 2 is electrically transmitted with the laser scanning module 5 through the connecting line 6. The laser scanning module 5 enables the scanning head 7 to accurately measure the distance information of the target object, and provides high-precision distance data through laser ranging, providing a reliable basis for subsequent image processing and analysis. The detected data is transmitted to the image sensor 2 through the connecting line 6 to facilitate the collection and processing of the pre-arch measurement data of the asphalt pavement. The crawler setting is adopted by the walking component 8 to significantly reduce the pressure on the asphalt pavement, especially for the newly paved soft asphalt, to avoid the indentation of the measuring device itself interfering with the real pre-arch data. At the same time, the multi-wheel group design of the crawler can absorb small ups and downs of the road surface, reduce the measurement noise caused by vibration of sensors such as laser scanning heads, and ensure that the elevation data is smooth and reliable. Fifth, the controller 3 controls the operation of the second adjustment motor 8211, and the second adjustment motor 8211 drives the second drive shaft 8212 to make the bevel gear 5 8213 rotate in a circular manner. At the same time, the front and rear sides of the bevel gear 5 8213 respectively engage with the bevel gear 6 8214 on both sides for reverse transmission. Then, the bevel gear 6 8214 is respectively transmitted to the adjustment gears 8216 on both sides by the rotating shaft 3 8215 for fixed-point rotation. Then, the two sets of adjustment gears 8216 are respectively engaged with the meshing points of the adjustment ring gears 8231 on the front and rear sides for circular rotation adjustment, and the adjustment ring gear 8231 is respectively rotated in a circular manner. The meshing circle is adjusted by using the bevel gear 1 822 and the bevel gear 2 824 as points through the four sets of bevel gear 6 8233 on the inner side. The meshing of the two sets of bevel gear 6 8214 and the bevel gear 5 8213 causes the two sets of bevel gear 6 8214 to rotate in opposite directions. Therefore, after the bevel gear 6 8214 transmits the transmission to the adjusting gear 8216, the two sets of adjusting gear 8216 respectively mesh with the adjusting gear ring 8231 in opposite directions, thereby realizing the left-right split adjustment of the crawler assembly 84, thereby improving the flexibility of the crawler assembly 84 in terms of angular movement and adjustment on the asphalt road surface compared to the pulley. Sixth, the edge of the alignment slide 844 is fitted with the connection of the two sets of anti-slip blocks 843, and the widening plate 846 is arranged parallel to the edge of the alignment slide 844. The solid screw 847 is matched with the hollow screw 842 and pressed and fastened by the solid screw 847, thereby providing shear and tensile strength, ensuring that the track 841 widening module does not loosen under dynamic loads. The widening plate changes the track texture and disperses the weight of the device, avoiding indentation on soft asphalt pavement, such as newly paved sections, and preventing deformation of the road surface due to its own pressure, which would interfere with the true pre-camber data. Seventh, after completing the above operations, the track can also be widened by replacing different types of alignment slides 844, widening blocks 845 and widening plates 846. The wide track increases the lateral support span, significantly reducing the risk of the device tilting on lateral slopes such as road crowns, maintaining the vertical posture of the sensor, and avoiding elevation measurement errors caused by vehicle body tilt. In addition, the wide track can accommodate more buffer rollers or suspension components, effectively absorbing small vibrations of the road surface, reducing noise interference of the laser scanning module, and improving data smoothness.

[0034] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. An automatic measuring device for asphalt pavement pre-camber based on laser scanning, comprising a base frame (1), an image sensor (2), a controller (3), a support frame (4), a laser scanning module (5), a connecting line (6) and a scanning head (7), wherein the image sensor (2) is installed at the middle of the top of the base frame (1), the controller (3) is installed at the upper left side of the image sensor (2), and the image sensor (2) and the controller (3) are electrically connected, the support frame (4) is installed at the middle of the left end of the base frame (1), the laser scanning module (5) is installed at the lower inner side of the left end of the support frame (4), the input end of the laser scanning module (5) and the output end of the image sensor (2) are electrically connected via the connecting line (6), and the scanning head (7) is installed at the bottom of the laser scanning module (5); It is characterized by: The vehicle further comprises a walking assembly (8), wherein the walking assembly (8) is mounted on the bottom of the chassis (1), and the walking assembly (8) comprises a fixed plate (81), a driving assembly (82), a driving wheel (83), a crawler assembly (84), a fixed frame (85), a movable platform (86), a guide wheel (87), a support block (88), an adjusting cylinder (89), an adjusting frame (810) and an adjusting wheel (811). The driving assembly (82) is mounted on the right end of the interior of the fixed plate (81), and the driving assembly (82) is in transmission connection with the middle part of the driving wheel (83), and the driving assembly (82) is in transmission connection with the vehicle. The front side of the right end of the fixed frame (85) is rotated together, the driving wheel (83) is meshed with the upper right side of the inside of the crawler assembly (84) for transmission, the fixed frame (85) is fixed to the right side of the top of the movable platform (86), the inner side of the lower end of the movable platform (86) is installed with a guide wheel (87), and the guide wheel (87) is connected to the lower side of the inside of the crawler assembly (84) for transmission, the left side of the top of the movable platform (86) is installed with a support block (88), the top of the support block (88) is installed with an adjusting cylinder (89), and the fixed plate (81) is installed on the front side of the bottom of the chassis (1).

2. The automatic measuring device for asphalt pavement pre-camber based on laser scanning according to claim 1 is characterized in that: The driving assembly (82) includes a rotating shaft (821), a bevel gear (822), a rotation adjustment assembly (823), a bevel gear (824), a rotating shaft (825), a bevel gear (826), a bevel gear (827), a driving shaft (828), an adjusting motor (829), a fixing plate (8210), an adjusting motor (8211), a driving shaft (8212), a bevel gear (8213), a bevel gear (8214), a rotating shaft (8215), and an adjusting Gear (8216), the rear end of the rotating shaft (821) is connected to the bevel gear (822), the bevel gear (822) and the bevel gear (824) are respectively meshed with the middle of the front and rear ends of the rotary adjustment component (823), the rear end of the bevel gear (824) and the inner side of the middle of the bevel gear (826) are respectively connected to the rotating shaft (825), the bevel gear (826) is meshed with the bevel gear (827), the left side of the bevel gear (827) is connected to the rotating shaft (825). The left end of the drive shaft (828) is connected to the output end of the regulating motor (829) through a coupling. The regulating motor (829) and the regulating motor (8211) are respectively installed on the left end of the fixed plate (8210). The output end of the regulating motor (8211) is connected to the left end of the drive shaft (8212) through a coupling. The right end of the drive shaft (8212) is connected to the left end of the bevel gear (8213). The bevel gear five (8213) and the bevel gear six (8214) are meshed and driven, the rear end of the bevel gear six (8214) is connected to the inner side of the middle part of the adjusting gear (8216) through the rotating shaft three (8215), the front end of the rotating shaft one (821) is connected to the middle part of the driving wheel (83), and the front end of the rotating shaft one (821) is rotatably matched with the front side of the right end of the fixing frame (85), and the fixing plate (8210) is installed on the inner side of the middle part of the fixing plate (81).

3. The automatic measuring device for asphalt pavement pre-camber based on laser scanning according to claim 1, characterized in that: The crawler assembly (84) includes a crawler (841), a hollow screw (842), an anti-sliding block (843), an alignment slide (844), a widening block (845), a widening plate (846) and a solid screw (847). The outer surface of the crawler (841) is provided with an anti-sliding block (843). The inner side of the anti-sliding block (843) is provided with a hollow screw (842). The inner side of the anti-sliding block (843) is locked with the outer side of the bottom of the alignment slide (844). The upper side of the alignment slide (844) is provided with a hollow screw (842). A widening block (845) is installed at the middle of the end, the right end of the alignment slide (844) and the left end of the widening plate (846) are respectively aligned with the hollow screw (842), the solid screw (847) is threadedly fixed to the inner side of the hollow screw (842), the driving wheel (83) is meshed with the inner right upper side of the crawler (841) for transmission, the guide wheel (87) is transmission-connected to the inner lower side of the crawler (841), and the adjusting wheel (811) is transmission-connected to the inner left upper side of the crawler (841).

4. The automatic measuring device for asphalt pavement pre-camber based on laser scanning according to claim 1, characterized in that: The rotary adjustment component (823) includes an adjusting ring gear (8231), a movable shaft (8232) and a bevel gear six (8233). The movable shaft (8232) is provided on the inner side of the adjusting ring gear (8231). The movable shaft (8232) is connected to the bevel gear six (8233) in a transmission manner. The bevel gear one (822) and the bevel gear two (824) are respectively meshed with the bevel gear six (8233) on the inner side of the adjusting ring gear (8231) for transmission.

5. The automatic measuring device for asphalt pavement pre-camber based on laser scanning according to claim 1 is characterized in that: Five groups of guide wheels (87) are provided on the inner side of the lower end of the movable platform (86), and the five groups of guide wheels (87) are transmission-connected to the inner side of the crawler assembly (84) through the matching adjustment wheel (811).

6. The automatic measuring device for asphalt pavement pre-camber based on laser scanning according to claim 1, characterized in that: The output end of the regulating cylinder (89) is transmission-connected to the right end of the regulating frame (810), and the regulating wheel (811) is transmission-connected to the upper left side of the inner portion of the crawler assembly (84) through the regulating frame (810).

7. The automatic measuring device for asphalt pavement pre-camber based on laser scanning according to claim 2, characterized in that: The rotary adjustment components (823) are provided with two groups. The two groups of rotary adjustment components (823) are synchronously connected through the rotating shaft 1 (821) and the rotating shaft 2 (825). The rotating shaft 2 (825) is adjusted to a fixed point by the bevel gear 3 (826) along with the bevel gear 4 (827).

8. The automatic measuring device for asphalt pavement pre-camber based on laser scanning according to claim 2, characterized in that: The bevel gear six (8214) is provided with two groups, and the two groups of bevel gear six (8214) are in opposite meshing transmission with the front and rear sides of the bevel gear five (8213), and the two groups of adjustment gears (8216) are respectively adjusted to synchronize circular rotation with the bevel gear six (8214) through the rotating shaft three (8215).

9. The automatic measuring device for asphalt pavement pre-camber based on laser scanning according to claim 3, characterized in that: A slot that fits with the widening plate (846) and the edge is provided on the inner side of the lower ends of the two groups of anti-sliding blocks (843). Six groups of widening plates (846) are provided. The six groups of widening plates (846) are distributed in a pattern of three and three and are provided in the concave middle portion of the upper ends of the two groups of anti-sliding blocks (843).

10. The automatic measuring device for asphalt pavement pre-camber based on laser scanning according to claim 3, characterized in that: The edge of the alignment slide (843) and the upper end connection of the widening plate (845) are both provided with circular notches, which fit into the hollow screw (842). The inner side of the anti-sliding block (843) and the inner side connection of the right end of the alignment slide (843) and the left end of the widening plate (845) are threadedly fastened to the hollow screw (842) through the upper end of the solid screw (847).

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