Asphalt pavement crack repairing robot and system based on digital twinning

Abstract

The invention discloses an asphalt pavement crack repairing robot and system based on digital twinning, and relates to the technical field of asphalt pavement crack repairing, the asphalt pavement crack repairing robot comprises a robot body, the robot body is provided with an auxiliary mechanism, and the auxiliary mechanism comprises a first motor, four mounting grooves, a placing groove and two placing holes; an electric push rod is mounted in each mounting groove, a rectangular block is mounted at one end of the telescopic end of each electric push rod through a connecting block, and a second motor is mounted in the placement groove. The asphalt pavement crack repairing robot based on digital twinning can have a safety warning function on a repaired place, so that the situation that the repairing effect is reduced due to rolling deformation or cracking of newly filled asphalt caused by the fact that other vehicles drive into the repaired area in advance can be avoided, and the repairing efficiency is improved. And the use effect of the asphalt pavement crack repairing robot based on digital twinning is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of asphalt pavement crack repair, in particular to an asphalt pavement crack repair robot and system based on digital twinning. BACKGROUND

[0002] At present, highway traffic volume is rising exponentially, and asphalt pavement is bearing increasingly intensified load impact and environmental erosion. Frequent crack diseases have become a core problem of road maintenance. Traditional manual detection and repair methods are inefficient and costly. Therefore, people usually use an asphalt pavement crack repair robot based on digital twinning to repair pavement cracks in order to improve repair efficiency and reduce labor costs.

[0003] The existing asphalt pavement crack repair robot based on digital twinning has the following disadvantages: The asphalt pavement crack repair robot based on digital twinning usually does not have the function of safety warning for the repaired place when repairing cracks on asphalt pavement. This can easily cause other vehicles to enter the repair area in advance, resulting in the new filled asphalt being deformed or cracked by rolling, thereby reducing the repair effect, i.e. reducing the use effect of the asphalt pavement crack repair robot based on digital twinning.

[0004] Therefore, we propose an asphalt pavement crack repair robot and system based on digital twinning to solve the problems raised in the background technology. SUMMARY

[0005] The purpose of the present application is to provide an asphalt pavement crack repair robot and system based on digital twinning. By setting an auxiliary mechanism, the asphalt pavement crack repair robot based on digital twinning can have the function of safety warning for the repaired place. This can avoid the situation where other vehicles enter the repair area in advance, resulting in the new filled asphalt being deformed or cracked by rolling, thereby reducing the repair effect, i.e. improving the use effect of the asphalt pavement crack repair robot based on digital twinning, in order to solve the problems raised in the background technology.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical solution: an asphalt pavement crack repair robot based on digital twinning, comprising a robot body, an auxiliary mechanism is arranged on the robot body; The auxiliary mechanism comprises a first motor, four mounting grooves, a placing groove and two placing holes, an electric push rod is mounted in each mounting groove, a rectangular block is mounted on the extension end of each electric push rod through a connecting block, a second motor is mounted in the placing groove, a sliding groove is formed in the inner wall of each placing hole, a T-shaped groove is formed in the inner wall of each sliding groove, two rectangular holes are formed in the lower side of the inner wall of each T-shaped groove, an auxiliary groove is formed between the inner walls of two T-shaped grooves, a bidirectional threaded rod is mounted on the output end of the first motor, two sliding plates are movably sleeved in the auxiliary groove, a warning column is placed in each placing hole, two rectangular grooves are formed between the inner wall of each sliding groove and the inner wall of the corresponding placing hole, a round rod is fixed in each of the two rectangular grooves, two screw rods are movably penetrated through the inner wall of the placing groove, a sliding block is movably sleeved on the outer surface of each round rod, and a sprocket is fixedly sleeved on one end of each screw rod.

[0007] Preferably, each rectangular block is movably penetrated through the inner wall of each mounting groove, the output end of the second motor is mounted with one end of one screw rod, the two sprockets are connected through a chain transmission, the four rectangular blocks are divided into two groups, and the top of each group of rectangular blocks is located on the same horizontal plane as the lower side of the inner wall of each T-shaped groove.

[0008] Preferably, one end of the bidirectional threaded rod is rotatably embedded in the inner wall of the auxiliary groove, the two ends of the bidirectional threaded rod are respectively threaded through the opposite sides of the two sliding plates, the other ends of the two screw rods are rotatably embedded in the inner walls of the other two rectangular grooves through bearings, and the other end of each screw rod is threaded through one side of each sliding block.

[0009] Preferably, the robot body comprises a mobile vehicle, a storage tank and a delivery pump are mounted on the upper side of the mobile vehicle, a connection pipe is mounted on the input end and the output end of the delivery pump, a first mechanical arm and a second mechanical arm are mounted on the upper side of the mobile vehicle, and a crack pouring gun head is mounted on the first mechanical arm.

[0010] Preferably, a spray head is mounted on the second mechanical arm, an oil-water separator and an air booster pump are mounted on the upper side of the mobile vehicle, a hose is mounted on the air inlet end and the air outlet end of the air booster pump, an electric valve is mounted on the output end of the storage tank, and a flowmeter is mounted on the output end of the electric valve.

[0011] Preferably, a mounting bracket is mounted on the upper side of the mobile vehicle, a laser radar is mounted on the surface of the mounting bracket, an industrial camera is arranged in the through hole of the mounting bracket, a storage battery is arranged in the groove on the upper side of the mobile vehicle, a controller is mounted on the surface of the mobile vehicle, and a filter box is mounted on the outer wall of the oil-water separator.

[0012] Preferably, the input end of one of the connecting pipes is mounted with the output end of the flow meter, the output end of the other connecting pipe is mounted with the input end of the crack gun head, the input end of one of the hoses is mounted with the output end of the oil-water separator, the output end of the other hose is mounted with the input end of the spray head, and the output end of the filter box is mounted with the input end of the oil-water separator.

[0013] Preferably, the first motor is mounted on the front surface of the moving vehicle, one end of the bidirectional threaded rod is movably penetrated through the front surface of the moving vehicle, each mounting groove is formed on the upper side of the moving vehicle, each placement hole is formed on the upper side of the moving vehicle, and the placement groove is formed on the upper side of the moving vehicle.

[0014] Preferably, the system comprises a collection module, a control unit and an execution module, the control unit comprises an input module, a data analysis processing module, a storage module and an output module, the collection module is used to collect information of road cracks, and provide accurate data for a digital twin model to support subsequent decision-making and execution, and the input module is used to input the collected information into the controller to provide a basis for autonomous decision-making and operation of the robot body.

[0015] Preferably, the data analysis processing module is used to analyze and process the data collected by the collection module, the storage module is used to realize storage and management of data, and provides data support for long-term road maintenance, the output module is used to convert the processed control instructions or data into actual physical actions or externally perceptible signals to realize execution and feedback of the repair operation, and the execution module is used to receive the instructions of the controller and specifically implement various operations of road crack repair.

[0016] Compared with the prior art, the present application has the following advantages: 1、The auxiliary mechanism is arranged, so that the asphalt road crack repair robot based on digital twinning has the function of safety warning for the repaired place, so that other vehicles can be prevented from driving into the repaired area in advance, so that the newly filled asphalt is prevented from being deformed or cracked by being rolled, and the repair effect is improved, that is, the use effect of the asphalt road crack repair robot based on digital twinning is improved, and the cooperation of the second motor, the placement groove, the two chain wheels, the chain and the two corresponding rectangular grooves can drive the two screw rods to rotate, and the cooperation of the four activated electric push rods, the four mounting grooves, the four connecting blocks, the four rectangular blocks and the four rectangular holes can lower the warning columns in the two T-shaped grooves.

[0017] 2、The asphalt pavement crack repair robot based on digital twinning of the present application can automatically repair cracks in the asphalt pavement, thereby improving the repair efficiency of the asphalt pavement cracks and reducing the labor cost, and through the cooperation of the storage battery, the controller, the air booster pump and the two hoses, the air in the oil-water separator can be extracted and transported to the inside of the spray head, and through the cooperation of the started delivery pump, the two connecting pipes, the started electric valve and the started flow meter, the asphalt material in the storage tank can be transported to the inside of the crack pouring gun head.

[0018] 3、When the present application is used, the acquisition module is used to obtain the geometric characteristics and environmental parameters of the road surface cracks and other key data, which provides a basis for subsequent digital twin model construction and repair planning, the input module is used to transmit the original data collected by the road surface detection to the controller for subsequent processing, the data analysis and processing module is used to extract valuable information from the received data, construct a digital twin model and generate decision instructions, the storage module is used to efficiently store, manage and call various data to support the operation, analysis and decision-making process of the entire robot body, the output module is used to convert the processed information or instructions into executable physical actions or visual results to realize interaction with the external environment or information display, and the execution module is used to convert the planning instructions of the digital twin model into actual actions to realize crack repair operation on the asphalt pavement. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a perspective view of the asphalt pavement crack repair robot based on digital twinning of the present application; Figure 2 It is a structural schematic view of the asphalt pavement crack repair robot based on digital twinning of the present application; Figure 3 It is a perspective view of the robot body part of the asphalt pavement crack repair robot based on digital twinning of the present application; Figure 4 It is another perspective view of the robot body part of the asphalt pavement crack repair robot based on digital twinning of the present application; Figure 5 It is a partial cross-sectional perspective view of the asphalt pavement crack repair robot based on digital twinning of the present application; Figure 6 It is a partial cross-sectional perspective view of the asphalt pavement crack repair robot based on digital twinning of the present application from a side view angle; Figure 7 It is a partial cross-sectional perspective view of the asphalt pavement crack repair robot based on digital twinning of the present application from a top view angle; Figure 8 It is another partial cross-sectional perspective view of the asphalt pavement crack repair robot based on digital twinning of the present application; Figure 9Another state perspective angle partial cross-sectional perspective view of the asphalt pavement crack repair robot based on digital twinning of the present application; Figure 10 System flow chart of the asphalt pavement crack repair robot based on digital twinning of the present application.

[0020] In the figure: 1, robot body; 101, mobile vehicle; 102, storage tank; 103, delivery pump; 104, connecting pipe; 105, first mechanical arm; 106, crack pouring gun head; 107, oil-water separator; 108, air booster pump; 109, hose; 110, second mechanical arm; 111, spray head; 112, electric valve; 113, flow meter; 114, storage battery; 115, mounting bracket; 116, industrial camera; 117, filter box; 118, laser radar; 119, controller; 2, auxiliary mechanism; 201, first motor; 202, mounting groove; 203, electric push rod; 204, connecting block; 205, rectangular block; 206, placement groove; 207, placement hole; 208, second motor; 209, chain wheel; 210, sliding groove; 211, T-shaped groove; 212, rectangular hole; 213, auxiliary groove; 214, bidirectional threaded rod; 215, sliding plate; 216, warning column; 217, rectangular groove; 218, round rod; 219, screw rod; 220, sliding block; 3, acquisition module; 4, control unit; 401, input module; 402, data analysis processing module; 403, storage module; 404, output module; 5, execution module. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0022] Embodiment one: please refer to Figures 1-9The present application provides a technical solution: an asphalt pavement crack repair robot based on digital twinning, including a robot body 1, the robot body 1 includes a mobile vehicle 101, the upper side of the mobile vehicle 101 is provided with a storage tank 102 and a delivery pump 103, the input end and the output end of the delivery pump 103 are both provided with a connecting pipe 104, the upper side of the mobile vehicle 101 is provided with a first mechanical arm 105 and a second mechanical arm 110, the first mechanical arm 105 is provided with a crack pouring gun head 106, the second mechanical arm 110 is provided with a spray head 111, the upper side of the mobile vehicle 101 is provided with an oil-water separator 107 and an air booster pump 108, the air inlet end and the air outlet end of the air booster pump 108 are both provided with a hose 109, the output end of the storage tank 102 is provided with an electric valve 112, the output end of the electric valve 112 is provided with a flowmeter 113, the upper side of the mobile vehicle 101 is provided with a mounting bracket 115, the surface of the mounting bracket 115 is provided with a laser radar 118, the through hole of the mounting bracket 115 is provided with an industrial camera 116, the recess of the upper side of the mobile vehicle 101 is provided with a storage battery 114, the surface of the mobile vehicle 101 is provided with a controller 119, the outer wall of the oil-water separator 107 is provided with a filter box 117, the input end of one of the connecting pipes 104 is installed with the output end of the flowmeter 113, the output end of the other connecting pipe 104 is installed with the input end of the crack pouring gun head 106, the input end of one of the hoses 109 is installed with the output end of the oil-water separator 107, the output end of the other hose 109 is installed with the input end of the spray head 111, and the output end of the filter box 117 is installed with the input end of the oil-water separator 107.

[0023] In this embodiment, when the asphalt pavement needs to be repaired, the mobile vehicle 101 is started first, and the industrial camera 116 is started by the controller 119. The industrial camera 116 is started and cooperates with the mobile vehicle 101 and the mounting bracket 115 to take pictures of the asphalt pavement continuously. The pictures are transmitted to the controller 119 in the form of electrical signals. The controller 119 compares the received pictures with the previously stored pictures. When the received pictures are the same as the previously stored pictures, it means that the asphalt pavement has no cracks. When the received pictures are different from the previously stored pictures, it means that the asphalt pavement has cracks. At this time, the mobile vehicle 101 stops near the pavement with cracks. Then the controller 119 starts the laser radar 118. The laser radar 118 is started and cooperates with the mobile vehicle 101 and the mounting bracket 115 to perform three-dimensional scanning on the asphalt pavement, generates point cloud data, and transmits the generated point cloud data to the controller 119. At the same time, the industrial camera 116 takes pictures of the asphalt pavement cracks and transmits the pictures to the controller 119. The controller 119 constructs a digital twin model according to the received point cloud data and image data, plans the crack repair path and material quantity, and then starts the oil-water separator 107, the second mechanical arm 110, and the air booster pump 108. The air booster pump 108 is started and cooperates with one of the hoses 109 and the oil-water separator 107 to generate suction at the air inlet of the filter box 117. The air inlet of the filter box 117 generates suction to suck air from the environment into the filter box 117. The filter box 117 then delivers the filtered air to the inside of the oil-water separator 107. The oil-water separator 107 cooperates with one of the hoses 109 to deliver the filtered air in the inside to the inside of the air booster pump 108 for pressurization. Then the air booster pump 108 cooperates with the other hose 109 to deliver the pressurized air to the inside of the spray head 111. The air in the spray head 111 cooperates with the started second mechanical arm 110 to clean the impurities in the asphalt pavement cracks. When the impurities in the asphalt pavement cracks are cleaned, the controller 119 closes the oil-water separator 107, the air booster pump 108, and the second mechanical arm 110, and then starts the delivery pump 103, the first mechanical arm 105, the electric valve 112, and the flow meter 113. The delivery pump 103 is started and cooperates with the two connecting pipes 104, the started electric valve 112, and the flow meter 113 to deliver the asphalt material in the storage tank 102 to the inside of the crack pouring gun head 106. The asphalt material in the crack pouring gun head 106 cooperates with the started first mechanical arm 105 to pour the asphalt material into the pavement cracks. When the delivered asphalt material reaches the calculated material quantity,At this time, the controller 119 will directly turn off the first mechanical arm 105, the delivery pump 103, the electric valve 112 and the flow meter 113, then wait for a period of time, start the moving vehicle 101, and perform the compaction operation on the repaired road surface until the compaction operation is completed, that is, the asphalt pavement crack repair operation is completed.

[0024] Embodiment two: according to Figure 1 、 Figure 2 、 Figures 5-9 As shown in the figure, the asphalt pavement crack repair robot based on digital twinning includes a robot body 1, and an auxiliary mechanism 2 is arranged on the robot body 1. The auxiliary mechanism 2 includes a first motor 201, four mounting grooves 202, a placing groove 206, and two placing holes 207. An electric push rod 203 is mounted in each mounting groove 202. A rectangular block 205 is mounted on the extension end of each electric push rod 203 through a connecting block 204. A second motor 208 is mounted in the placing groove 206. A sliding groove 210 is formed in the inner wall of each placing hole 207. A T-shaped groove 211 is formed in the inner wall of each sliding groove 210. Two rectangular holes 212 are formed in the inner wall of each T-shaped groove 211. An auxiliary groove 213 is formed between the inner walls of the two T-shaped grooves 211. A bidirectional threaded rod 214 is mounted at the output end of the first motor 201. Two sliding plates 215 are movably sleeved in the auxiliary groove 213. A warning column 216 is placed in each placing hole 207. Two rectangular grooves 217 are formed between the inner wall of each sliding groove 210 and the inner wall of the corresponding placing hole 207. A round rod 218 is fixedly arranged in each rectangular groove 217. Two screw rods 219 are movably arranged in the inner wall of the placing groove 206. A sliding block 220 is movably sleeved on the outer surface of each round rod 218. A sprocket 209 is fixedly sleeved on one end of each screw rod 219. Each rectangular block 205 movably penetrates the inner wall of each mounting groove 202. The output end of the second motor 208 is mounted with one end of one of the screw rods 219. The two sprockets 209 are connected by a chain. The four rectangular blocks 205 are divided into two groups. The top of each group of rectangular blocks 205 is at the same horizontal plane as the lower side of the inner wall of each T-shaped groove 211. One end of the bidirectional threaded rod 214 is rotatably embedded in the inner wall of the auxiliary groove 213. The two ends of the bidirectional threaded rod 214 are threadedly penetrated through the opposite sides of the two sliding plates 215. The other ends of the two screw rods 219 are rotatably embedded in the inner walls of the other two rectangular grooves 217. The other end of each screw rod 219 is threadedly penetrated through one side of each sliding block 220. The first motor 201 is mounted on the front surface of the moving vehicle 101. One end of the bidirectional threaded rod 214 movably penetrates the front surface of the moving vehicle 101. Each mounting groove 202 is formed on the upper side of the moving vehicle 101. Each placing hole 207 is formed on the upper side of the moving vehicle 101. The placing groove 206 is formed on the upper side of the moving vehicle 101.

[0025] When the warning operation of the repaired crack needs to be performed in the embodiment, the second motor 208 is started by the controller 119 at first. The started second motor 208 drives the corresponding screw rod 219 to rotate under the cooperation of the placement groove 206 and the corresponding rectangular groove 217. The rotating screw rod 219 drives the other screw rod 219 to rotate under the cooperation of the two chain wheels 209 and the chain. The two rotating screw rods 219 drive the two sliding blocks 220 to move horizontally under the cooperation of the four rectangular grooves 217, the two sliding grooves 210 and the two round rods 218. The two horizontally moving sliding blocks 220 drive the warning columns 216 in the two placement holes 207 to move horizontally in the corresponding sliding grooves 210. When the two warning columns 216 cannot move any more, the controller 119 closes the second motor 208 and starts the first motor 201. The started first motor 201 drives the bidirectional screw rod 214 to rotate. The rotating bidirectional screw rod 214 drives the two sliding plates 215 to move away from each other under the cooperation of the auxiliary groove 213. The two moving away sliding plates 215 drive the two warning columns 216 to move in the corresponding T-shaped grooves 211. When the two warning columns 216 cannot move any more, the controller 119 closes the first motor 201 and starts the four electric push rods 203. The started electric push rods 203 drive the corresponding rectangular blocks 205 to move under the cooperation of the corresponding installation grooves 202 and the corresponding connecting blocks 204. When the four rectangular blocks 205 cannot move any more, the controller 119 closes the four electric push rods 203. The two warning columns 216 vertically move from the corresponding T-shaped grooves 211 to the ground under the cooperation of the corresponding two rectangular holes 212 and their own gravity. Then, the controller 119 resets the two sliding blocks 220 and the two sliding plates 215 to the original positions under the cooperation of the above components. The warning columns 216 are placed in the two placement holes 207. The moving vehicle 101 is started and moves to the appropriate distance. Then, the above operation steps are performed.

[0026] Embodiment three: according to Figure 2 and Figure 10As shown, it includes a collection module 3, a control unit 4 and an execution module 5, the control unit 4 includes an input module 401, a data analysis processing module 402, a storage module 403 and an output module 404, the collection module 3 is used to collect the information of the road cracks, and provide accurate data for the digital twin model to support subsequent decision-making and execution, the input module 401 is used to input the collected information to the inside of the controller 119, and provide the basis for the autonomous decision-making and operation of the robot body 1, the data analysis processing module 402 is used to analyze and process the data collected by the collection module 3, the storage module 403 is used to realize the storage and management of data, and provides data support for long-term road maintenance, the output module 404 is used to convert the processed control instructions or data into actual physical actions or externally perceptible signals to realize the execution and feedback of the repair work, and the execution module 5 is used to receive the instructions of the controller 119 and specifically implement various operations of the road crack repair.

[0027] In this embodiment, in use, the collection module 3 is used to obtain the original data required for asphalt pavement detection, and provides a basis for subsequent analysis, modeling and decision-making, the input module 401 is used to transmit the collected external environment data to the controller 119 to provide original information support for subsequent data processing and decision-making, the data analysis processing module 402 is used to extract key information from the input data, construct a digital twin model, and generate the core task of repair decision-making, the storage module 403 is used to persistently save and manage various types of data, support the operation of the system, historical data tracing and subsequent analysis, the output module 404 is used to convert the processed information or instructions into executable physical actions or visual results to realize the final function of the robot body 1, and the execution module 5 is used to convert the planning instructions of the digital twin model into actual actions to realize the whole process of crack pretreatment, pouring, compaction and maintenance, thereby improving the road repair efficiency and quality stability.

[0028] The effect and working principle of the whole mechanism are as follows: In the preparation stage, the controller 119 is connected with the storage battery 114, then the storage tank 102, the delivery pump 103, the first mechanical arm 105, the second mechanical arm 110, the oil-water separator 107, the air booster pump 108, the electric valve 112, the flow meter 113, the industrial camera 116 and the laser radar 118 are connected with the controller 119, then the four electric push rods 203, the first motor 201 and the second motor 208 are connected with the controller 119, after that, the controller 119 is turned on, and the photos of the asphalt pavement without cracks are stored in the inside of the controller 119; The repair stage, when the asphalt pavement needs to be repaired, at this time the mobile car 101 is started, so that the mobile car 101 moves, and the industrial camera 116 is started by the controller 119, at this time the industrial camera 116 started under the cooperation of the mobile car 101 and the mounting frame 115 will take pictures of the asphalt pavement continuously, and the pictures taken will be transmitted to the controller 119 in the form of electrical signals, and the controller 119 will compare the received pictures with the previously stored pictures, when the controller 119 receives the same pictures as the previously stored pictures, it means that the asphalt pavement has no cracks, when the controller 119 receives different pictures from the previously stored pictures, it means that the asphalt pavement has cracks, at this time the mobile car 101 will stop near the pavement with cracks, then the controller 119 will start the laser radar 118, at this time the laser radar 118 started under the cooperation of the mobile car 101 and the mounting frame 115 will generate point cloud data by scanning the asphalt pavement in three dimensions, and the generated point cloud data will be transmitted to the controller 119, and the industrial camera 116 will take pictures of the asphalt pavement cracks, and the taken pictures will be transmitted to the controller 119, and the controller 119 will construct a digital twin model according to the received point cloud data and image data, plan the crack repair path and material quantity, then the controller 119 will start the oil-water separator 107, the second mechanical arm 110 and the air booster pump 108, at this time the air booster pump 108 started under the cooperation of one of the hoses 109 and the oil-water separator 107 will make the air inlet end of the filter box 117 have suction, and the air inlet end of the filter box 117 with suction will suck the air in the environment into the inside of the filter box 117, then the filter box 117 will deliver the filtered air in the inside to the inside of the oil-water separator 107, then the oil-water separator 107 will deliver the filtered air in the inside to the inside of the air booster pump 108 under the cooperation of one of the hoses 109, then the air booster pump 108 will deliver the pressurized air to the inside of the spray head 111 under the cooperation of the other hose 109, and the air entering the inside of the spray head 111 will clean the impurities in the asphalt pavement cracks under the cooperation of the started second mechanical arm 110, when the impurities in the asphalt pavement cracks are cleaned, at this time the controller 119 will first close the oil-water separator 107, the air booster pump 108 and the second mechanical arm 110, then start the delivery pump 103, the first mechanical arm 105, the electric valve 112 and the flow meter 113, at this time the started delivery pump 103 will deliver the asphalt material in the storage tank 102 to the inside of the crack pouring gun head 106 under the cooperation of the two connecting pipes 104, the started electric valve 112 and the flow meter 113, and the asphalt material entering the inside of the crack pouring gun head 106 will be poured into the pavement cracks under the cooperation of the started first mechanical arm 105, when the delivered asphalt material reaches the calculated material quantity,At this time, the controller 119 will directly close the first mechanical arm 105, the delivery pump 103, the electric valve 112 and the flow meter 113, then wait for a period of time, start the moving trolley 101, and perform the compaction operation on the repaired road surface until the compaction operation is completed, that is, the repair operation of the asphalt pavement crack is completed. When the warning operation needs to be performed on the repaired crack, the controller 119 is started at this time. The second motor 208 started at this time will drive the corresponding screw rod 219 to rotate under the cooperation of the placement groove 206 and the corresponding rectangular groove 217. The rotating screw rod 219 will drive another screw rod 219 to rotate under the cooperation of the two chain wheels 209 and the chain. Simultaneously, the two rotating screw rods 219 will drive the two sliding blocks 220 to move horizontally under the cooperation of the four rectangular grooves 217, the two sliding grooves 210 and the two round rods 218. The two horizontally moving sliding blocks 220 will drive the warning columns 216 in the two placement holes 207 to move horizontally in the corresponding sliding grooves 210, respectively. When the two warning columns 216 cannot move any more, the controller 119 will first close the second motor 208, and then start the first motor 201. The first motor 201 started at this time will drive the bidirectional screw rod 214 to rotate. The rotating bidirectional screw rod 214 will drive the two sliding plates 215 to move away from each other under the cooperation of the auxiliary groove 213. Simultaneously, the two moving away sliding plates 215 will drive the two warning columns 216 to move in the corresponding T-shaped grooves 211, respectively. When the two warning columns 216 cannot move any more, the controller 119 will first close the first motor 201, and then start the four electric push rods 203. The four started electric push rods 203 will drive the corresponding rectangular blocks 205 to move under the cooperation of the corresponding mounting grooves 202 and the corresponding connecting blocks 204. When the four rectangular blocks 205 cannot move any more, the controller 119 will close the four electric push rods 203. Simultaneously, the two warning columns 216 will vertically move from the corresponding T-shaped grooves 211 to the ground under the cooperation of the corresponding two rectangular holes 212 and their own gravity. Subsequently, the controller 119 will reset the two sliding blocks 220 and the two sliding plates 215 to the original position under the cooperation of the above-mentioned components. Then, the warning columns 216 are placed in the two placement holes 207. After that, the moving trolley 101 is started to move a suitable distance. Then, the operation is performed according to the above-mentioned operation steps. In the system use stage, the acquisition module 3 is used to obtain the original data required for the detection of the asphalt pavement, to provide a basis for subsequent analysis, modeling and decision-making, the input module 401 is used to transmit the collected external environment data to the controller 119, to provide original information support for subsequent data processing and decision-making, the data analysis and processing module 402 is used to extract key information from the input data, to construct a digital twin model, and to generate the core task of the repair decision, the storage module 403 is used to persistently save and manage various types of data, to support the operation of the system, historical data tracing and subsequent analysis, the output module 404 is used to convert the processed information or instructions into executable physical actions or visual results, to realize the final function of the robot body 1, and the execution module 5 is used to convert the planning instructions of the digital twin model into actual actions, to realize the whole process of crack pretreatment, pouring, compaction and maintenance, so as to improve the efficiency and quality stability of the pavement repair.

[0029] Among them, the controller 119, the mobile vehicle 101, the storage tank 102, the delivery pump 103, the first mechanical arm 105, the oil-water separator 107, the air booster pump 108, the second mechanical arm 110, the electric valve 112, the flow meter 113, the storage battery 114, the industrial camera 116, the laser radar 118, the first motor 201, the electric push rod 203 and the second motor 208 are all prior art, and their working principles are all disclosed technology, and their models can be selected according to actual conditions, and here is not explained too much.

[0030] Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to part of the technical features, and any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. Asphalt pavement crack repair robot based on digital twinning, comprising a robot body (1), characterized in that: An auxiliary mechanism (2) is arranged on the robot body (1); The auxiliary mechanism (2) comprises a first motor (201), four mounting grooves (202), a placing groove (206) and two placing holes (207), an electric push rod (203) is arranged in each mounting groove (202), a rectangular block (205) is arranged on one end of the telescopic end of each electric push rod (203) through a connecting block (204), a second motor (208) is arranged in the placing groove (206), a sliding groove (210) is formed in the inner wall of each placing hole (207), a T-shaped groove (211) is formed in the inner wall of each sliding groove (210), two rectangular holes (212) are formed in the inner wall of each T-shaped groove (211), an auxiliary groove (213) is formed between the inner walls of the two T-shaped grooves (211), a bidirectional threaded rod (214) is arranged on the output end of the first motor (201), two sliding plates (215) are movably sleeved in the auxiliary groove (213), a warning column (216) is arranged in each placing hole (207), two rectangular grooves (217) are formed between the inner wall of each sliding groove (210) and the inner wall of the corresponding placing hole (207), a round rod (218) is fixedly arranged in each rectangular groove (217), two screw rods (219) are movably arranged in the inner wall of the placing groove (206), a sliding block (220) is movably sleeved on the outer surface of each round rod (218), and a sprocket (209) is fixedly sleeved on one end of each screw rod (219).

2. The asphalt pavement crack repair robot based on digital twinning of claim 1, wherein: Each rectangular block (205) movably penetrates the inner wall of each mounting groove (202), the output end of the second motor (208) is arranged on one end of one of the screw rods (219), the two sprockets (209) are connected through a chain transmission, the four rectangular blocks (205) are divided into two groups, and the top of each group of rectangular blocks (205) is arranged on the same horizontal plane as the inner wall of each T-shaped groove (211).

3. The asphalt pavement crack repair robot based on digital twinning of claim 1, wherein: One end of the bidirectional threaded rod (214) is rotatably embedded in the inner wall of the auxiliary groove (213), the two ends of the bidirectional threaded rod (214) are respectively threaded through the opposite sides of the two sliding plates (215), the other ends of the two screw rods (219) are rotatably embedded in the inner walls of the other two rectangular grooves (217), and the other end of each screw rod (219) is threaded through one side of each sliding block (220).

4. The asphalt pavement crack repair robot based on digital twinning of claim 1, wherein: The robot body (1) comprises a mobile vehicle (101), a storage tank (102) and a delivery pump (103) are arranged on the upper side of the mobile vehicle (101), a connecting pipe (104) is arranged on the input end and the output end of the delivery pump (103), a first mechanical arm (105) and a second mechanical arm (110) are arranged on the upper side of the mobile vehicle (101), and a crack pouring gun head (106) is arranged on the first mechanical arm (105).

5. The digital-twin-based asphalt pavement crack repair robot of claim 4, wherein: The second mechanical arm (110) is provided with a spray head (111), the mobile vehicle (101) is provided with an oil-water separator (107) and an air booster pump (108) on the upper side, the air inlet end and the air outlet end of the air booster pump (108) are provided with a hose (109), the output end of the storage tank (102) is provided with an electric valve (112), and the output end of the electric valve (112) is provided with a flowmeter (113).

6. The digital-twin-based asphalt pavement crack repair robot of claim 5, wherein: The mobile vehicle (101) is provided with a mounting bracket (115) on the upper side, the mounting bracket (115) is provided with a laser radar (118) on the surface, the mounting bracket (115) is provided with an industrial camera (116) in the through hole, the mobile vehicle (101) is provided with a battery (114) in the recess on the upper side, the mobile vehicle (101) is provided with a controller (119) on the surface, and the outer wall of the oil-water separator (107) is provided with a filter box (117).

7. The digital-twin-based asphalt pavement crack repair robot of claim 6, wherein: The input end of one of the connecting pipes (104) is connected with the output end of the flowmeter (113), the output end of the other connecting pipe (104) is connected with the input end of the crack pouring gun head (106), the input end of one of the hoses (109) is connected with the output end of the oil-water separator (107), the output end of the other hose (109) is connected with the input end of the spray head (111), and the output end of the filter box (117) is connected with the input end of the oil-water separator (107).

8. The asphalt pavement crack repair robot based on digital twinning of claim 4, wherein: The first motor (201) is installed on the front surface of the mobile vehicle (101), one end of the bidirectional threaded rod (214) is movably penetrated through the front surface of the mobile vehicle (101), each mounting groove (202) is arranged on the upper side of the mobile vehicle (101), each placement hole (207) is arranged on the upper side of the mobile vehicle (101), and the placement groove (206) is arranged on the upper side of the mobile vehicle (101).

9. A system of asphalt pavement crack repair robot, using the asphalt pavement crack repair robot based on digital twinning of any one of claims 1-8, characterized in that: The control unit (4) comprises an input module (401), a data analysis processing module (402), a storage module (403) and an output module (404), the collection module (3) is used for collecting the information of the pavement cracks, and accurate data is provided for the digital twin model to support subsequent decision-making and execution, and the input module (401) is used for inputting the collected information into the controller (119) to provide a basis for autonomous decision-making and operation of the robot body (1).

10. The asphalt pavement crack repair robot system of claim 9, wherein: The data analysis processing module (402) is used for analyzing and processing the data collected by the collection module (3), the storage module (403) is used for realizing storage and management of the data, and data support is provided for long-term pavement maintenance, the output module (404) is used for converting the processed control instructions or data into actual physical actions or externally perceptible signals to realize execution and feedback of the repair operation, and the execution module (5) is used for receiving the instructions of the controller (119) and specifically implementing various operations of the pavement crack repair.

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