Vehicle-mounted asphalt pothole repairing construction process and equipment

Abstract

This invention discloses a vehicle-mounted asphalt pothole repair construction process and equipment, belonging to the field of road maintenance technology. The equipment includes a loading vehicle carrying the repair device, on which an execution robotic arm is fixedly installed. A working attachment is movably installed at the end of the execution robotic arm. The working attachment integrates a vacuum suction cup for adsorbing precast asphalt blocks, a ring-cutting grinding disc for cutting and grinding damaged pavement, a suction device for pumping out wastewater, and a hot air gun for drying and processing potholes. Through the integrated design of the execution robotic arm and multifunctional working attachment, continuous automated operation of the entire process is achieved, fundamentally solving the core problems of discrete relay of multiple devices in traditional repair processes. Its path planning and reproduction control based on initial spatial coordinates and joint angle sequences ensures high-precision inheritance and seamless switching of each process to the same operational benchmark, significantly improving the continuity, efficiency, and consistency of repair quality.

Description

Technical Field

[0001] This invention relates to the field of road maintenance technology, specifically to a vehicle-mounted asphalt pothole repair construction process and equipment. Background Technology

[0002] In road pothole repair construction, the most critical and persistent technical problem stems from the inherent discrete relay of multiple equipment and the physical interruption of procedures, which inevitably leads to repeated positioning and loss of reference points. Specifically, since key processes such as cutting, cleaning, drying, applying adhesive, and compacting filler must be carried out step by step using specialized equipment with single functions, the completion of each independent process means the removal of the current equipment and the arrival of the next equipment. Each equipment change requires a completely new manual visual positioning and mechanical alignment of the same pothole work surface. This results in the entire construction process being fragmented into multiple discrete segments. The lack of a unified and inheritable spatial coordinate benchmark between each process makes it impossible to directly and accurately transfer and reuse the precise location and geometric information of the pits and trenches between different equipment and processes. The direct consequence is that a large amount of repetitive position calibration and debugging work relying on manual experience must be carried out during the construction process. This not only causes serious delays and efficiency losses, but also makes it difficult to ensure the high degree of spatial conformity and precise superposition of the processing areas of each process due to the randomness of human intervention. Ultimately, it affects the regularity of pit repair, the uniformity of adhesive layer coverage, and the density of repair material filling, becoming a key bottleneck restricting repair quality, efficiency, and process consistency. Summary of the Invention

[0003] To address the problems mentioned in the background section, this invention provides a vehicle-mounted asphalt pothole repair construction process and equipment. The technical solution adopted by this invention is as follows:

[0004] A vehicle-mounted asphalt pothole repair construction process, characterized by the following steps:

[0005] S10: Drive the robotic arm to move the end effector to the position directly above the pit, take this position as the initial position and obtain the corresponding initial spatial coordinates and initial joint angle sequence;

[0006] S20: Based on the aforementioned execution robotic arm driving the ring-cutting grinding disc and the suction component to perform ring cutting and immediate suction, a processing pit is formed;

[0007] S30: Generate a drying joint angle sequence for the corresponding drying operation of the robotic arm based on the initial joint angle sequence, and then drive the robotic arm to adaptively dry the processing pit through the hot air gun.

[0008] S40: Generate a spraying joint angle sequence for the spraying operation corresponding to the initial joint angle sequence, and then drive the robotic arm to adaptively spray the processing pit through the nozzle.

[0009] S50: The robotic arm acquires the precast asphalt block based on the preset joint angle of the storage box, and places the precast asphalt block into the processing pit based on the initial spatial coordinates.

[0010] Preferably, step S10 includes the following steps:

[0011] S101: Start the hydraulic station of the robotic arm, and control the rotation of the robotic arm base and the extension of the robotic arm based on the remote control to move the working attachment to the area above the pit to achieve coarse positioning;

[0012] S102: Based on remote control, the mechanical boom and linkage mechanism are finely adjusted to ensure that the center of the ring cutting grinding disc at the end of the working attachment is precisely aligned with the center of the pit, thus achieving precise positioning.

[0013] S103: The control system establishes a spatial coordinate system based on the robot arm base as the origin, generates initial spatial coordinates with the spatial position of the working attachment under precise positioning as the initial position, and records the angle data of each joint of the robot arm at this time to generate an initial joint angle sequence.

[0014] Preferably, step S20 includes the following steps:

[0015] S201: Start the industrial vacuum cleaner to provide negative pressure for the suction components, and start the electric pump to provide coolant to the ring-cutting grinding disc;

[0016] S202: The robotic arm replicates the working attachment to its initial position, and the control system adaptively drives the robotic arm and the circumferential cutting disc to perform circumferential cutting operations.

[0017] S203: Throughout the circumferential cutting operation, the suction unit works together to perform suction operations.

[0018] Preferably, step S30 includes the following steps:

[0019] S301: Generate the drying joint angle sequence of the robotic arm based on the initial joint angle sequence;

[0020] S302: Based on the drying joint angle sequence, drive the robotic arm to make the hot air gun vertically oriented toward the center of the processing pit;

[0021] S303: Based on preset drying adjustment parameters, control the orientation and position of the hot air gun to perform drying operations on the processing pit.

[0022] Preferably, step S40 includes the following steps:

[0023] S401: Generate a spraying joint angle sequence for the robotic arm based on the initial joint angle sequence;

[0024] S402: Based on the spray joint angle sequence, drive the robotic arm to position the nozzle directly above the processing pit and towards the side wall of the processing pit;

[0025] S403: Based on a preset spray trajectory, control the orientation of the nozzle to spray the processing pit.

[0026] Preferably, step S50 includes the following steps:

[0027] S501: The robotic arm retrieves precast asphalt blocks based on a vacuum suction cup according to the preset joint angle of the storage box;

[0028] S502: The robotic arm moves the precast asphalt block directly above the processing pit based on the initial joint angle sequence and accurately places the precast asphalt block into the processing pit coated with adhesive oil.

[0029] S503: Based on preset compaction adjustment parameters, the robotic arm is controlled to press down and compact the precast asphalt blocks using a ring-cutting grinding disc.

[0030] A vehicle-mounted asphalt pothole repair device includes a loading vehicle for loading repair equipment. An execution robotic arm is fixedly installed on the loading vehicle. A working attachment is movably installed at the end of the execution robotic arm. The working attachment is integrated with a vacuum suction cup for adsorbing precast asphalt blocks, a ring-cutting grinding disc for cutting and grinding damaged road surfaces, a sewage suction device for pumping out sewage, and a hot air gun for drying and processing potholes.

[0031] Preferably, the ring-cutting grinding disc is fixedly installed at the bottom of the working attachment, the suction element is provided on the outer periphery of the ring-cutting grinding disc, the vacuum suction cup is fixedly installed on one side of the working attachment, the hot air gun is fixedly installed on the working attachment on the opposite side of the vacuum suction cup, and the nozzle is also integrated on the pipe that fixes the hot air gun.

[0032] The circumferential cutting grinding disc includes a cutter disc base, on which a plurality of cutting insert mounting components are fixedly installed at equal intervals, and a plurality of cutting inserts are fixedly provided on the cutting insert mounting components; the cutting insert mounting components are also provided with a plurality of water guiding holes.

[0033] Preferably, the robotic arm further includes a base and a robotic arm base. The base is fixedly installed on the top of the loading vehicle, and the robotic arm base is rotatably installed on the top of the base. The upper part of the robotic arm base is movably connected to one end of the robotic arm based on a first hydraulic cylinder. The other end of the robotic arm is movably installed with a robotic bucket arm based on a second hydraulic cylinder. The other end of the robotic bucket arm is movably installed with a linkage mechanism. One side of the linkage mechanism is fixedly connected to a third hydraulic cylinder on the robotic bucket arm, and the other side of the linkage mechanism is movably connected to the top of the working attachment.

[0034] Preferably, the loading vehicle is also equipped with a generator for powering the robotic arm, and a water tank is fixedly installed on one side of the generator. The water tank is connected to the water guide hole for supplying water to assist the ring cutting grinding disc in operation.

[0035] A hydraulic station for driving the robotic arm is installed on one side of the water storage tank, and a hydraulic station for driving the circumferential cutting grinding disc is installed on the other side of the hydraulic station for driving the grinding disc.

[0036] The loading vehicle is also equipped with an industrial vacuum cleaner and a storage box. The industrial vacuum cleaner is connected to the vacuum suction cup, and the storage box is used to store tools and precast asphalt blocks.

[0037] The beneficial effects of the vehicle-mounted asphalt pothole repair construction process and equipment of the present invention are as follows:

[0038] By integrating a vehicle-mounted robotic arm with multifunctional attachments, continuous automated operation is achieved throughout the entire process, from pothole positioning, orderly cutting, simultaneous cleaning, automatic drying, uniform adhesive spraying to precise filling and compaction. This fundamentally solves the core problems of traditional repair processes, such as multiple devices working in a discrete manner, cumbersome process connections, excessive manual intervention, and poor positioning accuracy. Based on path planning and replication control of initial spatial coordinates and joint angle sequences, it ensures high-precision inheritance and seamless switching of each process on the same working benchmark, significantly improving the continuity, efficiency, and consistency of repair quality. At the same time, it significantly reduces equipment scheduling, manual operation, and road occupancy time, thereby achieving the goal of efficient, precise, and intensive road maintenance. Attached Figure Description

[0039] Figure 1 This is a three-dimensional structural diagram of the loading vehicle in an embodiment of a vehicle-mounted asphalt pothole repair device of the present invention;

[0040] Figure 2 This is a schematic diagram of the main structure of the working attachment in an embodiment of the present invention;

[0041] Figure 3 This is a three-dimensional structural diagram of the circumferential cutting grinding disc in an embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the main view of the robotic arm in an embodiment of the present invention;

[0043] Figure 5 This is a schematic diagram of step S20 in an embodiment of the present invention;

[0044] Figure 6 This is a schematic diagram of step S30 in an embodiment of the present invention;

[0045] Figure 7 This is a schematic diagram of step S40 in an embodiment of the present invention;

[0046] Figure 8 This is a schematic diagram of step S50 in an embodiment of the present invention;

[0047] Figure 9 This is a schematic diagram of step S503 in an embodiment of the present invention.

[0048] The components include: 1. Loading vehicle; 2. Generator; 3. Water tank; 4. Mechanical arm hydraulic station; 5. Grinding disc hydraulic station; 6. Execution mechanical arm; 7. Industrial vacuum cleaner; 8. Storage box; 601. Base; 602. Mechanical arm base; 603. Mechanical boom; 604. First hydraulic cylinder; 605. Second hydraulic cylinder; 606. Mechanical bucket arm; 607. Third hydraulic cylinder; 608. Linkage mechanism; 609. Working attachments; 610. Vacuum suction cup; 611. Ring cutting grinding disc; 612. Sludge suction device; 613. Hot air gun; 614. Nozzle; 6111. Cutter disc base; 6112. Cutter insert mounting device; 6113. Cutting insert; 6114. Water guide hole. Detailed Implementation

[0049] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] As attached Figure 5-9 As shown, a vehicle-mounted asphalt pothole repair construction process is characterized by the following steps:

[0051] S10: Drive the robotic arm to move the end effector to the position directly above the pit, take this position as the initial position and obtain the corresponding initial spatial coordinates and initial joint angle sequence;

[0052] S20: Based on the aforementioned execution robotic arm driving the ring-cutting grinding disc and the suction component to perform ring cutting and immediate suction, a processing pit is formed;

[0053] S30: Generate a drying joint angle sequence for the corresponding drying operation of the robotic arm based on the initial joint angle sequence, and then drive the robotic arm to adaptively dry the processing pit through the hot air gun.

[0054] S40: Generate a spraying joint angle sequence for the spraying operation corresponding to the initial joint angle sequence, and then drive the robotic arm to adaptively spray the processing pit through the nozzle.

[0055] S50: The robotic arm acquires the precast asphalt block based on the preset joint angle of the storage box, and places the precast asphalt block into the processing pit based on the initial spatial coordinates.

[0056] In this embodiment, the initial position is the reference pose set and confirmed before the robotic arm starts, resets, or enters an automatic cycle, serving as the starting point and benchmark for motion planning and control; the initial spatial coordinates are a set of three-dimensional values ​​used to accurately describe the initial position in a coordinate system with the robotic arm base as the reference; the initial joint angle sequence is the set of angle values ​​corresponding to each joint of the robotic arm when it is in the "initial position"; the processing pit is the regularly shaped, clean pit to be repaired obtained after the ring-cutting grinding disc and the suction device work together; the drying joint angle sequence is a set of ordered joint angle command sequences derived by the control system based on the initial joint angle sequence, used to plan all motion postures of the robotic arm when operating the hot air gun for drying operations; the spraying joint angle sequence is a set of ordered joint angle command sequences derived or preset by the control system based on the initial joint angle sequence, used to plan all motion postures of the robotic arm when operating the nozzle for spraying operations; the storage box joint angle is the joint angle value preset in the control system that enables the end of the robotic arm to accurately reach the on-board storage box and complete the grasping action.

[0057] Specifically, the construction process begins with operating the robotic arm, moving its end effector attachment to precisely stop directly above the pit to be repaired. This point is defined as the initial position of the operation. Simultaneously, the control system records and stores the spatial coordinates of this position and the angle values ​​of each joint of the robotic arm at this moment. Subsequently, based on this initial position information, the control system drives the robotic arm, causing the circumferential cutting disc on the end effector attachment to rotate and cut downwards to mechanically mill the irregular damaged parts of the pit. Meanwhile, the suction unit integrated on the end effector is activated synchronously throughout the process, using negative pressure suction to immediately remove all waste and wastewater generated during cutting, thus forming a well-shaped and clean pit. After completing the circumferential cutting and cleaning, the control system, based on the previously recorded initial joint angles, automatically calculates the amount of robotic arm required to drive the hot air gun to scan and dry the entire inner surface of the pit using coordinate transformation and path planning algorithms. The arm's movement trajectory is represented as a series of ordered joint angle commands, i.e., a drying joint angle sequence. The robotic arm adaptively adjusts its posture according to this sequence, manipulating the hot air gun to uniformly dry and preheat the pit. Next, the control system generates another set of joint angle sequences for spraying adhesive material, i.e., a spraying joint angle sequence, based on the same initial joint angles, and drives the robotic arm to manipulate the nozzle, adaptively and uniformly spraying adhesive oil onto the inner surface of the dried processing pit according to the planned path. Finally, the robotic arm first moves to the vehicle-mounted storage box according to the preset storage box joint angle, uses the vacuum suction cup on the working attachment to pick up a precast asphalt block, and then calls and matches the initial spatial coordinates recorded at the beginning of the process to accurately transfer and place the picked-up precast asphalt block into the processing pit that has been coated with adhesive material, thereby completing the integrated repair operation from positioning, pretreatment to final filling.

[0058] In one embodiment, step S10 includes the following steps:

[0059] S101: Start the hydraulic station of the robotic arm, and control the rotation of the robotic arm base and the extension of the robotic arm based on the remote control to move the working attachment to the area above the pit to achieve coarse positioning;

[0060] S102: Based on remote control, the mechanical boom and linkage mechanism are finely adjusted to ensure that the center of the ring cutting grinding disc at the end of the working attachment is precisely aligned with the center of the pit, thus achieving precise positioning.

[0061] S103: The control system establishes a spatial coordinate system based on the robot arm base as the origin, generates initial spatial coordinates with the spatial position of the working attachment under precise positioning as the initial position, and records the angle data of each joint of the robot arm at this time to generate an initial joint angle sequence.

[0062] In this embodiment, coarse positioning refers to the process of the robotic arm driving the working attachment to make a large-scale and rapid initial movement, so that it moves from the parking position to the area roughly above the target pit, completing the initial spatial approach; fine positioning refers to the process of making a small-scale and high-precision fine adjustment to the position of the end of the robotic arm based on the coarse positioning, so that the center of the ring cutting grinding disc on the working attachment is precisely aligned with the center of the processing pit in three-dimensional space.

[0063] Specifically, the process begins with starting the power source. The operator issues a command using a remote control, and upon receiving the command, the control system drives the hydraulic station of the robotic arm to quickly move the end effector from its initial parking position to the area above the pothole, completing coarse positioning covering a large area. Next, more precise control is achieved via the remote control, fine-tuning the extension length or angle of the robotic arm and linking it to the end effector's linkage mechanism to make subtle and precise corrections to the end effector's posture. This ensures that the center point of the annular grinding disc on the end effector perfectly coincides vertically with the geometric center point of the pothole, achieving high-precision positioning. Furthermore, the control system... The system establishes a dedicated spatial coordinate system with the fixed center of the robotic arm base as the origin of the three-dimensional coordinate system. Within this coordinate system, it calculates the precise three-dimensional position of the end effector of the current working attachment and defines this point as the reference point for all subsequent automated operations, i.e., the initial position, and generates the corresponding initial spatial coordinates. At the same time, the control system synchronously reads and permanently records the angle data of all joints required to maintain the precise posture of the robotic arm at this moment. This completely binds the physical position in space with the internal posture data of the robotic arm, laying an immovable data foundation for the automatic and precise reproduction of all subsequent processes.

[0064] In one embodiment, step S20 includes the following steps:

[0065] S201: Start the industrial vacuum cleaner to provide negative pressure for the suction components, and start the electric pump to provide coolant to the ring-cutting grinding disc;

[0066] S202: The robotic arm replicates the working attachment to its initial position, and the control system adaptively drives the robotic arm and the circumferential cutting disc to perform circumferential cutting operations.

[0067] S203: Throughout the circumferential cutting operation, the suction unit works together to perform suction operations.

[0068] Specifically, the process involves first activating an industrial vacuum cleaner to establish and maintain a strong negative pressure on its connected suction unit, and then starting an electric pump to provide coolant to the circumferential cutting disc in preparation for the cutting process. The control system then retrieves and replicates the initial position coordinates accurately measured and stored during the precision positioning phase, driving the movement of each joint of the robotic arm to precisely replicate the entire working attachment to that spatial position. Subsequently, the control system generates and issues drive commands based on a preset program, controlling the robotic arm to move along the planned trajectory while simultaneously driving the circumferential cutting disc to rotate at high speed. Both work together to begin regularizing the cutting of the pit. Throughout the circumferential cutting operation, the suction unit remains operational, utilizing the stable negative pressure provided by the industrial vacuum cleaner to directly and synchronously suck up and remove the mixture of asphalt fragments, stone dust, and slurry wastewater generated during the cutting process from the working surface. This achieves a high degree of temporal and spatial unity and seamless coordination between "cutting" and "cleaning."

[0069] In one embodiment, step S30 includes the following steps:

[0070] S301: Generate the drying joint angle sequence of the robotic arm based on the initial joint angle sequence;

[0071] S302: Based on the drying joint angle sequence, drive the robotic arm to make the hot air gun vertically oriented toward the center of the processing pit;

[0072] S303: Based on preset drying adjustment parameters, control the orientation and position of the hot air gun to perform drying operations on the processing pit.

[0073] In this embodiment, the drying adjustment parameters are a set of process control instructions for the drying operation that are pre-stored in the control system. These typically include, but are not limited to, the temperature and wind speed of the hot air gun, the path of the robotic arm that drives the hot air gun to perform scanning motion, the scanning speed, and the dwell time at each position.

[0074] Specifically, the control system generates a drying joint angle sequence based on the initial joint angle sequence. Following this sequence, it drives the coordinated movement of each joint of the robotic arm, precisely moving the hot air gun on the work attachment and ultimately adjusting its nozzle to a vertical orientation, accurately aligning it with the preset starting point at the center of the processing pit. After the hot air gun is activated, the control system calls preset drying adjustment parameters, controlling not only the output power of the hot air gun itself but also dynamically and adaptively driving the robotic arm according to the scanning mode defined in the parameters. This allows for real-time and precise adjustment of the hot air gun's "orientation and position" during operation, ensuring it moves spirally from the center to the edge along a predetermined path to dry the bottom and sidewalls of the processing pit until the entire working surface reaches the preset dry state.

[0075] In one embodiment, step S40 includes the following steps:

[0076] S401: Generate a spraying joint angle sequence for the robotic arm based on the initial joint angle sequence;

[0077] S402: Based on the spray joint angle sequence, drive the robotic arm to position the nozzle directly above the processing pit and towards the side wall of the processing pit;

[0078] S403: Based on a preset spray trajectory, control the orientation of the nozzle to spray the processing pit.

[0079] In this embodiment, the control system generates a spraying joint angle sequence based on an initial joint angle sequence. Subsequently, the control system drives the robotic arm according to this sequence, causing the working attachment to move precisely to a predetermined starting point directly above the processing pit. Simultaneously, the nozzle's orientation is adjusted so that its spray direction is primarily aligned with the sidewall of the pit, establishing the correct initial working posture for subsequent scanning spraying. Finally, automated spraying is executed. After the nozzle starts, the control system strictly follows the preset spraying trajectory to control the movement of the robotic arm, thereby continuously adjusting the nozzle's orientation and position in three-dimensional space in real time. This ensures that the nozzle performs a uniform and thorough spraying operation on the processing pit according to a predetermined pattern, such as first spiraling down around the sidewall and then covering the bottom, ensuring the bonding oil forms a complete covering layer.

[0080] In one embodiment, step S50 includes the following steps:

[0081] S501: The robotic arm retrieves precast asphalt blocks based on a vacuum suction cup according to the preset joint angle of the storage box;

[0082] S502: The robotic arm moves the precast asphalt block directly above the processing pit based on the initial joint angle sequence and accurately places the precast asphalt block into the processing pit coated with adhesive oil.

[0083] S503: Based on preset compaction adjustment parameters, the robotic arm is controlled to press down and compact the precast asphalt blocks using a ring-cutting grinding disc.

[0084] In this embodiment, the joint angle of the storage box is a set of specific joint angle values ​​of the robotic arm that are pre-measured and stored in the control system; the compaction adjustment parameters are a set of pre-set process instructions used to control the compaction operation, including the pressing speed, pressing depth, holding time, etc.

[0085] Specifically, the robotic arm first adjusts the joint angle of the storage box, driving each joint to a precise position so that the vacuum suction cup on the working attachment aligns with and contacts the precast asphalt block. Then, the vacuum suction cup is activated to pick up the precast asphalt block. Next, precise transfer and placement are performed. The robotic arm moves the precast asphalt block to its initial position, then descends vertically, accurately placing the asphalt block into the processing pit coated with adhesive oil. Once in place, the vacuum suction is released. Finally, a compaction process is performed. According to preset compaction adjustment parameters, the robotic arm typically presses the bottom surface of the ring-cutting grinding disc of the working attachment against the upper surface of the precast asphalt block with specific pressure and stroke to compact it, ensuring a tight bond between the precast asphalt block and the processing pit and achieving the predetermined density. This completes the final physical forming step of the repair operation.

[0086] As attached Figure 1-4 As shown, a vehicle-mounted asphalt pothole repair equipment includes a loading vehicle 1 for loading repair devices. An execution robotic arm 6 is fixedly installed on the loading vehicle 1. A working attachment 609 is movably installed at the end of the execution robotic arm 6. The working attachment 609 is integrated with a vacuum suction cup 610 for adsorbing precast asphalt blocks, a ring-cutting grinding disc 611 for cutting and grinding damaged road surfaces, a sewage suction device 612 for pumping out sewage, and a hot air gun 613 for drying and processing potholes.

[0087] In this embodiment, by fixing the robotic arm 6 on the loading vehicle 1 and movably installing the working attachment 609, which integrates a vacuum suction cup 610, a ring cutting grinding disc 611, a dirt suction component 612, and a hot air gun 613 at the end of the robotic arm 6, the equipment required for key road repair processes is integrated at the end of the robotic arm 6, replacing the traditional repair construction method of discrete equipment groups and cumbersome manual operations, and significantly improving the continuity and efficiency of construction.

[0088] In one embodiment, the circumferential cutting grinding disc 611 is fixedly installed at the bottom of the working attachment 609, the suction element 612 is provided on the outer periphery of the circumferential cutting grinding disc 611, the vacuum suction cup 610 is fixedly installed on one side of the working attachment 609, the hot air gun 613 is fixedly installed on the working attachment 609 on the opposite side of the vacuum suction cup 610, and the nozzle 614 is also integrated on the pipe that fixes the hot air gun 613;

[0089] The ring-cutting grinding disc 611 includes a cutter disc base 6111, on which a plurality of cutting insert mounting members 6112 are fixedly installed at equal intervals, and a plurality of cutting inserts 6113 are fixedly provided on the cutting insert mounting members 6112; a plurality of water guiding holes 6114 are also provided on the cutting insert mounting members 6112.

[0090] In this embodiment, the nozzle 614 is used to spray adhesive oil to strengthen the fixed installation of precast asphalt blocks. By fixing a ring-cutting grinding disc 611 to the bottom of the working attachment 609, and providing a suction device 612 on the outer periphery of the ring-cutting grinding disc 611, and installing a vacuum suction cup 610 and a hot air gun 613 on opposite sides of the working attachment, the equipment required for the four main construction processes of road repair is integrated onto the working attachment 609. Furthermore, the working attachment 609 has an adjustable orientation, ensuring that ring-cutting, cleaning, suction, and drying actions can be switched and coordinated efficiently and smoothly, avoiding functional interference and improving the overall coordination and efficiency of the operation.

[0091] The ring-cutting grinding disc 611 consists of a cutter head base 6111, several cutting insert mounting parts 6112, cutting inserts 6113 fixed on the mounting parts, and water guide holes 6114 formed on the cutting insert mounting parts 6112. In actual operation, the ring-cutting grinding disc 611 rotates as a whole, thereby cutting and grinding road potholes based on the cutting inserts 6113. The structural design of the water guide holes 6114 provides a channel for introducing cooling medium, directly achieving the effects of cooling and dust suppression, and extending tool life for the cutting and grinding operations. The wastewater mixed with dust is sucked away by the suction part 612 on the outer periphery of the ring-cutting grinding disc 611 using high-pressure suction, thereby preventing wastewater from polluting the road.

[0092] In one embodiment, the robotic arm 6 further includes a base 601 and a robotic arm base 602. The base 601 is fixedly installed on the top of the loading vehicle 1, and the robotic arm base 602 is rotatably installed on the top of the base 601. The upper part of the robotic arm base 602 is movably connected to one end of the robotic arm 603 based on a first hydraulic cylinder 604. The other end of the robotic arm 603 is movably installed with a robotic bucket 606 based on a second hydraulic cylinder 605. The other end of the robotic bucket 606 is movably installed with a linkage mechanism 608. One side of the linkage mechanism 608 is fixedly connected to a third hydraulic cylinder 607 on the robotic bucket 606, and the other side of the linkage mechanism 608 is movably connected to the top of the working attachment 609.

[0093] In this embodiment, the robotic arm 6 includes a base 601 and a robotic arm base 602. The robotic arm base 602 is connected to the robotic arm 603 via a first hydraulic cylinder 604, the robotic arm 603 is connected to the robotic bucket arm 606 via a second hydraulic cylinder 605, and the robotic bucket arm 606 is connected to the working attachment 609 via a third hydraulic cylinder 607 driving the linkage mechanism 608. This forms a multi-degree-of-freedom serial robotic arm structure composed of multiple arm segments, hydraulic cylinders, and linkage mechanism 608. It provides a wide range of highly flexible spatial movement capabilities and is the key structural support for enabling the working attachment 609 to perform precise and adaptive operations on pits.

[0094] In one embodiment, the loading vehicle 1 is also equipped with a generator 2 for powering the robotic arm 6. A water tank 3 is fixedly installed on one side of the generator 2. The water tank 3 is connected to the water guide hole 6114 for supplying water to assist the ring cutting grinding disc 611 in operation.

[0095] A hydraulic station 4 for driving the robotic arm 6 is installed on one side of the water storage tank 3, and a hydraulic station 5 for driving the ring cutting grinding disc 611 is installed on the other side of the hydraulic station 4.

[0096] The loading vehicle 1 is also equipped with an industrial vacuum cleaner 7 and a storage box 8. The industrial vacuum cleaner 7 is connected to the vacuum suction cup 610, and the storage box 8 is used to store tools and precast asphalt blocks.

[0097] In this embodiment, the smooth progress of the circumferential cutting and repair process is ensured by installing a generator 2 on the loading vehicle 1 to power the robotic arm 6 and a water tank 3 connected to the water guide hole 6114 of the circumferential cutting grinding disc 611. The structure of installing an industrial vacuum cleaner 7 connected to a vacuum suction cup 610 and a storage box 8 for storing tools and precast asphalt blocks on the loading vehicle 1 enables the industrial vacuum cleaner 7 to efficiently clean waste and wastewater mixed with dust via the vacuum suction cup 610. The dedicated storage box 8 provides space for centralized storage of materials and tools.

[0098] The specific process flow of the vehicle-mounted asphalt pothole repair construction technology and equipment of the present invention is as follows:

[0099] First, the robotic arm 6 is operated to move the working attachment 609, which integrates multiple tools at its end, directly above the pit to be repaired and precisely position it. The control system records the spatial coordinates of this initial position and the angle sequence of each joint of the robotic arm 6, serving as a unified benchmark for all subsequent automated operations. Next, pit pretreatment is performed: the robotic arm 6 drives the circumferential milling disc 611 on the working attachment 609 to perform regular milling on the pit, while the suction unit 612 simultaneously sucks up chips and wastewater under negative pressure, forming a clean processed pit. After completion, the control system automatically plans the path according to the initial joint angle sequence, drives the robotic arm 6 to operate the hot air gun 613 to scan and dry the inner wall of the pit, and then operates the nozzle to evenly spray adhesive oil. Finally, the robotic arm 6 uses a vacuum suction cup 610 to grab the precast asphalt block from the vehicle storage box 8 at a preset angle, and accurately places it into the pit according to the initial spatial coordinates. Finally, the ring cutting grinding disc 611 is driven to press down and compact the filling block, thus completing the entire repair operation from positioning, milling, cleaning, drying, gluing to filling and compaction in an integrated and automated manner.

[0100] The present invention and its embodiments have been described above. This description is not restrictive. The accompanying drawings are only one embodiment of the present invention. The actual structure is not limited to this. In short, if a person skilled in the art is inspired by this description and designs a similar structure and embodiment without departing from the spirit of the present invention, such design should fall within the protection scope of the present invention.

Claims

1. A vehicle-mounted asphalt pothole repair construction process, characterized in that: Including the following steps: S10: Drive the robotic arm to move the end effector to the position directly above the pit, take this position as the initial position and obtain the corresponding initial spatial coordinates and initial joint angle sequence; S20: Based on the aforementioned execution robotic arm driving the ring-cutting grinding disc and the suction component to perform ring cutting and immediate suction, a processing pit is formed; S30: Generate a drying joint angle sequence for the corresponding drying operation of the robotic arm based on the initial joint angle sequence, and then drive the robotic arm to adaptively dry the processing pit through the hot air gun. S40: Generate a spraying joint angle sequence for the spraying operation corresponding to the initial joint angle sequence, and then drive the robotic arm to adaptively spray the processing pit through the nozzle. S50: The robotic arm acquires the precast asphalt block based on the preset joint angle of the storage box, and places the precast asphalt block into the processing pit based on the initial spatial coordinates.

2. The vehicle-mounted asphalt pothole repair construction process according to claim 1, characterized in that: Step S10 includes the following steps: S101: Start the hydraulic station of the robotic arm, and control the rotation of the robotic arm base and the extension of the robotic arm based on the remote control to move the working attachment to the area above the pit to achieve coarse positioning; S102: Based on remote control, the mechanical boom and linkage mechanism are finely adjusted to ensure that the center of the ring cutting grinding disc at the end of the working attachment is precisely aligned with the center of the pit, thus achieving precise positioning. S103: The control system establishes a spatial coordinate system based on the robot arm base as the origin, generates initial spatial coordinates with the spatial position of the working attachment under precise positioning as the initial position, and records the angle data of each joint of the robot arm at this time to generate an initial joint angle sequence.

3. The vehicle-mounted asphalt pothole repair construction process according to claim 1, characterized in that: Step S20 includes the following steps: S201: Start the industrial vacuum cleaner to provide negative pressure for the suction components, and start the electric pump to provide coolant to the ring-cutting grinding disc; S202: The robotic arm replicates the working attachment to its initial position, and the control system adaptively drives the robotic arm and the circumferential cutting disc to perform circumferential cutting operations. S203: Throughout the circumferential cutting operation, the suction unit works together to perform suction operations.

4. The vehicle-mounted asphalt pothole repair construction process according to claim 1, characterized in that: Step S30 includes the following steps: S301: Generate the drying joint angle sequence of the robotic arm based on the initial joint angle sequence; S302: Based on the drying joint angle sequence, drive the robotic arm to make the hot air gun vertically oriented toward the center of the processing pit; S303: Based on preset drying adjustment parameters, control the orientation and position of the hot air gun to perform drying operations on the processing pit.

5. The vehicle-mounted asphalt pothole repair construction process according to claim 1, characterized in that: Step S40 includes the following steps: S401: Generate a spraying joint angle sequence for the robotic arm based on the initial joint angle sequence; S402: Based on the spray joint angle sequence, drive the robotic arm to position the nozzle directly above the processing pit and towards the side wall of the processing pit; S403: Based on a preset spray trajectory, control the orientation of the nozzle to spray the processing pit.

6. The vehicle-mounted asphalt pothole repair construction process according to claim 1, characterized in that: Step S50 includes the following steps: S501: The robotic arm retrieves precast asphalt blocks based on a vacuum suction cup according to the preset joint angle of the storage box; S502: The robotic arm moves the precast asphalt block directly above the processing pit based on the initial joint angle sequence and accurately places the precast asphalt block into the processing pit coated with adhesive oil. S503: Based on preset compaction adjustment parameters, the robotic arm is controlled to press down and compact the precast asphalt blocks using a ring-cutting grinding disc.

7. A vehicle-mounted asphalt pothole repair device, characterized in that: The loading vehicle (1) includes a loading and repair device. An execution robotic arm (6) is fixedly installed on the loading vehicle (1). A working attachment (609) is movably installed at the end of the execution robotic arm (6). The working attachment (609) is equipped with a vacuum suction cup (610) for adsorbing precast asphalt blocks, a ring cutting grinding disc (611) for cutting and grinding damaged road surfaces, a sewage suction device (612) for pumping out sewage, and a hot air gun (613) for drying and treating potholes.

8. The vehicle-mounted asphalt pothole repair equipment according to claim 7, characterized in that: The bottom of the working attachment (609) is fixedly installed with the ring cutting grinding disc (611), the outer periphery of the ring cutting grinding disc (611) is provided with the suction element (612), the side of the working attachment (609) is fixedly installed with the vacuum suction cup (610), the side of the working attachment (609) opposite to the vacuum suction cup (610) is fixedly installed with the hot air gun (613), and the pipe that fixes the hot air gun (613) is also integrated with a nozzle (614); The ring-cutting grinding disc (611) includes a cutter disc base (6111), on which a plurality of cutting insert mounting parts (6112) are fixedly installed at equal intervals, and a plurality of cutting inserts (6113) are fixedly provided on the cutting insert mounting parts (6112); a plurality of water guide holes (6114) are also provided on the cutting insert mounting parts (6112).

9. The vehicle-mounted asphalt pothole repair equipment according to claim 7, characterized in that: The robotic arm (6) further includes a base (601) and a robotic arm base (602). The base (601) is fixedly installed on the top of the loader (1). The robotic arm base (602) is rotatably installed on the top of the base (601). The upper part of the robotic arm base (602) is movably connected to one end of the robotic arm (603) based on a first hydraulic cylinder (604). The other end of the robotic arm (603) is movably installed with a robotic bucket (606) based on a second hydraulic cylinder (605). The other end of the robotic bucket (606) is movably installed with a linkage mechanism (608). One side of the linkage mechanism (608) is fixedly connected to a third hydraulic cylinder (607) on the robotic bucket (606). The other side of the linkage mechanism (608) is movably connected to the top of the working attachment (609).

10. A vehicle-mounted asphalt pothole repair device according to claim 8, characterized in that: The loading vehicle (1) is also equipped with a generator (2) for powering the robotic arm (6). A water tank (3) is fixedly installed on one side of the generator (2). The water tank (3) is connected to the water guide hole (6114) for supplying water to assist the ring cutting grinding disc (611) in operation. The water storage tank (3) is equipped with a hydraulic station (4) for driving the mechanical arm (6) on one side, and a hydraulic station (5) for driving the ring cutting grinding disc (611) is installed on the other side of the hydraulic station (4). The loading vehicle (1) is also equipped with an industrial vacuum cleaner (7) and a storage box (8). The industrial vacuum cleaner (7) is connected to the vacuum suction cup (610), and the storage box (8) is used to store tools and precast asphalt blocks.

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