An asphalt pavement automatic crack pouring machine and a method for using the same

Abstract

The application discloses an automatic asphalt pavement crack pouring machine and a use method thereof, and belongs to the technical field of road maintenance equipment, and comprises a sensor module and a computer system, wherein the computer system comprises a high-definition camera, a laser radar sensor and a computer with an AI algorithm model built-in, is used for collecting road surface images and three-dimensional topographic data in real time, realizes automatic crack identification, positioning and form analysis, and generates a digital crack map, and an optimal path planning module adopts a permutation and combination algorithm based on a tree structure to list all possible crack access sequences, and constructs a weighted path graph in combination with start point and crack end point coordinates. The application can realize automatic and continuous operation, so that the single-day crack pouring capacity is improved to several thousand meters, which is several times of that of traditional manual operation, construction efficiency is greatly improved, the AI recognition accuracy reaches 0.1mm level, the crack width error is extremely small, crack filling fullness is greatly improved, and operation accuracy is significantly improved.

Description

Technical Field

[0001] The invention belongs to the technical field of road maintenance equipment, and in particular relates to an automatic asphalt pavement crack sealing machine and its usage method. Background Technology

[0002] In current highway maintenance projects, asphalt pavement cracks are one of the most common defects. To prevent water penetration and structural damage, a "grooving + grouting" process is usually used for sealing. However, in actual construction work, we have found that traditional construction methods mainly rely on manual operation, which has many technical defects and safety hazards:

[0003] Firstly, the construction efficiency is low. The manual angle grinder is slow to open the gaps, and the average daily construction length is only 200-300 meters, which is difficult to meet the needs of large-scale maintenance.

[0004] Secondly, the operation is not precise. Manual operation cannot accurately match the direction and width of complex cracks, resulting in uneven crack opening, waste of grouting material or insufficient filling, which affects the sealing effect.

[0005] Third, there are high safety risks. The high-speed rotation of the angle grinder can easily cause flying debris that can injure people, and construction workers are exposed to dust for a long time, which threatens their health.

[0006] Fourth, secondary pollution is serious. Asphalt debris generated during the grooving process is not removed in time and remains in the joint or on the road surface, affecting the bonding strength of subsequent grouting and easily leading to problems such as debonding and water seepage.

[0007] Fifth, there is a lack of intelligent control. Most existing equipment is semi-automatic and lacks visual recognition, path planning and closed-loop control systems, making it impossible to achieve fully automated operation.

[0008] Sixth, the quality of the grouting is unstable. The heating temperature and discharge flow rate depend on experience for adjustment, and there is a lack of precise measurement and feedback mechanisms, which leads to high-temperature flow or low-temperature brittleness.

[0009] Although there have been attempts to introduce image recognition and automatic crack sealing equipment for cement pavements, there is still a lack of efficient and intelligent systems that integrate crack detection, path planning, CNC cutting, synchronous cleaning, precise crack sealing, and insulation material supply in asphalt pavement scenarios. Summary of the Invention

[0010] The purpose of this invention is to provide an automatic asphalt pavement crack sealing machine and its usage method. Automated continuous operation increases the daily crack sealing capacity to several thousand meters, several times that of traditional manual methods, significantly improving construction efficiency. AI recognition accuracy reaches 0.1m level, with minimal crack width error, greatly improving crack filling fullness and significantly enhancing operational precision. It accurately matches crack volume, reducing crack sealing material consumption by 30%, minimizing waste and costs, resulting in significant material savings. Full data recording and quality traceability facilitate digital management of maintenance projects, improving intelligent management levels. It can identify and process various cracks with widths of 0.5-50mm and radii of curvature ≥50cm, demonstrating strong adaptability to complex working conditions, thus solving the aforementioned technical problems.

[0011] The technical solution to the above-mentioned technical problems is as follows: An automatic crack sealing machine for asphalt pavement, comprising: a sensor module and a computer system, including a high-definition camera, a lidar sensor and a computer with a built-in AI algorithm model, used to collect pavement images and three-dimensional morphology data in real time, realize automatic crack identification, location and morphological analysis and generate a digital crack map;

[0012] The optimal path planning module uses a tree-based permutation and combination algorithm to list all possible crack access sequences, constructs a weighted path graph by combining the starting point and the coordinates of each crack endpoint, and uses the shortest path algorithm to calculate the optimal driving route.

[0013] An integrated adsorption cleaning device includes a negative pressure adsorption pump fixedly installed on a walking chassis. The adsorption end of the negative pressure adsorption pump extends to the bottom of the walking chassis and is connected to a cover-type negative pressure adsorption hood. A dust collection box is pulled out from the inside of the walking chassis. The negative pressure adsorption pump and the dust collection box are connected by a hose. A cover-type negative pressure adsorption hood is also installed behind the carving drill bit and connected to a high-efficiency dust removal fan for removing debris and dust while grooving.

[0014] The grooving mechanism includes a depth adjustment motor fixedly installed on the top of the enclosure-type negative pressure adsorption cover. The output shaft of the depth adjustment motor passes through the inner side of the enclosure-type negative pressure adsorption cover and is fixedly installed with a carving drill bit. The carving drill bit structure can automatically adjust the cutting depth and width according to the crack width.

[0015] The crack filling mechanism and crack filling pipe are included. The crack filling mechanism includes a rotatable base fixedly mounted on a walking chassis. A universal robotic arm is fixedly mounted on the output end of the rotatable base. An adjustable crack filling nozzle is detachably mounted on the end of the universal robotic arm away from the rotatable base. The adjustable crack filling nozzle is connected to an insulation silo through a pipe seal. A high-precision metering pump is connected to one side of the insulation silo. The high-precision metering pump is electrically connected to the input and output ends of a computer system. The end of the crack filling pipe is equipped with a flexible guide head, which is used to dynamically adjust the asphalt flow rate according to the crack volume and automatically adjust the angle following the crack trajectory.

[0016] The insulation system includes an insulation silo, which has a built-in electric heating device and a temperature control module for receiving externally heated hot melt asphalt and maintaining its flow state at -℃.

[0017] The computer system includes a power supply and a control panel. The chassis is equipped with a large-capacity lithium battery pack or a diesel generator. The control panel integrates a touch screen interface and supports parameter setting, status monitoring, remote control and fault alarm.

[0018] The crack sealing machine is equipped with safety measures, including an emergency stop button, mechanical limit switches, and a safety lock mechanism. All electrical components meet the IP65 protection standard, and the mechanical moving parts are equipped with protective covers.

[0019] Preferably, the material of the engraving drill bit structure is high-speed steel, the drill bit diameter adjustment range is 3-15mm, and the cutting depth adjustment accuracy is ±0.1mm.

[0020] Preferably, the adsorption pressure of the enclosure-type negative pressure adsorption port is -0.06 to -0.08 MPa, the dust collection box capacity is not less than 10L, and it has an automatic dust removal function.

[0021] Preferably, the high-precision metering pump has a flow rate adjustment range of 0.5-5 L / min, a flow control accuracy of ±2%, and an adjustable nozzle spray angle adjustment range of 0-30°.

[0022] Preferably, the volume of the insulated silo is 50-100L, the power of the electric heating device is 3-5kW, and the temperature control accuracy of the temperature control module is ±3℃.

[0023] A method for using an automatic asphalt pavement crack sealing machine includes the following steps:

[0024] S1. Road surface scanning and crack identification: The equipment moves forward and scans the road surface through cameras and sensors. The computer identifies the location, length, direction and type of cracks in real time.

[0025] S2. Path planning and task allocation: Based on the identification results, generate the optimal operation path sequence containing all cracks;

[0026] S3. CNC grooving and synchronous cleaning: The equipment moves along the path, starts the engraving drill bit to groove, and at the same time turns on the cover-type adsorption device to remove debris;

[0027] S4. Automatic crack sealing operation: After the grooving is completed, the metering pump drives the hot melt asphalt to be injected into the crack through the crack sealing pipe, and the nozzle automatically adjusts the flow rate according to the crack width;

[0028] S5. Closed-loop quality monitoring: Add an infrared imager to conduct preliminary quality inspection of the area after grouting; if any abnormalities are found, mark them for repair.

[0029] S6. Move to the next workstation: After completing the current crack treatment, the equipment automatically navigates to the next target crack and repeats the process until all cracks are repaired.

[0030] Preferably, the accuracy of crack identification in step S1 is not less than 95%, and the identification speed is not less than 20 frames / second.

[0031] Preferably, the calculation time for the optimal path planning in step S2 does not exceed 10 seconds, and the empty driving distance of the planned path is reduced by more than 20% compared with manual planning.

[0032] Preferably, the grooving speed in step S3 is 0.5-1.5 m / min, and the debris removal rate is not less than 98%.

[0033] Preferably, in step S4, the filling fullness of the crack sealant is not less than 95%, and the asphalt temperature is controlled within the range of 160-180℃.

[0034] The beneficial effects of the invention are:

[0035] Automated continuous operation increases the daily crack sealing capacity to several thousand meters, which is several times that of traditional manual methods, greatly improving construction efficiency.

[0036] AI recognition accuracy reaches 0.1mm level, the gap width error is extremely small, the fullness of the crack filling is greatly improved, and the operation accuracy is significantly improved.

[0037] By precisely matching the crack volume, the amount of grouting material used is reduced by 30%, reducing waste and costs, resulting in significant material savings.

[0038] Mechanical operation replaces manual labor, eliminating the risk of injury from high-speed rotating tools, reducing the construction accident rate to zero, and significantly improving safety.

[0039] Full-process data recording and quality traceability facilitate digital management of maintenance projects and improve the level of intelligent management.

[0040] It can identify and process various types of cracks with a width of 0.5-50mm and a radius of curvature of ≥50cm, and has a strong ability to adapt to complex working conditions.

[0041] The integrated design reduces the number of devices and lowers relocation and transportation costs by more than 30%, resulting in a high degree of equipment integration. Attached Figure Description

[0042] The advantages of the invention above and / or other aspects will become clearer and more readily understood through the detailed description taken in conjunction with the following accompanying drawings, which are merely illustrative and do not limit the invention, wherein:

[0043] Figure 1 A schematic diagram of the overall structure of one embodiment of the invention;

[0044] Figure 2 This is a partial three-dimensional bottom view of one embodiment of the invention;

[0045] Figure 3 A block diagram illustrating the principle of a sensor and computer system according to one embodiment of the invention;

[0046] Figure 4 A schematic diagram of the asphalt flow path according to an embodiment of the invention;

[0047] Figure 5 This is a flowchart illustrating the steps of using an embodiment of the invention.

[0048] In the attached diagram, the components represented by each number are as follows:

[0049] 1. Walking chassis; 2. Sensor module; 3. Computer system; 4. Insulated silo; 5. Enveloping negative pressure adsorption hood; 6. Negative pressure adsorption pump; 7. High-precision metering pump; 8. Dust collection box; 9. Depth adjustment motor; 10. Engraving drill bit; 11. Rotatable base; 12. Universal robotic arm; 13. Adjustable grouting nozzle. Detailed Implementation

[0050] In the following text, reference will be made to the appendix. Figure 1-5 This invention describes an embodiment of an automatic crack sealing machine for asphalt pavement and its method of use.

[0051] The embodiments described herein are specific implementations of the invention, used to illustrate the inventive concept, and are illustrative and exemplary, and should not be construed as limiting the implementation or scope of the invention. In addition to the embodiments described herein, those skilled in the art can employ other obvious technical solutions based on the content disclosed in the claims and specification of this application. These technical solutions include those that make any obvious substitutions and modifications to the embodiments described herein.

[0052] The accompanying drawings in this specification are schematic diagrams to aid in illustrating the inventive concept, illustrating the shapes of the various parts and their interrelationships. Please note that, to clearly demonstrate the structure of the components in the embodiments of the invention, the drawings are not drawn to the same scale. The same reference numerals are used to denote the same parts.

[0053] Example 1:

[0054] An automatic crack sealing machine for asphalt pavement includes: a sensor module 2 and a computer system 3, which includes a high-definition camera, a lidar sensor and a computer with a built-in AI algorithm model, for real-time acquisition of pavement images and three-dimensional morphology data, to realize automatic crack identification, location and morphological analysis and generate a digital crack map.

[0055] The optimal path planning module uses a tree-based permutation and combination algorithm to list all possible crack access sequences, constructs a weighted path graph by combining the starting point and the coordinates of each crack endpoint, and uses the shortest path algorithm to calculate the optimal driving route.

[0056] An integrated adsorption cleaning device includes a negative pressure adsorption pump 6 fixedly installed on a walking chassis 1. The adsorption end of the negative pressure adsorption pump 6 extends to the bottom of the walking chassis 1 and is connected to a cover-type negative pressure adsorption cover 5. A dust collection box 8 is pulled out from the inside of the walking chassis 1. The negative pressure adsorption pump 6 and the dust collection box 8 are connected by a hose. A cover-type negative pressure adsorption port is also provided behind the carving drill bit 10 and connected to a high-efficiency dust removal fan for grooving while removing debris and dust.

[0057] The grooving mechanism includes a depth adjustment motor 9 fixedly installed on the top of the enclosure-type negative pressure adsorption cover 5. The output shaft of the depth adjustment motor 9 passes through the inner side of the enclosure-type negative pressure adsorption cover 5 and is fixedly installed with a carving drill bit 10. The carving drill bit 10 structure can automatically adjust the cutting depth and width according to the crack width.

[0058] The sensor and computer system employs a 2-megapixel high-definition camera and a 16-line LiDAR. The computer incorporates a ResNet-50-based deep learning crack recognition model with an accuracy rate of 98%. The optimal path planning module uses the A* algorithm, with a path calculation time of ≤5 seconds. The grooving mechanism features an adjustable diameter drill bit (3-15mm) and a cutting depth adjustment range of 0-20mm. The integrated adsorption cleaning device has a 150mm diameter negative pressure adsorption port, an adsorption pressure of -0.07MPa, and a dust removal efficiency of ≥99%. The crack filling mechanism has a metering pump with a flow rate adjustment range of 0.5-5L / min, a flow accuracy of ±1%, and a flexible guide head rotation angle range of ±30°. The insulated hopper has a capacity of 80L, an electric heating power of 4kW, and a temperature control accuracy of ±2℃. The power supply uses a 20kWh lithium battery pack, providing a runtime of ≥8 hours. The entire machine weighs 2500kg and has dimensions of 4500×2000×2200mm.

[0059] The crack filling mechanism and crack filling pipe are included. The crack filling mechanism includes a rotatable base 11 fixedly installed on a walking chassis 1. A universal robotic arm 12 is fixedly installed at the output end of the rotatable base 11. An adjustable crack filling nozzle 13 is detachably installed at the end of the universal robotic arm 12 away from the rotatable base 11. The adjustable crack filling nozzle 13 is connected to the insulation silo 4 through a pipe seal. A high-precision metering pump 7 is connected to one side of the insulation silo 4. The high-precision metering pump 7 is electrically connected to the input end and the output end of the computer system 3. The end of the crack filling pipe is equipped with a flexible guide head, which is used to dynamically adjust the asphalt flow rate according to the crack volume and automatically adjust the angle according to the crack trajectory.

[0060] The insulation system includes an insulation silo 4, which has a built-in electric heating device and a temperature control module for receiving externally heated hot melt asphalt and maintaining it in a flow state of 160-180℃.

[0061] The insulation system includes an insulation silo 4, which has a built-in electric heating device and a temperature control module for receiving externally heated hot melt asphalt and maintaining it in a flow state of 160-180℃.

[0062] The crack sealing machine is equipped with safety measures, including an emergency stop button, mechanical limit switches, and a safety lock mechanism. All electrical components meet the IP65 protection standard, and the mechanical moving parts are equipped with protective covers.

[0063] The engraving drill bit structure is made of high-speed steel, with a drill bit diameter adjustment range of 3-15mm and a cutting depth adjustment accuracy of ±0.1mm.

[0064] The suction pressure of the enclosed negative pressure adsorption port is -0.06 to -0.08 MPa, the dust collection box capacity is not less than 10L, and it has an automatic dust removal function.

[0065] The high-precision metering pump has a flow rate adjustment range of 0.5-5L / min, a flow control accuracy of ±2%, and an adjustable nozzle spray angle adjustment range of 0-30°.

[0066] The insulated silo has a volume of 50-100L, the electric heating device has a power of 3-5kW, and the temperature control module has a temperature control accuracy of ±3℃.

[0067] The specific working process is as follows: After the equipment is started, it moves forward slowly, and the high-definition camera continuously captures images of the road surface. The computer runs a convolutional neural network model to identify the contours of the cracks.

[0068] The system abstracts each crack into two endpoints A1 / A2, B1 / B2..., and combines them with the starting point 0 to construct a total of 4! = 24 possible traversal paths.

[0069] The shortest path algorithm is used to evaluate the total distance and turning cost of each path, and the optimal path O→A→C→B→D is selected.

[0070] Upon entering crack area A, the carving drill bit descends to the preset depth and begins linear cutting. Simultaneously, the rear enveloping dust suction port activates, drawing debris into the dust collection box.

[0071] After the grooving is completed, the crack filling mechanism moves forward, and the metering pump pushes SBS modified emulsified asphalt according to preset parameters. The flexible nozzle moves along the crack to complete the filling.

[0072] The equipment automatically lifts the working component and moves it along the planned path to the next crack C, repeating the above actions.

[0073] After all operations are completed, the equipment is returned to the parking area, and the construction log and operation video are uploaded to the management platform.

[0074] A method for using an automatic asphalt pavement crack sealing machine includes the following steps:

[0075] S1. Road surface scanning and crack identification: The equipment moves forward and scans the road surface through cameras and sensors. The computer identifies the location, length, direction and type of cracks in real time.

[0076] S2. Path planning and task allocation: Based on the identification results, generate the optimal operation path sequence containing all cracks;

[0077] S3. CNC grooving and synchronous cleaning: The equipment moves along the path, starts the engraving drill bit to groove, and at the same time turns on the cover-type adsorption device to remove debris;

[0078] S4. Automatic crack sealing operation: After the grooving is completed, the metering pump drives the hot melt asphalt to be injected into the crack through the crack sealing pipe, and the nozzle automatically adjusts the flow rate according to the crack width;

[0079] S5. Closed-loop quality monitoring: Add an infrared imager to conduct preliminary quality inspection of the area after grouting; if any abnormalities are found, mark them for repair.

[0080] S6. Move to the next workstation: After completing the current crack treatment, the equipment automatically navigates to the next target crack and repeats the process until all cracks are repaired.

[0081] In step S1, the accuracy of crack identification shall be no less than 95%, and the identification speed shall be no less than 20 frames / second.

[0082] The calculation time for optimal route planning in step S2 is no more than 10 seconds, and the empty driving distance of the planned route is reduced by more than 20% compared with manual planning.

[0083] In step S3, the grooving speed is 0.5-1.5 m / min, and the debris removal rate is not less than 98%.

[0084] In step S4, the filling fullness of the crack sealant should not be less than 95%, and the asphalt temperature should be controlled within the range of 160-180℃.

[0085] Automated continuous operation increases the daily crack sealing capacity to several thousand meters, which is several times that of traditional manual methods, greatly improving construction efficiency.

[0086] AI recognition accuracy reaches 0.1mm level, the gap width error is extremely small, the fullness of the crack filling is greatly improved, and the operation accuracy is significantly improved.

[0087] By precisely matching the crack volume, the amount of grouting material used is reduced by 30%, reducing waste and costs, resulting in significant material savings.

[0088] Mechanical operation replaces manual labor, eliminating the risk of injury from high-speed rotating tools, reducing the construction accident rate to zero, and significantly improving safety.

[0089] Full-process data recording and quality traceability facilitate digital management of maintenance projects and improve the level of intelligent management.

[0090] It can identify and process various types of cracks with a width of 0.5-50mm and a radius of curvature of ≥50cm, and has a strong ability to adapt to complex working conditions.

[0091] The integrated design reduces the number of devices and lowers relocation and transportation costs by more than 30%, resulting in a high degree of equipment integration.

[0092] Example 2

[0093] The steps for using the automatic crack sealing machine described in Example 1 to perform crack sealing operations on asphalt pavements are as follows:

[0094] S1. Road surface scanning and crack identification: The equipment moves at a speed of 5km / h, the camera collects images at 30 frames / second, the lidar acquires three-dimensional road surface data, and the computer identifies 5 cracks in real time with lengths of 5m, 8m, 3m, 10m and 6m respectively, with an average identification accuracy of 97.5%.

[0095] S2. Path planning and task allocation: The system generates the optimal path, reducing the total journey by 25% compared to manual planning;

[0096] S3. CNC grooving and synchronous cleaning: grooving travel speed 1m / min, cutting depth 10mm, and debris removal rate 99.2%;

[0097] S4. Automatic crack sealing operation: The asphalt temperature is controlled at 170±3℃, and the flow rate is automatically adjusted according to the crack width.

[0098] Average fill fullness: 96%;

[0099] S5. Closed-loop quality monitoring: Infrared imager detected one area of ​​insufficient filling, which was marked for repair;

[0100] S6. Move to the next workstation: The equipment's automatic navigation and positioning accuracy is ±50m, and the transfer time is ≤30 seconds per location.

[0101] In summary, this automatic asphalt pavement crack sealing machine and its operation method enable automated continuous operation, increasing the daily crack sealing capacity to several thousand meters, several times that of traditional manual methods, significantly improving construction efficiency. AI recognition accuracy reaches 0.1mm level, with minimal crack width error, greatly improving crack filling fullness, significantly enhancing operational precision, accurately matching crack volume, reducing crack sealing material consumption by 30%, reducing waste and costs, and significantly saving materials. Mechanical replacement of manual operation eliminates the risk of injury from high-speed rotating tools, reducing the construction accident rate to zero, greatly improving safety. Full data recording and quality traceability facilitate digital management of maintenance projects, improving intelligent management levels. It can identify and process various cracks with widths of 0.5-50mm and radii of curvature ≥50cm, demonstrating strong adaptability to complex working conditions.

[0102] The integrated design reduces the number of devices and lowers relocation and transportation costs by more than 30%, resulting in a high degree of equipment integration.

[0103] The technical features disclosed above are not limited to the combinations of the disclosed features with other features. Those skilled in the art can also make other combinations of the technical features according to the purpose of the invention, so as to achieve the purpose of the invention.

Claims

1. An automatic asphalt pavement crack sealing machine, characterized in that, include: The sensor module (2) and computer system (3) include a high-definition camera, a lidar sensor and a computer with a built-in AI algorithm model, which are used to collect road surface images and three-dimensional topographic data in real time, realize automatic crack identification, location and morphological analysis and generate digital crack maps. The optimal path planning module uses a tree-based permutation and combination algorithm to list all possible crack access sequences, constructs a weighted path graph by combining the starting point and the coordinates of each crack endpoint, and uses the shortest path algorithm to calculate the optimal driving route. An integrated adsorption cleaning device includes a negative pressure adsorption pump (6) fixedly installed on a walking chassis (1). The adsorption end of the negative pressure adsorption pump (6) extends through to the bottom of the walking chassis (1) and is connected to a cover-type negative pressure adsorption hood (5). A dust collection box (8) is pulled out on the inner side of the walking chassis (1). The negative pressure adsorption pump (6) and the dust collection box (8) are connected by a hose. A cover-type negative pressure adsorption hood (5) is also installed behind the carving drill bit (10) and connected to a high-efficiency dust removal fan for grooving while removing debris and dust. The grooving mechanism includes a depth adjustment motor (9) fixedly installed on the top of the enclosure-type negative pressure adsorption cover (5). The output shaft of the depth adjustment motor (9) extends through the inner side of the enclosure-type negative pressure adsorption cover (5) and is fixedly installed with a carving drill bit (10). The carving drill bit structure can automatically adjust the cutting depth and width according to the crack width. The crack filling mechanism and the crack filling pipe include a rotatable base (11) fixedly installed on a walking chassis (1), a universal mechanical arm (12) fixedly installed at the output end of the rotatable base (11), an adjustable crack filling nozzle (13) detachably installed at the end of the universal mechanical arm (12) away from the rotatable base (11), the adjustable crack filling nozzle (13) is connected to the insulation silo (4) through a pipe seal pipe, a high-precision metering pump (7) is connected to one side of the insulation silo (4), the high-precision metering pump (7) is electrically connected to the input end of the computer system (3) and the output end of the computer system (3), and the end of the crack filling pipe is equipped with a flexible guide head, which is used to dynamically adjust the asphalt flow rate according to the crack volume and automatically adjust the angle following the crack trajectory; The insulation system includes an insulation silo (4), which has a built-in electric heating device and a temperature control module for receiving externally heated hot melt asphalt and maintaining it in a flow state of 160-180℃. The computer system (3) includes a power supply and a control panel. The chassis (1) is equipped with a large-capacity lithium battery pack or a diesel generator. The control panel integrates a touch screen interface and supports parameter setting, status monitoring, remote control and fault alarm. The crack sealing machine is equipped with safety measures, including an emergency stop button, mechanical limit switches, and a safety lock mechanism. All electrical components meet the IP65 protection standard, and the mechanical moving parts are equipped with protective covers.

2. The automatic asphalt pavement crack sealing machine according to claim 1, characterized in that, The engraving drill bit structure is made of high-speed steel, with a drill bit diameter adjustment range of 3-15mm and a cutting depth adjustment accuracy of ±0.1mm.

3. The automatic asphalt pavement crack sealing machine according to claim 1, characterized in that, The suction pressure of the enclosed negative pressure adsorption port is -0.06 to -0.08 MPa, the dust collection box capacity is not less than 10L, and it has an automatic dust removal function.

4. The automatic asphalt pavement crack sealing machine according to claim 1, characterized in that, The high-precision metering pump has a flow rate adjustment range of 0.5-5L / min, a flow control accuracy of ±2%, and an adjustable nozzle spray angle adjustment range of 0-30°.

5. An automatic asphalt pavement crack sealing machine according to claim 1, characterized in that, The insulated silo has a volume of 50-100L, the electric heating device has a power of 3-5kW, and the temperature control module has a temperature control accuracy of ±3℃.

6. A method of using an automatic asphalt pavement crack sealing machine, applied to an automatic asphalt pavement crack sealing machine as described in any one of claims 1-5, characterized in that, Includes the following steps: S1. Road surface scanning and crack identification: The equipment moves forward and scans the road surface through cameras and sensors. The computer identifies the location, length, direction and type of cracks in real time. S2. Path planning and task allocation: Based on the identification results, generate the optimal operation path sequence containing all cracks; S3. CNC grooving and synchronous cleaning: The equipment moves along the path, starts the engraving drill bit to groove, and at the same time turns on the cover-type adsorption device to remove debris; S4. Automatic crack sealing operation: After the grooving is completed, the metering pump drives the hot melt asphalt to be injected into the crack through the crack sealing pipe, and the nozzle automatically adjusts the flow rate according to the crack width; S5. Closed-loop quality monitoring: Add an infrared imager to conduct preliminary quality inspection of the area after grouting; if any abnormalities are found, mark them for repair. S6. Move to the next workstation: After completing the current crack treatment, the equipment automatically navigates to the next target crack and repeats the process until all cracks are repaired.

7. The method of using an automatic asphalt pavement crack sealing machine according to claim 6, characterized in that, In step S1, the accuracy of crack identification shall be no less than 95%, and the identification speed shall be no less than 20 frames / second.

8. The method of using an automatic asphalt pavement crack sealing machine according to claim 6, characterized in that, The calculation time for optimal route planning in step S2 is no more than 10 seconds, and the empty driving distance of the planned route is reduced by more than 20% compared with manual planning.

9. The method of using an automatic asphalt pavement crack sealing machine according to claim 6, characterized in that, In step S3, the grooving speed is 0.5-1.5 m / min, and the debris removal rate is not less than 98%.

10. The method of using an automatic asphalt pavement crack sealing machine according to claim 6, characterized in that, In step S4, the filling fullness of the crack sealant should not be less than 95%, and the asphalt temperature should be controlled within the range of 160-180℃.

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