Real-time loose paving thickness measuring system for pavement water-stable layer paving

Abstract

When the system is used, the driving trolley moves to the position needing to be measured, then the rotating assembly drives the measuring assembly to rotate, the measuring assembly is aligned to the top face of the water-stable loose paving layer needing to be measured, then the rolling assembly is released, and the measuring assembly is driven to move to the position needing to be measured. Therefore, the height of the water stable and loose laying layer is measured by the measuring assembly. After measurement is finished, the rolling assembly rolls relative to the measuring assembly so as to drive the measuring assembly to move in the direction away from the water stabilizing and loosening laying layer so as to rise to the preset height, and then the rotating assembly rotates reversely so as to rotate the measuring assembly to the placing position. According to the technical scheme, the measuring assembly can be stretched out and accommodated without stretching out and drawing back manually, the situation that the measuring assembly is damaged due to the direction of the acting force is avoided, the situation that the measuring assembly deforms due to the direction of the acting force in the using or accommodating process is avoided, and therefore the accuracy of the measuring result is guaranteed.

Description

Technical Field

[0001] This application relates to the field of road construction, and in particular to a real-time loose-lay thickness measurement system for road surface water-stabilized layer paving. Background Technology

[0002] Real-time loose-lay thickness measurement systems for road surface water-stabilized layers are commonly used in construction projects such as highways and urban roads to monitor the loose-lay thickness of the water-stabilized layer during the paving process. Real-time measurement of the loose-lay thickness of the road surface water-stabilized layer helps improve construction quality, ensures the uniformity and accuracy of the paving thickness, and thus avoids quality problems caused by unqualified thickness.

[0003] Chinese patent disclosure CN116240778A discloses a device and construction method for monitoring the loose paving thickness of water-stabilized soil. During the paving process, workers use a vertical rod and measuring instruments to measure the loose paving thickness at different points. By comparing the measured values, it can be determined whether the loose paving thickness is uniform and compliant.

[0004] However, during use, the construction process is lengthy and requires holding the measuring piece for extended periods. Additionally, the measuring piece needs to be manually extended or retracted, making it very inconvenient to use.

[0005] Secondly, since the measuring component is manually extended or retracted, if the direction of the force applied is incorrect, the extension rod can easily be damaged. If the direction of the force applied by the inspector is incorrect during the extension or retraction process, the extension rod can easily deform. The deformed extension rod is not only difficult to retract, but it can also easily lead to measurement errors during the measurement process, resulting in inaccurate measurement results. Utility Model Content

[0006] In view of this, it is necessary to provide a real-time loose-lay thickness measurement system for road surface water-stabilized layer paving to solve the above problems.

[0007] Embodiments of this application provide a real-time loose-lay thickness measurement system for pavement water-stabilized layer paving, comprising:

[0008] The drive trolley has an installation position and a placement position;

[0009] A rotating assembly is located at the mounting position;

[0010] The measuring component is slidably connected to the rotating end of the rotating component;

[0011] A rolling component is disposed at the rotating end of the rotating component and is tactilely connected to the measuring component;

[0012] The rolling component moves to push the measuring component to extend or retract relative to the rotating end of the rotating component; the rotating component moves to drive the measuring component to rotate from the placement position to the measuring position.

[0013] In at least one embodiment of this application, the measurement component includes:

[0014] The measuring component is slidably connected to the rotating end of the rotating assembly;

[0015] A level is positioned at the end of the measuring element furthest from the ground.

[0016] A fixing plate is installed at the end of the measuring element away from the level.

[0017] In at least one embodiment of this application, the rotating assembly includes:

[0018] A rotary motor having an output shaft is mounted at the mounting position;

[0019] A support arm, one end of which is fixed to the output shaft;

[0020] A rotating component, one end of which is fixed to the end of the support arm away from the output shaft;

[0021] A mounting plate is fixed to the side of the rotating assembly away from the support arm, and the mounting plate has a sliding groove, with the measuring element slidably connected to the sliding groove.

[0022] In at least one embodiment of this application, the rotating component includes:

[0023] The first rotating component is fixed to the support arm;

[0024] The second rotating component is fixed to the mounting plate and is rotatably connected to the first rotating component via a rotating shaft.

[0025] A locking component is threadedly connected to the first rotating component and passes through the first rotating component to abut against the second rotating component, thereby fixing the second rotating component.

[0026] In at least one embodiment of this application, the scrolling component includes:

[0027] The first roller is mounted on the mounting plate and is rotatably connected to one side of the measuring element;

[0028] A drive assembly is mounted on the mounting plate and is rotatably connected to the side of the measuring element away from the first roller to drive the measuring element to extend and retract vertically within the groove.

[0029] In at least one embodiment of this application, the driving component includes:

[0030] A drive wheel is fixedly connected to the output shaft of a motor, and the drive wheel is rotatably connected to the measuring element.

[0031] A connecting plate, on which the drive wheel is mounted;

[0032] The telescopic cylinder has one end fixed to the mounting plate and the other end installed on the end of the connecting plate away from the drive wheel.

[0033] In at least one embodiment of this application, the driving vehicle further includes:

[0034] The vehicle body has the mounting position and the placement position;

[0035] The motion wheels are located at the bottom of the vehicle body;

[0036] A motion motor is connected to the motion wheel drive.

[0037] In at least one embodiment of this application, the driving vehicle further includes:

[0038] The circuit board is located inside the vehicle body;

[0039] The circuit board includes:

[0040] The control module is used to control the movement of the motion motor;

[0041] A rotation module is used to control the rotation of the rotation assembly;

[0042] A scrolling module is used to drive the scrolling component to move.

[0043] In at least one embodiment of this application, the driving vehicle further includes:

[0044] The video detection device is mounted on the vehicle body;

[0045] A road surface image capture device is mounted on the vehicle body. The video detection device and the road surface image capture device are at an angle, with the angle ranging from 60° to 75°.

[0046] In at least one embodiment of this application, the circuit board further includes:

[0047] The obstacle avoidance module is used to acquire video images of the video detection device and analyze the video images to control the drive vehicle to avoid obstacles.

[0048] The real-time loose-lay thickness measurement system for pavement water-stabilized layer implemented in this embodiment will have at least the following beneficial effects:

[0049] The above-mentioned real-time loose-lay thickness measurement system for road water-stabilized layer paving is used by driving the trolley to the position to be measured, then rotating the component to drive the measuring component to rotate, aligning the measuring component with the top surface of the water-stabilized loose-lay layer to be measured, and then rolling the component to release so that the measuring component can measure the height of the water-stabilized loose-lay layer.

[0050] After the measurement is completed, the rolling component rolls relative to the measuring component to drive the measuring component to move away from the water-stabilized loose layer to raise it to a preset height. Then the rotating component rotates in the opposite direction to rotate the measuring component to the placement position.

[0051] The measurement component can be extended and retracted without manual intervention, preventing damage due to the direction of force and deformation during use or storage, thus ensuring the accuracy of the measurement results. Attached Figure Description

[0052] Figure 1 A structural diagram of a real-time loose-lay thickness measurement system for road surface water-stabilized layer paving;

[0053] Figure 2 for Figure 1 Another structural view of the real-time loose-lay thickness measurement system for the water-stabilized layer paving of the road surface;

[0054] Figure 3 for Figure 1 Another structural diagram of the real-time loose-lay thickness measurement system for the water-stabilized layer paving of the road surface;

[0055] Figure 4 for Figure 1 Reference diagram showing the usage status of the real-time loose-lay thickness measurement system for the water-stabilized layer paving of the central road surface;

[0056] Figure 5 for Figure 1 Exploded view of the real-time loose-lay thickness measurement system for the water-stabilized layer paving of the central road surface;

[0057] Figure 6 for Figure 5 Partial structural diagram of the real-time loose-lay thickness measurement system for the water-stabilized layer paving of the central road surface;

[0058] Figure 7 This is a block diagram of the circuit board.

[0059] Explanation of main component symbols

[0060] 100. Real-time loose-lay thickness measurement system for road surface water-stabilized layer paving;

[0061] 110. Drive trolley; 110a. Mounting position; 110b. Placement position; 111. Vehicle body; 112. Moving wheels; 113. Moving motor; 114. Video detection component; 115. Road surface image capture component;

[0062] 120. Rotating assembly; 121. Rotating motor; 122. Support arm; 123. Rotating assembly; 124. Mounting plate; 124a. Slide groove; 1231. First rotating component; 1232. Second rotating component; 1233. Locking component;

[0063] 130. Measuring assembly; 131. Measuring component; 132. Level; 133. Fixing plate;

[0064] 140. Rolling assembly; 141. First roller; 142. Drive assembly; 143. Drive wheel; 144. Connecting plate; 145. Telescopic cylinder;

[0065] 150. Circuit board; 151. Control module; 152. Rotation module; 153. Rolling module; 154. Obstacle avoidance module. Detailed Implementation

[0066] The embodiments of this application will now be described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0067] It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to the other component or may also have an intervening component. When a component is considered to be "placed" on another component, it can be directly placed on the other component or may also have an intervening component. The terms "top," "bottom," "upper," "lower," "left," "right," "front," "back," and similar expressions used in this article are for illustrative purposes only.

[0068] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0069] An embodiment of this application provides a real-time loose-lay thickness measurement system 100 for pavement water-stabilized layer paving, comprising:

[0070] The drive trolley 110 has a mounting position 110a and a placement position 110b;

[0071] A rotating assembly 120 is disposed on the mounting position 110a;

[0072] The measuring component 130 is slidably connected to the rotating end of the rotating component 120;

[0073] A rolling component 140 is disposed at the rotating end of the rotating component 120 and is tactilely connected to the measuring component 130;

[0074] The rolling component 140 moves to push the measuring component 130 to extend or retract relative to the rotating end of the rotating component 120; the rotating component 120 moves to drive the measuring component 130 to rotate from the placement position 110b to the measuring position.

[0075] Please refer to Figures 1-6 In this embodiment, when in use, the trolley 110 is driven to the position to be measured, and then the rotating component 120 drives the measuring component 130 to rotate, aligning the measuring component 130 with the top surface of the water-stabilized loose ply to be measured, and then the rolling component 140 is released so that the measuring component 130 measures the height of the water-stabilized loose ply.

[0076] After the measurement is completed, the rolling component 140 rolls relative to the measuring component 130 to drive the measuring component 130 to move away from the water-stabilized loose layer and rise to a preset height. Then the rotating component 120 rotates in the opposite direction to rotate the measuring component 130 to the placement position 110b.

[0077] The measurement component 130 can be extended and retracted without manual intervention, thus preventing damage to the measurement component 130 due to the direction of the force and avoiding deformation of the measurement component 130 during use or storage due to the direction of the force, thereby ensuring the accuracy of the measurement results.

[0078] It should be noted that the drive trolley 110 is roughly rectangular, and both the placement position 110b and the mounting position 110a are horizontal planes.

[0079] In at least one embodiment of this application, the measurement component 130 includes:

[0080] Measuring component 131 is slidably connected to the rotating end of the rotating assembly 120;

[0081] The level 132 is located at the end of the measuring element 131 that is furthest from the ground;

[0082] A fixing plate 133 is installed at the end of the measuring element 131 away from the level 132.

[0083] In this embodiment, the measuring element 131 has a measuring surface with graduations, and the length direction of the measuring element 131 is arranged in the vertical direction.

[0084] The measuring component 131 is used to measure the height of the water-stabilized loose layer, and the level 132 is used to calibrate the measuring component 131 horizontally before use so that the length direction of the measuring component 131 is vertical, thus avoiding measurement errors caused by uneven ground.

[0085] The fixing plate 133 is a rectangular plate used to contact the water-stabilized loose layer as a direct contact surface to avoid contamination of the measuring surface, which would affect the reading.

[0086] In at least one embodiment of this application, the rotating assembly 120 includes:

[0087] A rotary motor 121 has an output shaft and is mounted at the mounting position 110a.

[0088] Support arm 122, one end of which is fixed to the output shaft;

[0089] The rotating component 123 is fixed at one end to the end of the support arm 122 away from the output shaft;

[0090] Mounting plate 124 is fixed to the side of rotating assembly 123 away from support arm 122, and mounting plate 124 has a sliding groove 124a, and measuring element 131 is slidably connected to sliding groove 124a.

[0091] In this embodiment, the output shaft of the rotary motor 121 rotates, causing the support arm 122 to rotate around the axis of the output shaft, thereby driving the rotary assembly 123 to rotate the mounting plate 124. As the mounting plate 124 rotates, the measuring assembly 130 rotates together around the axis of the output shaft under the drive of the mounting plate 124, so that the rotary motor 121 can rotate the measuring assembly 130 to align with the top surface of the water-stabilized loose layer to be measured, or rotate it to the placement position 110b.

[0092] It should be noted that the rotating motor 121 is a geared motor with a round rod-shaped output shaft; the support arm 122 is roughly a long rectangular plate; the mounting plate 124 is roughly a rectangular square plate; and the slide groove 124a is a rectangular through groove.

[0093] In at least one embodiment of this application, the rotating component 123 includes:

[0094] The first rotating component 1231 is fixed on the support arm 122;

[0095] The second rotating component 1232 is fixed on the mounting plate 124 and is rotatably connected to the first rotating component 1231 via a rotating shaft.

[0096] The locking member 1233 is threadedly connected to the first rotating member 1231 and passes through the first rotating member 1231 to abut against the second rotating member 1232 to fix the second rotating member 1232.

[0097] In this embodiment, before measurement, when the drive trolley 110 moves to the position to be measured, the bubble of the level 132 is observed, and the angle between the first rotating member 1231 and the second rotating member 1232 is adjusted by the level 132. When the level 132 is horizontal, the first rotating member 1231 and the second rotating member 1232 are locked by the locking member 1233, thereby fixing the second rotating member 1232 relative to the first rotating member 1231 to ensure the perpendicularity of the measuring member 131.

[0098] It should be noted that the locking element 1233 is a locking nut, the first rotating element 1231 is disc-shaped, the second rotating element 1232 is disc-shaped, and the first rotating element 1231 and the second rotating element 1232 are connected by a rotating shaft. When the locking element 1233 passes through the first rotating element 1231 and abuts against the second rotating element 1232, the second rotating element 1232 is fixed by the action of the holding force to ensure the horizontality and verticality of the measuring component 130.

[0099] It should be further noted that the first rotating component 1231 and the second rotating component 1232 can be rotatably connected by bearings.

[0100] In at least one embodiment of this application, the scrolling component 140 includes:

[0101] The first roller 141 is mounted on the mounting plate 124 and is rotatably connected to one side of the measuring element 131;

[0102] The drive assembly 142 is mounted on the mounting plate 124 and is rotatably connected to the side of the measuring element 131 away from the first roller 141, so as to drive the measuring element 131 to extend and retract vertically within the slide groove 124a.

[0103] Please refer to Figures 1-6 In this embodiment, during extension and retraction, since the first roller 141 and the drive assembly 142 are located on both sides of the measuring member 131 and are positioned opposite each other, when the drive assembly 142 rolls, it abuts against both sides of the measuring member 131 through the first rolling action. The drive assembly 142 rolls to drive the measuring member 131 to slide within the slide groove 124a, thereby achieving extension and retraction.

[0104] It should be noted that the first roller 141 is a circular roller.

[0105] In at least one embodiment of this application, the driving component 142 includes:

[0106] The drive wheel 143 is fixedly connected to the output shaft of the motor, and the drive wheel 143 is rollingly connected to the measuring element 131.

[0107] Connecting plate 144, the drive wheel 143 is mounted on the connecting plate 144;

[0108] The telescopic cylinder 145 is fixed at one end to the mounting plate 124 and at the other end to the connecting plate 144 away from the drive wheel 143.

[0109] Please refer to Figures 1-6 In this embodiment, when extended, the telescopic cylinder 145 retracts, driving the connecting plate 144 and the drive wheel 143 to move away from the measuring member 131. At this time, since one side of the measuring member 131 is connected to the first rolling element and the other side is free, the measuring member 131 can extend along the axial direction of the slide groove 124a so that the measuring member 131 extends vertically and the measuring member 131 is close to the measurement area of ​​the water-stabilized loose layer for measurement.

[0110] It should be further explained that, in another method, the telescopic cylinder 145 extends, driving the connecting plate 144 and the drive wheel 143 to move towards the measuring element 131, so that the first roller 141 and the drive wheel 143 clamp the measuring element 131. After clamping, the motor rotates, driving the drive wheel 143 to rotate. Under the action of friction, the drive wheel 143 can drive the measuring element 131 to move vertically downward along the measurement area close to the water-stabilized loose layer, so as to measure the measurement area. By using the motor to drive the drive wheel 143 to rotate, the measuring element 131 can be extended smoothly and at a uniform speed, so as to ensure that the measuring element 131 will not be deformed by the influence of forces in other directions.

[0111] When retracting, the telescopic cylinder 145 extends, driving the connecting plate 144 and the drive wheel 143 to move towards the measuring element 131, so that the first roller 141 and the drive wheel 143 clamp the measuring element 131. After clamping the measuring element 131, the motor reverses, driving the drive wheel 143 to rotate. Under the action of friction, the drive wheel 143 can drive the measuring element 131 to move vertically upward along the measuring area close to the water-stabilized loose layer, thereby retracting. Due to the driving of the drive wheel 143, the measuring element 131 can be retracted smoothly and at a uniform speed in the vertical upward direction, thereby avoiding deformation of the measuring element 131.

[0112] After being retrieved, the rotating component 120 rotates to drive the measuring component 130 to the placement position 110b, thus preventing the measuring component 130 from being damaged by external factors.

[0113] In at least one embodiment of this application, the driving vehicle 110 further includes:

[0114] The vehicle body 111 has the mounting position 110a and the placement position 110b;

[0115] The motion wheel 112 is located at the bottom of the vehicle body 111;

[0116] The motion motor 113 is connected to the motion wheel 112 via a transmission.

[0117] In this embodiment, the vehicle body 111 is generally a frame structure, the motion wheel 112 is generally a circular roller, and the motion motor 113 is a motor. When moving, the motion motor 113 rotates, driving the motion wheel 112 to rotate, thereby driving the vehicle body 111 to move, avoiding hand-held operation, so that the drive trolley 110 can move to the next measurement area on its own.

[0118] In at least one embodiment of this application, the driving vehicle 110 further includes:

[0119] Circuit board 150 is disposed inside the vehicle body 111;

[0120] The circuit board 150 includes:

[0121] Control module 151 is used to control the movement of the motion motor 113;

[0122] Rotation module 152 is used to control the rotation of the rotation assembly 120;

[0123] The rolling module 153 is used to drive the rolling component 140 to move.

[0124] Please refer to Figures 1-7 In this embodiment, when in use, the circuit board 150 receives external control signals, then parses them to generate control commands, and drives the control module 151, rotation module 152 and rolling module 153 to work according to the control commands. When the control module 151 works, the control module 151 controls the motion motor 113 to rotate so as to drive the trolley 110 to move to the position to be measured.

[0125] When the rotation module 152 is working, the rotation module 152 controls the rotation component 120 to rotate, so that the rotation component 120 drives the measuring component 130 to rotate, so as to align the measuring component 130 with the measuring position or the placement position 110b.

[0126] When the rolling module 153 is working, the rolling module 153 controls the movement of the rolling component 140, and the rolling component 140 is driven to cause the measuring element 131 to extend or retract.

[0127] The movement of the trolley 110, the rotation of the rotating component 120, and the extension and retraction of the measuring component 130 can be accomplished by external control signals, thereby improving the level of intelligence and reducing errors caused by human error.

[0128] In at least one embodiment of this application, the driving vehicle 110 further includes:

[0129] Video detection component 114 is mounted on the vehicle body 111;

[0130] A road surface image capture device 115 is mounted on the vehicle body 111. The video detection device 114 and the road surface image capture device 115 have an angle between their shooting angles, which ranges from 60° to 75°.

[0131] In at least one embodiment of this application, the circuit board 150 further includes:

[0132] The obstacle avoidance module 154 is used to acquire video images from the video detection device 114 and analyze the video images to control the drive vehicle 110 to avoid obstacles.

[0133] Please refer to Figures 1-7 In this embodiment, the video detection device 114 is a camera used to obtain the road conditions in front of the driving vehicle 110, so as to avoid the driving vehicle 110 from colliding with obstacles in front of it.

[0134] The road surface image capture device 115 is a high-definition camera. The road surface image capture device 115 is used to capture real-time loose-lay thickness images of the road surface water-stabilized layer, thereby enabling real-time reception of images from the construction site for backup and providing reference images for subsequent maintenance and construction.

[0135] The obstacle avoidance module 154 is used to determine whether there is an obstacle in the video image of the video detector 114. If there is an obstacle, it plans a reasonable avoidance route according to the size and position of the obstacle to avoid the driving car 110 being obstructed by the obstacle.

[0136] It should be noted that, since the included angle range is 60°-75°, the video detection component 114 is set horizontally, the road surface image capturing component 115 is set at an angle, and the road surface image capturing component 115 is aligned with the road surface to obtain the thickness of the loosely laid water-stabilized layer on the road surface.

[0137] The above description is merely an embodiment of this application. It should be noted that those skilled in the art can make improvements without departing from the inventive concept of this application, but these improvements all fall within the protection scope of this application.

Claims

1. A pavement mat paving real-time mat thickness measurement system, characterized by, The utility model relates to a driving trolley, which comprises: a driving trolley having a mounting position and a placing position; a rotating assembly arranged on the mounting position; a measuring assembly in sliding connection with the rotating end of the rotating assembly; a rolling assembly arranged on the rotating end of the rotating assembly and in rolling connection with the measuring assembly; wherein the rolling assembly moves to push the measuring assembly to extend or retract relative to the rotating end of the rotating assembly; and the rotating assembly moves to drive the measuring assembly to rotate from the placing position to a measuring position.

2. The pavement mat paving real-time laydown thickness measurement system of claim 1, wherein, The measuring assembly comprises: a measuring piece in sliding connection with the rotating end of the rotating assembly; a level arranged on one end of the measuring piece away from the ground; a fixing plate mounted on one end of the measuring piece away from the level.

3. The pavement mat paving real-time laydown thickness measurement system of claim 2, wherein, The rotating assembly comprises: a rotating motor having an output shaft, the rotating motor being mounted on the mounting position; a support arm fixed on one end of the output shaft; a rotating assembly fixed on one end of the support arm away from the output shaft; a mounting plate fixed on one side of the rotating assembly away from the support arm, the mounting plate being provided with a sliding groove, and the measuring piece being in sliding connection with the sliding groove.

4. The pavement mat paving real-time laydown thickness measurement system of claim 3, wherein, The rotating assembly comprises: a first rotating piece fixed on the support arm; a second rotating piece fixed on the mounting plate and in rotating connection with the first rotating piece through a rotating shaft; a locking piece in threaded connection with the first rotating piece and in abutment with the second rotating piece through the first rotating piece, so as to fix the second rotating piece.

5. The pavement mat paving real-time laydown thickness measurement system of claim 3, wherein, The rolling assembly comprises: a first roller mounted on the mounting plate and in rolling connection with one side of the measuring piece; a driving assembly mounted on the mounting plate and in rolling connection with one side of the measuring piece away from the first roller, so as to drive the measuring piece to extend or retract in the sliding groove in the vertical direction.

6. The pavement mat paving real-time laydown thickness measurement system of claim 5, wherein, The driving assembly comprises: a driving wheel fixedly connected with the output shaft of the motor, the driving wheel being in rolling connection with the measuring piece; a connecting plate, the driving wheel being mounted on the connecting plate; a telescopic cylinder having one end fixed on the mounting plate and the other end mounted on one end of the connecting plate away from the driving wheel.

7. The pavement mat paving real-time laydown thickness measurement system of claim 1, wherein, The driving trolley further comprises: a trolley body having the mounting position and the placing position; a moving wheel arranged on the bottom of the trolley body; a moving motor in transmission connection with the moving wheel.

8. The pavement mat paving real-time laydown thickness measurement system of claim 7, wherein, The driving trolley further comprises: a circuit board arranged in the trolley body; the circuit board comprising: a control module for controlling the movement of the moving motor; a rotating module for controlling the rotation of the rotating assembly; a rolling module for driving the movement of the rolling assembly.

9. The pavement mat paving real-time laydown thickness measurement system of claim 8, wherein, The driving trolley further comprises: a video detection piece arranged on the trolley body; a road surface image capturing piece arranged on the trolley body, the video detection piece and the road surface image capturing piece having an included angle in the range of 60°-75°.

10. The pavement mat paving real-time laydown thickness measurement system of claim 9, wherein, The circuit board further comprises: an obstacle avoidance module for acquiring a video image of the video detection piece and analyzing the video image to control the driving trolley to avoid obstacles.

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