Intelligent asphalt pavement crack repairing device

Abstract

The utility model discloses an asphalt pavement crack intelligent repair device, including maintenance car, crack identification subassembly, automatic driving positioning subassembly, automatic filler subassembly, laser repair subassembly, control system, power battery, the maintenance car can pass through crack identification subassembly and identify crack image information, pass through automatic driving positioning subassembly and position crack position and drive to crack area automatically, pass through automatic filler subassembly and release crack filler and lay in crack, pass through laser repair subassembly and crack filler laser fusion in crack. The device can identify crack characteristics under different road conditions in real time and drive to crack area automatically, and automatically adjust filler parameters and laser parameters according to the actual situation of crack, reduce manual operation, improve the safety and construction efficiency of construction, reduce traffic jam and potential safety hazard caused by closed road, provide more flexible solution for road maintenance and traffic management.

Description

Technical Field

[0001] This utility model relates to the field of asphalt pavement construction and maintenance technology, specifically to an intelligent repair device for asphalt pavement cracks. Background Technology

[0002] With the acceleration of urbanization and the increase in traffic flow, the problem of cracking in asphalt pavement is becoming increasingly serious, severely affecting road stability and service life. Traditional crack repair methods, such as surface filling and grouting, can alleviate crack propagation, but the effect is not lasting and has problems such as long construction period, large material waste, and traffic disruption. Especially in high-traffic areas, they cannot efficiently meet the repair needs.

[0003] Laser fusion technology, with its high precision and controllability, has achieved remarkable results in the field of metal material repair. However, its application in asphalt pavement crack repair is still in the exploratory stage. Domestic and international research mainly focuses on the application of laser fusion technology in high-precision material repair, while there is a significant research gap in laser repair equipment and technologies specifically for asphalt pavement crack repair.

[0004] Therefore, there is an urgent need to develop an asphalt pavement crack repair device suitable for laser fusion technology. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent repair device for asphalt pavement cracks. This device integrates an automated control module, a laser, a sensor, and a mobile platform, enabling automatic crack identification, precise positioning of the mobile platform, and execution of a precise repair process involving material placement and laser fusion. After precise filling of the repair material, laser fusion technology is used to effectively achieve high efficiency, precision, and automation in the asphalt crack repair process, significantly reducing manual intervention and improving the overall efficiency and quality of road maintenance.

[0006] This application adopts the following technical solution: an intelligent repair device for asphalt pavement cracks, the device including a maintenance vehicle, a crack recognition component, an automatic driving positioning component, an automatic filling component, a laser repair component, and a control system;

[0007] The crack recognition component is located at the front of the maintenance vehicle and is used by the maintenance vehicle to recognize image information of pavement cracks.

[0008] The automatic filling component is located below the crack detection component and is used to release the crack filler and lay it at the crack.

[0009] The laser repair component is disposed on the side of the automatic filler component and is used to laser-fuse the sealant into the crack; the automatic filler component is connected to the laser repair component.

[0010] The autonomous driving positioning component is located on the side of the automatic filling component and is used to locate the crack position and automatically control the maintenance vehicle to drive to the crack area.

[0011] The control system is installed inside the maintenance vehicle; the control system is connected to the crack recognition component, the automatic driving positioning component, the automatic filling component, and the laser repair component respectively;

[0012] The maintenance vehicle is also equipped with a power battery, and the crack recognition component, automatic driving positioning component, automatic filling component, laser repair component, and control system are all connected to the power battery.

[0013] Furthermore, the crack recognition component includes a hemispherical camera and a pen-tube camera; the pen-tube camera is connected to the maintenance vehicle for local image capture; the hemispherical camera is connected to the automatic filling component for wide-angle image acquisition, providing high-resolution image data. The combination of these two components provides the maintenance vehicle with efficient and flexible visual perception capabilities, ensuring the smooth completion of image recognition work.

[0014] Furthermore, the autonomous driving positioning component includes an integrated intelligent driving controller and a positioning device; the integrated intelligent driving controller is installed inside the maintenance vehicle and is connected to the maintenance vehicle, the positioning device and the crack recognition component respectively. After the crack recognition component identifies a crack, the maintenance vehicle will automatically drive to the crack area; the positioning device is installed on the top of the maintenance vehicle and is used to provide positioning and navigation for the maintenance vehicle.

[0015] Furthermore, the positioning device includes an on-board sensor and an IMU sensor; the on-board sensor is used for real-time dynamic measurement and positioning, and the IMU sensor is used for assisted positioning in areas with weak GPS signals.

[0016] Furthermore, the automatic filling assembly includes a filling box, a conveying pipe, and a discharge port; the filling box is located inside the maintenance vehicle, and the filling box is connected to the discharge port through the conveying pipe. One end of the conveying pipe is connected to the bottom of the filling box, and the other end is connected to the discharge port. A valve is provided at the connection between the conveying pipe and the bottom of the filling box.

[0017] Furthermore, the automatic filling assembly also includes a robotic arm, one end of which is located at the front of the maintenance vehicle and the other end is connected to the discharge port. The robotic arm is connected to the control system and is used to adjust the free movement of the robotic arm in the front, back, left, right, up, and down directions.

[0018] Furthermore, the material conveying pipe is equipped with a conveying device for rapidly transporting the sealant. The conveying device is installed on one side of the robotic arm and includes a servo motor and a screw propeller. The servo motor is connected to the control system and is used to adjust the sealant dispensing speed and amount.

[0019] Preferably, a micro vibrator is provided inside the stuffing box, the connection part of the conveying pipe is a stainless steel pipe, and the rest of the part is a stretchable rubber pipe.

[0020] Furthermore, the laser repair component includes an integrated laser, an inverter, and a laser pointer; the integrated laser is connected to the inverter and the laser pointer respectively, the integrated laser and the inverter are installed inside the maintenance vehicle, and the laser pointer is connected to the automatic filling component; the control system is connected to the integrated laser, the inverter, and the laser pointer respectively, and is used to adjust the laser parameters and control the laser's on / off state.

[0021] Furthermore, the laser pointer includes a QBH connector and a QBH collimator; the QBH connector is used to output a stable laser beam, and the QBH collimator is used to fix the QBH connector.

[0022] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0023] First, this application achieves real-time and accurate crack identification and location through a crack recognition component and an autonomous driving positioning component, combined with a control system, providing precise data support for the repair process. Second, the autonomous driving positioning component guides the maintenance vehicle precisely to the target area based on crack location, ensuring that the crack finding process is automated, accurate, and efficient, especially in complex road conditions, significantly improving work efficiency and reducing manual intervention. Third, the automatic filling component precisely adjusts the filling depth through robotic arm control, and the control system ensures uniform filling and avoids material waste, improving the stability and durability of the repair effect. Finally, the laser repair component uses high-energy laser to precisely control heat energy, avoiding damage to the surrounding asphalt, ensuring uniform penetration and firm bonding of the filler, thereby enhancing the structural strength and durability of the repaired area.

[0024] In summary, this device, through a control system combined with crack recognition components, automatic driving positioning components, automatic filling components, and laser repair components, proposes a novel intelligent repair device for asphalt pavement cracks. This device can identify crack characteristics under different road conditions in real time and automatically adjust the filling and laser parameters according to the actual situation of the cracks. The introduction of intelligent control not only reduces the need for manual operation and improves construction safety but also greatly enhances construction efficiency. Laser fusion technology can complete the repair in a short time. Compared with traditional repair methods, it reduces traffic congestion and safety hazards caused by road closures, providing a more flexible solution for road maintenance and traffic management. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the front structure of the intelligent repair device in this utility model;

[0026] Figure 2 This is a schematic diagram of the back structure of the intelligent repair device in this utility model;

[0027] Figure 3 This is a side view of the intelligent repair device in this utility model;

[0028] Figure 4 This is a schematic diagram of the maintenance vehicle structure in this utility model;

[0029] Figure 5 This is a schematic diagram of the laser pointer structure in this utility model;

[0030] Figure 6 This is a schematic diagram of the automatic filling component in this utility model.

[0031] The correspondence between the labels and component names in the attached figures is as follows:

[0032] 1. Maintenance vehicle; 2. Hemispherical camera; 3. Pen-shaped camera; 4. Integrated intelligent driving controller; 5. Positioning device; 6. Automatic filling assembly; 61. Filling box; 62. Feeding pipe; 63. Robotic arm; 64. Discharge port; 65. Conveying device; 7. Laser pointer; 71. QBH connector; 72. QBH collimator. Detailed Implementation

[0033] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0034] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0035] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that excludes other embodiments.

[0036] This utility model provides the following embodiments: an intelligent repair device for asphalt pavement cracks, such as... Figure 1-6As shown, it includes a maintenance vehicle 1, a crack detection component, an autonomous driving positioning component, an automatic filling component 6, a laser repair component, a control system, and a power battery. The power battery is connected to the crack detection component, the autonomous driving positioning component, the automatic filling component 6, the laser repair component, and the control system. The control system and the power battery are fixed inside the maintenance vehicle 1. The crack detection component is located at the front of the maintenance vehicle 1, the autonomous driving positioning component is located on the top of the maintenance vehicle 1, the automatic filling component 6 is located below the crack detection component, and the laser repair component is located on the side of the automatic filling component 6. The automatic filling component 6 is connected to the laser repair component.

[0037] The autonomous driving positioning component includes an integrated intelligent driving controller 4 and a positioning device 5. The integrated intelligent driving controller 4 is fixed inside the maintenance vehicle 1 and is connected to the control system. The control system uses the integrated intelligent driving controller 4 to control the maintenance vehicle 1 to autonomously drive to the crack area. The positioning device 5 is fixed to the top of the maintenance vehicle 1 and is connected to the control system. The control system uses the positioning device 5 to obtain accurate positioning data of the maintenance vehicle 1. The positioning device 5 includes onboard sensors and an IMU sensor. The onboard sensors are used for real-time dynamic measurement and positioning, while the IMU sensor is used to assist positioning in areas with weak GPS signals.

[0038] The automatic filling assembly 6 includes a filling box 61, a conveying pipe 62, a robotic arm 63, a discharge port 64, and a conveying device 65. The filling box 61 is fixed inside the maintenance vehicle 1, and the discharge port 63 is connected to the filling box 61 via the conveying pipe 62. One end of the conveying pipe 62 is connected to the bottom of the filling box 61, and the other end is connected to the discharge port 64. A valve is installed at the connection between the conveying pipe 62 and the bottom of the filling box 61. The control system is connected to the valve signal and controls the discharge rate of the sealant through the valve. Conveying devices 65 are installed at the connection between the conveying pipe 62 and the discharge port 64, and in the middle of the conveying pipe 62. The conveying devices 65 are installed on one side of the robotic arm 63. The conveying device 65 includes a servo motor and a screw propeller. The control system is connected to the servo motor signal and controls the discharge speed of the sealant through the servo motor. The screw propeller is used to propel the sealant for rapid transport. When the conveying device 65 operates at a known speed, the volume of material passing through the conveying pipe 62 and exiting from the discharge port 64 can be calculated from the operating time of the conveying device 65. Therefore, the discharge rate can be controlled by controlling the operating time of the conveying device 65. The front end of the robotic arm 63 is installed at the front of the maintenance vehicle 1, and the discharge port 64 is installed at the end of the robotic arm 63. The control system is connected to the robotic arm 63 by signal. The control system controls the robotic arm 63 to move freely forward, backward, left, right, up, and down. The control system realizes free planning of the repair stroke through the robotic arm 63. The connection part of the conveying pipe 62 is a stainless steel pipe, and the rest is a stretchable rubber pipe.

[0039] The laser repair assembly includes an integrated laser, an inverter, and a laser pointer 7. The integrated laser and inverter are fixed inside the maintenance vehicle 1, and the laser pointer 7 is connected to the end of the robotic arm 63. The integrated laser is connected to both the inverter and the laser pointer 7. The laser pointer 7 includes a QBH connector 71 for outputting a stable laser beam and a QBH collimator 72 for fixing the QBH. The control system is connected to the integrated laser, the inverter, and the laser pointer 7. The control system adjusts the laser parameters through the integrated laser and the inverter, and controls the laser's on / off state through the laser pointer 7.

[0040] The crack recognition component includes a hemispherical camera 2 and a pen-tube camera 3. The pen-tube camera 3 is mounted on the top of the maintenance vehicle 1 for localized image capture. The control system is connected to the pen-tube camera 3, enabling real-time identification and monitoring of pavement cracks and transmitting crack information to other components. The hemispherical camera 2 is connected to the end effector of the robotic arm 63 for wide-angle image acquisition. The control system is also connected to the hemispherical camera 2, monitoring the crack repair status in real-time and providing high-resolution image data to other components.

[0041] The control system identifies crack image information through the crack recognition component, acquires real-time information about the surrounding environment, and analyzes road surface and crack images. The autonomous driving positioning component provides the location of the maintenance vehicle 1, and, combined with the crack recognition component's crack image detection, performs positioning analysis to obtain crack coordinates and automatically drives the vehicle to the crack area. The automatic filling component 6 plans the repair path, releases the sealant, and lays it at the crack. The laser repair component then uses laser technology to fuse the sealant into the crack.

[0042] Working principle:

[0043] In this application, the control system uses a pen-tube-type camera 3 to scan the pavement in real time and accurately identify the location and type of cracks on the asphalt pavement. Real-time dynamic measurement technology using onboard sensors provides centimeter-level accuracy positioning, while an IMU sensor ensures reliable positioning in areas with weak GPS signals, accurately detecting the coordinates of the maintenance vehicle. Camera calibration technology transforms the world coordinate system acquired by the positioning device 5 to the camera coordinate system, and then converts the camera coordinate system to an image coordinate system. High-resolution camera sensors and image processing algorithms are used to locate the crack coordinates. The maintenance vehicle 1 achieves centimeter-level accurate navigation through an integrated intelligent driving controller 4, ensuring that the vehicle can drive autonomously and accurately reach the crack area, providing a precise positioning basis for repair work.

[0044] Once the maintenance vehicle 1 arrives at the crack area, the control system uses the hemispherical camera 2 to provide detailed crack information and plan the repair path, calculating the required amount of sealant based on the crack type. The robotic arm 63 moves to the center of the crack, determines the repair area using the four corner points of the crack boundary, generates a repair trajectory, and performs the repair operation along the crack boundary outline. The control system controls the sealant discharge via valves and the discharge speed via conveyor 65. The robotic arm 63 drives the discharge port 64 to begin filling the crack, with the hemispherical camera 2 monitoring the filling process in real time to ensure uniform and precise coverage of the crack, thereby improving the stability and durability of the repair effect.

[0045] After the filling operation, the control system re-identifies the repaired area using the hemispherical camera 2 and checks for any remaining cracks. If cracks are still detected, the robotic arm 63 will continue the filling operation; if the cracks are detected to be completely repaired, the filling process ends and the operation stops.

[0046] Based on the crack type fed back by the hemispherical camera 2, the control system adjusts the laser parameters by controlling the integrated laser and inverter, precisely adjusting parameters such as laser power and duty cycle. The control system controls the laser to turn on and off via the laser pointer 7. The robotic arm 63 drives the laser pointer 7 to start laser operation. Under the action of the laser, the joint filler is heated and melted, penetrating into the crack and firmly bonding with the surrounding asphalt material.

[0047] After the laser repair is completed, the control system re-identifies the repaired area through the hemispherical camera 2 and detects the repair status. If the crack is detected to still exist, the robotic arm 63 will continue the laser operation; if the crack is detected to be completely repaired, the laser repair process ends and the operation stops.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. An intelligent repair device for asphalt pavement cracks, comprising a maintenance vehicle, characterized in that: It also includes: crack recognition components, autonomous driving positioning components, automatic filling components, laser repair components, and control systems; The crack recognition component is located at the front of the maintenance vehicle and is used by the maintenance vehicle to recognize image information of pavement cracks. The automatic filling component is located below the crack detection component and is used to release the crack filler and lay it at the crack. The laser repair component is disposed on the side of the automatic filler component and is used to laser-fuse the sealant into the crack; the automatic filler component is connected to the laser repair component. The autonomous driving positioning component is located on the side of the automatic filling component and is used to locate the crack position and automatically control the maintenance vehicle to drive to the crack area. The control system is installed inside the maintenance vehicle; the control system is connected to the crack recognition component, the automatic driving positioning component, the automatic filling component, and the laser repair component respectively; The maintenance vehicle is also equipped with a power battery, and the crack recognition component, automatic driving positioning component, automatic filling component, laser repair component, and control system are all connected to the power battery.

2. The intelligent repair device for asphalt pavement cracks according to claim 1, characterized in that, The crack recognition component includes a hemispherical camera and a pen-shaped camera; the pen-shaped camera is connected to the maintenance vehicle for local image capture; the hemispherical camera is connected to the automatic filling component for wide-angle image acquisition, providing high-resolution image data.

3. The intelligent repair device for asphalt pavement cracks according to claim 1, characterized in that, The autonomous driving positioning component includes an integrated intelligent driving controller and a positioning device. The integrated intelligent driving controller is located inside the maintenance vehicle and is connected to the maintenance vehicle, the positioning device, and the crack recognition component. After the crack recognition component identifies a crack, the maintenance vehicle will automatically drive to the crack area. The positioning device is located on the top of the maintenance vehicle and is used to provide positioning and navigation for the maintenance vehicle.

4. The intelligent repair device for asphalt pavement cracks according to claim 3, characterized in that, The positioning device includes an on-board sensor and an IMU sensor; the on-board sensor is used for real-time dynamic measurement and positioning, and the IMU sensor is used for auxiliary positioning in areas with weak GPS signals.

5. The intelligent repair device for asphalt pavement cracks according to claim 1, characterized in that, The automatic filling assembly includes a filling box, a conveying pipe, and a discharge port. The filling box is located inside the maintenance vehicle. The filling box is connected to the discharge port via the conveying pipe. One end of the conveying pipe is connected to the bottom of the filling box, and the other end is connected to the discharge port. A valve is provided at the connection between the conveying pipe and the bottom of the filling box.

6. The intelligent repair device for asphalt pavement cracks according to claim 5, characterized in that, The automatic filling assembly also includes a robotic arm, one end of which is located at the front of the maintenance vehicle and the other end is connected to the discharge port. The robotic arm is connected to the control system and is used to adjust the free movement of the robotic arm in the front, back, left, right, up, and down directions.

7. The intelligent repair device for asphalt pavement cracks according to claim 5 or 6, characterized in that, The material conveying pipe is equipped with a conveying device for rapidly transporting the sealant. The conveying device is installed on one side of the robotic arm and includes a servo motor and a screw propeller. The servo motor is connected to the control system and is used to adjust the sealant dispensing speed and amount.

8. The intelligent repair device for asphalt pavement cracks according to claim 5, characterized in that, The filling box is equipped with a micro vibrator, the connection part of the conveying pipe is a stainless steel pipe, and the rest of the part is a stretchable rubber pipe.

9. The intelligent repair device for asphalt pavement cracks according to claim 1, characterized in that, The laser repair component includes an integrated laser, an inverter, and a laser pointer; the integrated laser is connected to both the inverter and the laser pointer, and the integrated laser and inverter are located inside the maintenance vehicle; the laser pointer is connected to the automatic filling component; the control system is connected to the integrated laser, the inverter, and the laser pointer, and is used to adjust laser parameters and control the laser's on / off state.

10. The intelligent repair device for asphalt pavement cracks according to claim 9, characterized in that, The laser pointer includes a QBH connector and a QBH collimator; the QBH connector is used to output a stable laser beam, and the QBH collimator is used to fix the QBH connector.

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