Crack router with integrated vision system

Abstract

The present disclosure generally relates to crack routing machinery. Examples include an autonomous or semi-autonomous roadway maintenance machine for routing cracks in a roadway surface. The machine can include a chassis, wheels couplable to the chassis, a routing implement for routing cracks, a detection module to identify cracks, and processing circuitry. The processing circuitry can receive information from the detection module corresponding to at least one crack; in an autonomous example, can navigate the machine along a path defining the at least one crack, or in a semi-autonomous example, can send the information to a remote human operator not in physical contact with the machine, can receive information from an operator-controlled input module corresponding to a path defining at least one crack, and can navigate the machine along the path; and can operate the routing implement along the path to rout the at least one crack.

Description

Attorney Ref. No. 569079-100 (69WO01)CRACK ROUTER WITH INTEGRATED VISION SYSTEMCROSS REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of U.S. Provisional Application No.63 / 778,955, filed March 27, 2025 and entitled “CRACK ROUTER WITH INTEGRATED VISION SYSTEM”, the disclosure of which is hereby incorporated by reference in its entirety.TECHNICAL FIELD

[0002] The present disclosure is generally related to crack routing machinery. More specifically, the present disclosure is related to machinery for detecting and routing cracks in roadway surfaces during maintenance operations.BACKGROUND

[0003] Roadways must be routinely maintained. Maintenance operations include “grazing” or vegetation clearing, cleaning by sweeping or blowing, pothole filling (including cold mix, warm mix, and hot mix asphalt compaction), line painting, etc. As an example, crack repair and sealing is a major component of roadway maintenance. Cracks commonly form in roadway surfaces over time, particularly roadways made of asphalt. If left unrepaired, the cracks may widen and deepen, with the process often being exacerbated by the infiltration of water and subsequent freezing and thawing. Crack deterioration may eventually lead to the formation of potholes or roadway breakup.

[0004] Roadway cracks are typically repaired by filling them with an elastic sealant that protects against moisture infiltration. In order to prepare the cracks for filling, loose debris is typically removed from the cracks, and the edges and bottom of the crack are cut away to expose stable surfaces that are not themselves crumbling or cracking. Typically, the resulting trench is approximately 0.635 to 6.35 centimeters wide and approximately 0.635 to 6.35 centimeters deep (approximately 0.25 to 2.5” wide and approximately 0.25 to 2.5” deep). This cutting or “routing” allows cracks to be evenly sealed with the elastic sealant material and prevents the sealant from becoming dislodged.

[0005] Roadway crack routing is typically performed by a worker-operated routingAttorney Ref. No. 569079-100 (69WO01) machine having a rotating cutting blade assembly that engages the roadway at the location of the crack. One such machine is the manually pushed and steered device disclosed in U.S. Patent No. 6,102,022 to Crafco, Inc. Another such machine is the ride-on device disclosed in U.S. Patent Publication No. 2023 / 0243114 to G2 Routers LLC, the subject matter of which is hereby incorporated by reference in its entirety. The latter machine includes a chassis having front and rear portions disposed fore and aft of a lateral centerline of the machine, wheels that support the chassis on the roadway and that include at least one driven wheel and at least one steered wheel (possibly the same wheel), an engine mounted on the chassis, an operator station mounted on the chassis, and a driven device that is or could be a roadway crack routing cutter drum, a brush, a blower, or a grazer. The operator station is located at the front portion of the machine to facilitate operator guidance of the machine over a roadway feature, such as a crack, to be acted upon by the driven device of the machine. The operator station may include a seat, as well as one or more operator-actuated input device(s) for controlling the machine. The input device(s) may, for example, be one or a combination of foot pedals, levers, joysticks, touchscreens, switches, etc.

[0006] Attempts have been made to develop roadway crack routers that are less error-prone, such as by providing a routing machine with increased weight so that it is less apt to hop upon engagement of the cutting disk with the roadway. Unfortunately, the additional weight can make the machine slower, and if manually pushed and steered, more difficult and tiring for an operator to maneuver. Any benefit gained in precision tends to be lost due to the slower production time.

[0007] Traditional roadway routers also are dedicated machines incapable of performing other roadway maintenance operations, such as cleaning or grazing. A contractor or municipality therefore often must have several different machines on hand to fully maintain a roadway, at considerable expense.

[0008] The typical roadway router employs a cutter head or drum that rides along the roadway surface. One type of drum includes a central hub affixed to a driven shaft and a pair of spaced disks. A plurality of peripherally spaced cutter wheel assemblies are mounted on the disks. Each cutter wheel comprises one or more toothed wheels mounted on a pin extending between the disks to freely rotate about an axis that is parallel with but spaced radially from the axis of the driven shaft. The pins are fixed in place using bushings press-fit or otherwise fixed in aligned bores in the disk. Another type of drum is a centrally mountedAttorney Ref. No. 569079-100 (69WO01) hub with indexable fixed cutter bits that can be removed and replaced individually as the bits wear out over time.SUMMARY

[0009] Non-limiting examples of the present disclosure provide an autonomous or semi-autonomous roadway maintenance machine for routing cracks in a roadway surface. The machine can include a chassis, a plurality of wheels couplable to the chassis, a routing implement couplable to the chassis and configured to rout, clean, or prepare cracks in a roadway surface, a detection module configured to identify cracks in a roadway surface, and processing circuitry couplable to the detection module and to the routing implement. In an autonomous example, the processing circuitry can be configured to receive information from the detection module corresponding to at least one crack in a roadway surface, configured to navigate the machine using the plurality of wheels along a path defining the at least one crack, and configured to operate the routing implement along the path to rout the at least one crack. In a semi-autonomous example, the processing circuitry can be configured to receive information from the detection module corresponding to at least one crack in a roadway surface, configured to send the information to a remote operator-controlled input module not in physical contact with the machine (e.g., a remote human operator), configured to receive information from the operator-controlled input module corresponding to a path defining at least one crack in a roadway surface, configured to navigate the machine using the plurality of wheels along a path defining the at least one crack, and configured to operate the routing implement along the path to rout the at least one crack.

[0010] Non-limiting examples of the present disclosure provide a method of operating an autonomous or semi-autonomous roadway maintenance machine for routing, cleaning, or preparing cracks in a roadway surface. The method can include providing the machine including a chassis, a plurality of wheels couplable to the chassis, a routing implement couplable to the chassis and configured to rout cracks in a roadway surface, and processing circuitry; receiving information from a crack detection system couplable to the processing circuitry, the information corresponding to at least one crack in a roadway surface; when operated autonomously, navigating the machine using the plurality of wheels along a path defining the at least one crack; or when operated semi-autonomously, sending the information to an operator-controlled input module not in physical contact with the machine,Attorney Ref. No. 569079-100 (69WO01) receiving information corresponding to a path defining the at least one crack in the roadway surface from the operator-controlled input module, and navigating the machine using the plurality of wheels along the path defining the at least one crack; and operating the routing implement along the path to rout the at least one crack.

[0011] Non-limiting examples of the present disclosure provide non-transitory computer-readable medium encoding instructions operable to cause processing circuitry to receive information from a crack detection system couplable to the processing circuitry, the information corresponding to a path defining at least one crack in a roadway surface; navigate an autonomous or semi-autonomous roadway maintenance machine along the path, the machine configured to rout cracks in a roadway surface; and operate the machine along the path to rout the at least one crack using a routing implement included with the machine.

[0012] The above summary is not intended to describe each illustrated example or every implementation of the subject matter hereof. The figures and the detailed description that follow more particularly exemplify various examples.BRIEF DESCRIPTION OF THE DRAWING

[0013] Subject matter hereof may be more completely understood in consideration of the following detailed description of various examples in connection with the accompanying figures, in which:

[0014] FIG. 1 is a block diagram of a roadway maintenance machine, according to examples of the present disclosure;

[0015] FIG. 2 is a fragmentary bottom isometric view of a portion of the roadway maintenance machine of FIG. 1;

[0016] FIG. 3 is a sectional front elevation view of a roadway crack routing cutter head or “cutter drum” of the roadway maintenance machine of FIG. 1;

[0017] FIG. 4 is an isometric view of a cutter assembly or routing implement of the cutter drum of FIG. 3;

[0018] FIG. 5 is a sectional elevation view of the cutter assembly or routing implement of FIG. 4;

[0019] FIG. 6 is an exploded isometric view of a cutter wheel assembly of the cutter assembly or routing implement of FIGS. 3 and 4; and

[0020] FIG. 7 is a control schematic of the roadway maintenance machine of FIG. 1.Attorney Ref. No. 569079-100 (69WO01)

[0021] While various examples are amenable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawing and will be described in detail. It should be understood, however, that the intention is not to limit the claimed inventions to the particular examples described. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the subject matter as defined by the claims.DETAILED DESCRIPTION

[0022] The recitation of a numerical range using endpoints includes all numbers subsumed within that range (e.g., 1 to 5 includes 1, 1.5, 2, 2.75, 3, 3.80, 4, 5, etc.).

[0023] The terms “a,” “an,” “the,” “at least one,” and “one or more” are used interchangeably throughout the present disclosure.

[0024] The term “actuator” can refer to a mechanical device configured to adjust the position of the routing implement relative to the chassis, enabling transitions between raised and lowered positions when necessary.

[0025] The terms “autonomous,” “semi-autonomous,” and “non-autonomous,” when used in reference to a roadway maintenance machine, respectively refer to a machine that can choose and carry out a navigation path without requiring attention or intervention by a human operator, a machine that can choose and carry out a navigation path with decision-making by a remote human operator or operator-controlled input module not required to be onboard or otherwise in physical contact with the machine, and a machine that requires a human operator onboard or otherwise in physical contact with the machine to choose and carry out a navigation path. Operation of a typical non-autonomous roadway maintenance machine for routing cracks will require constant attention and intervention by a human operator onboard or otherwise in physical contact with the machine. The autonomous and semi-autonomous machines described herein can operate with reduced and preferably greatly reduced or no human attention and intervention and may in some examples accommodate but not require a human operator that is onboard or otherwise in physical contact with the machine. Machines of the present disclosure may also be configured to switch between autonomous and semi-autonomous operation in response to certain circumstances (e.g., roadway conditions, human operator location, etc.).

[0026] The term “chassis” can refer to the structural framework of the machine ontoAttorney Ref. No. 569079-100 (69WO01) which various components such as wheels, routing implements, and other modules can be mounted.

[0027] The term “crack sealant applicator” can refer to a tool or assembly for applying sealant to cracks in a roadway surface after routing. Examples of crack sealant applicators are described in a co-pending and commonly assigned U.S. Patent Application titled “Crack Sealant Applicator,” filed concurrently with the present disclosure under Attorney Docket No. 569079-69 (68US01P1), the disclosure of which is hereby incorporated by reference herein in its entirety. Other examples of crack sealant applicators are described in commonly assigned U.S. Patent Publication No. 2024 / 0218615 titled “System and method for robotic sealing of defects in paved surfaces,” the disclosure of which is hereby incorporated by reference herein in its entirety.

[0028] The term “crack treatment implement” can refer to a tool or assembly couplable to the chassis, configured to clean and heat routed cracks as part of the maintenance process.

[0029] The term “detection module” can refer to a system comprising sensors or other detection technologies configured to identify cracks in a roadway surface and to generate corresponding information. The detection module can include an integrated vision or optical system for scanning and mapping a roadway surface to identify one or more cracks in the surface. The detection module can generate a path including the one or more cracks that the machine can travel along to perform routing operations. Other examples of identifying cracks in a roadway surface and generating corresponding information are described in commonly assigned U.S. Patent Publication No. 2024 / 0218613 titled “Systems and methods for identifying paved surface features and estimating repairs,” the disclosure of which is hereby incorporated by reference herein in its entirety.

[0030] The term “emergency shutdown control” can refer to a safety feature that allows the machine to be powered off in emergency situations, and which can be activated by an operator using various mechanisms such as a switch, button, or lever, or activated automatically by processing circuitry included with the machine upon detecting an emergency event (e.g., a person enters the range of operation of the machine, causing the processing circuitry to activate the emergency shutdown control).

[0031] The term “non-transitory computer-readable medium” can refer to a storage device or medium that holds instructions for one or more processors or processing circuitry in general to execute specific tasks related to operation of the machine.Attorney Ref. No. 569079-100 (69WO01)

[0032] The term “operator-controlled input module” can refer to an interface that allows a human operator to input information or instructions to the machine, which may include devices like touchscreens, extended reality devices, deviceless interfaces, and controllers. Extended reality devices can include augmented reality or mixed reality devices such as goggles, glasses, or other wearable components with augmented or reality-enhancing functionality. Deviceless interfaces can include any interface that does not require continuous use of a physical device and may incorporate one or more of a voice interaction feature, a gesture interaction feature, and an eye-tracking feature, for example. Controllers may include any device with one or more joysticks or analog sticks (e.g., a controller traditionally used with video game systems or consoles). An operator-controlled input module may be used by a remote human operator not required to be onboard or otherwise in physical contact with machines of the present disclosure.

[0033] The term “path” can refer to the defined route along which a machine navigates to address cracks in the roadway surface, as determined by information identified, generated, or received from the detection module or the operator-controlled input module.

[0034] The term “power source” can refer to a component that provides energy to electromechanical components of the machine, including the routing implement, the crack treatment implement, the plurality of wheels couplable to the chassis, the detection module, and the processing circuitry, among other components described herein. The power source can be at least one of a battery, a generator, an engine, or another power-generating device.

[0035] The term “processing circuitry” can refer to electronic components and systems generally responsible for receiving information from the detection module or the operator-controlled input module, processing this information, and controlling the operation of the machine and its components (e.g., controlling operation of the plurality of wheels couplable to the chassis, the routing implement, the crack treatment implement, and other electromechanical components included with the machine).

[0036] The term “resting position” can refer to a designated location on the roadway surface where the machine navigates to before or after completing its operation on a crack path. The resting position can also refer to a designated location on the roadway surface where the machine navigates to after an emergency event requiring use of the emergency shutdown control. Machines of the present disclosure can autonomously navigate to the resting position with little or no assistance from a human operator, or can semi-autonomouslyAttorney Ref. No. 569079-100 (69WO01) navigate to the resting position with at least some assistance from a human operator (e.g., receiving an instruction or command from the human operator to navigate to the resting position).

[0037] The term “routing cutter drum” can refer to a specific type of routing implement featuring a rotating cutter assembly designed to operate along a horizontal axis, e.g., an axis across the chassis.

[0038] The term “routing implement” can refer to a tool or assembly attached to the chassis, designed to cut or rout cracks in a roadway surface. This includes specific configurations like a routing cutter drum with a rotating cutter assembly.

[0039] The term “sensor” can refer to a unit or device of a detection module capable of detecting physical characteristics of the roadway, such as cracks, and converting the physical characteristics into computer-readable or digital data (e.g., data that the processing circuitry can use when controlling the machine). This includes optical systems for visual identification such as a camera or video recorder, for example.

[0040] The present disclosure relates to, among other things, an autonomous or semi-autonomous roadway maintenance machine designed to rout cracks in a roadway surface. The machine incorporates advanced features for autonomous or semi-autonomous operation, leveraging integrated crack detection systems, processing circuitry, and automated or semiautomated control mechanisms to perform precise and efficient crack routing. The machine is designed to reduce or substantially eliminate reliance on manual operation, to improve accuracy of crack detection and routing, and to enhance the overall efficiency of roadway maintenance operations. Other examples of the present disclosure include methods of operating autonomous or semi-autonomous roadway maintenance machines, and non-transitory computer-readable medium encoding operable instructions to operate such machines, among other related examples and techniques.

[0041] An autonomous or semi-autonomous roadway maintenance machine for routing cracks in a roadway surface can include a chassis, a plurality of wheels couplable to the chassis, a routing implement couplable to the chassis and configured to rout cracks in a roadway surface, a detection module configured to identify cracks in a roadway surface, and processing circuitry couplable to the detection module and to the routing implement.

[0042] In an autonomous example, the processing circuitry can be configured to receive information from the detection module corresponding to at least one crack in a roadwayAttorney Ref. No. 569079-100 (69WO01) surface, to navigate the machine using the plurality of wheels along a path defining the at least one crack, and to operate the routing implement along the path to rout the at least one crack. In a semi-autonomous example, the processing circuitry can be configured to receive information from the detection module corresponding to at least one crack in a roadway surface, to send that information to a remote operator-controlled input module not in physical contact with the machine (e.g., a remote human operator), to receive information from the operator-controlled input module corresponding to a path defining at least one crack in a roadway surface, to navigate the machine using the plurality of wheels along the path defining the at least one crack, and to operate the routing implement along the path to rout the at least one crack.

[0043] The processing circuitry can receive information from the detection module or an operator-controlled input module, depending on whether autonomous or semi-autonomous operation is used. In autonomous operation, the detection module can identify one or more cracks and generate a path corresponding to the crack(s) for routing. The processing circuitry can process the path data and can navigate the machine along a defined path. The cutter assembly or routing implement can be activated by the processing circuitry to rout the cracks along the path. The cutter assembly or routing implement can be coupled to an actuator that can transition the assembly or implement between a raised position, generally distal to the roadway surface, and a lowered position, generally proximate to the roadway surface and arranged to rout cracks. The processing circuitry can operate the actuator to ensure the cutter assembly or routing implement is lowered into position only when routing is required, and is raised when routing is complete or during navigation to a new roadway location or area containing one or more cracks.

[0044] In semi-autonomous operation, an operator-controlled input module can be used to define the path for routing. The input module may include a touchscreen, an extended reality device, a deviceless interface (including voice, gesture, or eye-tracking features), a controller, or an optical scanner capable of capturing information from physical objects and converting such information into computer-readable or digital data. The input module can provide path information to the processing circuitry, which can then navigate the machine along the path and operate the cutter assembly or routing implement to rout one or more cracks defined along the path. Functioning in both autonomous and semi-autonomous modes advantageously gives machines of the present disclosure the flexibility to operate in variousAttorney Ref. No. 569079-100 (69WO01) scenarios. In some examples, a machine can switch from semi-autonomous operation to autonomous operation, and vice versa, in accordance with the teachings of the present disclosure.

[0045] The machine can also include a crack treatment implement that cleans and heats routed cracks. The crack treatment implement can be controlled by the processing circuitry, which ensures that the cleaning and heating processes are performed in coordination with the routing operation. This integrated functionality streamlines the crack maintenance process, eliminating the need for separate equipment or manual intervention. To enhance safety and operational control, the machine can be equipped with an emergency shutdown control that allows an operator to power off the machine in case of an emergency. Additionally, the processing circuitry can be configured to receive instruction(s) to activate the emergency shutdown control, thereby ensuring immediate response to potential hazards during crack routing operations. The processing circuitry can also navigate the machine to a resting position after completing a routing operation. This ensures that the machine can autonomously or semi-autonomously return to a designated location with little or no human intervention.

[0046] Accordingly, examples of the present disclosure use advanced crack detection systems, processing circuitry, and automated control mechanisms to perform efficient and precise crack routing operations. Examples of the present disclosure can operate in autonomous and semi-autonomous modes to provide versatile, highly effective, and adaptable solutions for roadway maintenance. Such examples will now be discussed in greater detail.

[0047] Referring initially to FIG. 1, a block diagram of an autonomous or semi-autonomous roadway maintenance machine 20 is depicted according to examples of the present disclosure. Machine 20 can include a chassis 24 having front and rear chassis ends 26, 28, a plurality of wheels 30, 32, 34 couplable to the chassis 24 (two to four wheels, or more than four wheels in other examples), an engine 38 proximate to or received within the chassis 24, a drive system 40, and a hydraulic motor output shaft 205 couplable to a hydraulic motor 202 (as depicted in FIG. 2). Machine 20 can also include a cutter drum 22 having a cutter assembly or routing implement 62 as described further in a subsequent section.Machine 20 can also include a dust handling system 42 for receiving dust and debris dislodged from a roadway surface during a routing operation, and for blowing the dust and debris outward past the rear chassis end 28. The dust handling system 42 can include aAttorney Ref. No. 569079-100 (69WO01) blower 130 for blowing dust and debris, an inlet tube or duct 132 for receiving dust and debris, and an outlet tube or duct 134 for depositing dust and debris outward from the machine 20. Machine 20 can also include a cylinder 208 having a barrel end 80 and a rod end 82 couplable to the chassis 24.

[0048] Machine 20 can also include a detection module or crack detection system 50 couplable to the chassis 24. Detection module 50 can include at least one processor, at least one memory, one or more crack-detecting sensors, and one or more engines such as an image acquisition engine, an image processing engine, and a reporting engine. Detection module 50 can be configured to identify cracks in a roadway surface using one or more sensors, for example optical sensors, laser sensors, ultrasonic sensors, ground penetrating radar (GPR) sensors, acoustic emission sensors, vibration sensors (e.g., accelerometers), thermal sensors, capacitive or resistive sensors, or magnetic field sensors, or combinations thereof, for example. The one or more sensors generally are roadway-facing when coupled to the chassis 24. After identifying a crack, the detection module 50 can be configured to generate computer-readable information corresponding to the crack. The computer-readable information can include various characteristics of the crack, including crack measurements, the number of cracks, crack geometry, a path defining at least one crack, and other crack characteristics. Detection module 50 can be configured to transmit the crack information to processing circuitry 55 for crack routing operations as discussed in further detail below.

[0049] One example of an optical sensor is a high-resolution camera that can capture detailed images of the road surface. Advanced image processing techniques like computer vision or machine learning can be included with detection module 50 to detect cracks in the roadway surface based on the captured images. Another example of an optical sensor is an infrared camera that can detect temperature changes in the roadway surface which may be indicative of a crack in the surface. One example of a laser sensor is a light detection and ranging (LiDAR) sensor that can identify roadway surface irregularities by scanning the surface with laser beams. Data obtained from a scan can be used by the detection module 50 to create three-dimensional models of the roadway surface which can reveal cracks and other roadway deformations. Another example of a laser scanner is a laser profilometer that can measure roadway surface texture to detect cracks.

[0050] In some examples of detection module 50, one or more ultrasonic sensors can be used to emit high frequency sound waves against the roadway surface, with the sound wavesAttorney Ref. No. 569079-100 (69WO01) being reflected back to the ultrasonic sensor(s) for subsequent crack analysis. In some examples of detection module 50, one or more GPR sensors can use electromagnetic waves to assess the internal structure of a roadway surface for crack detection based on measurements reported from the assessment. In some examples of detection module 50, one or more acoustic emission sensors can be used to detect stress waves generated by the growth or propagation of cracks in the roadway surface. In some examples of detection module 50, one or more vibration sensors can be used to measure changes in vibration patterns along the roadway surface which can be indicative of cracking. In some examples of detection module 50, one or more thermal sensors can be used to detect heat patterns on the roadway surface. Cracked areas of the roadway surface may exhibit different thermal properties compared to uncracked areas, for example a different heat distribution caused by cracked and uncracked roadway areas having different heating rates. In some examples of detection module 50, one or more capacitive or resistive sensors can be used to measure changes in the electrical properties of the roadway surface. For example, cracks can alter the electrical conductivity or capacitance of the roadway surface, which can be detected using capacitive or resistive sensors. In some examples of detection module 50, one or more magnetic field sensors can be used to identify cracks based on changes in the magnetic properties of the roadway surface. In some examples of detection module 50, LIDAR sensors can be used to identify cracks based on point cloud mapping of the roadway surface. In some examples, a combination of any of the aforementioned example sensors can be used with detection module 50 to detect and identify cracks in a roadway surface.

[0051] Machine 20 can also include processing circuitry 55 couplable (e.g., operably, electrically, communicatively) to the detection module 50 and to the cutter assembly or routing implement 62. Processing circuitry 55 can include at least one processor, at least one memory, and one or more engines to effect crack routing using the cutter assembly or routing implement 62. Processing circuitry 55 can be configured to receive information from the detection module 50 corresponding to at least one crack in a roadway surface, to navigate the machine 20 using the plurality of wheels 30, 32, 34 along a path defining the at least one crack, and to operate the cutter assembly or routing implement 62 along the path to rout the at least one crack. Processing circuitry 55 can be coupled to any suitable location on or within chassis 24 or another structural component of machine 20. In some examples, the processing circuitry 55 can be configured to navigate the machine 20 to a resting position after operatingAttorney Ref. No. 569079-100 (69WO01) the cutter assembly or routing implement 62 along a path to rout at least one crack. The resting position can be a starting position programmed by a user or a position predetermined before using machine 20, for example a position away from any cracks in the roadway surface.

[0052] The autonomous or semi-autonomous roadway maintenance machine 20 can be represented as a self-propelled machine. The machine 20 can be adapted to receive a roadway crack routing cutter head, or cutter drum 22, that is configured to rout cracks in the roadway surface for subsequent filling. Machine 20 may also be adapted to receive other implements in place of the cutter drum (generally referred to herein as “routing implement”). As mentioned previously, machine 20 can include a chassis 24 having front and rear ends 26, 28, a number of wheels 30, 32, 34 supporting the chassis 24 on the ground, an engine 38, and a drive system 40, for example a hydraulic drive system, that is powered by the engine and that powers all driven components of the machine. The cutter drum 22 or other implement can be located at or near the front end 26 of the machine 20 and, in any event, forwardly of a lateral centerline of the chassis 24. Locating the cutter drum 22 on a front portion of the machine forwardly of the lateral centerline of the chassis 24 can provide a clear line of sight to the implement during a routing operation. The cutter drum 22 can be raised and lowered relative to the chassis 24 and may be couplable to the chassis 24 by a quick connect coupling that permits quick replacement of the cutter drum 22 with another cutter drum or another implement altogether (e.g., a cutter wheel, one or more cutter bits).

[0053] Engine 38 may be a diesel or gasoline powered engine, or even an electric or hybrid engine, having a horsepower rating from about 25 hp to about 40 hp. The drive can include a hydraulic pump and a reservoir (both not depicted), and a plurality of hydraulic motors driven by the pump. Referring briefly to FIG. 7, at least three such motors can be provided in this example, a first motor 202 for propelling the driven wheel, a second motor 204 for steering the steered wheel, and a third motor 206 for driving the cutter assembly or routing implement 62 to rotate. The pump can also supply pressurized fluid to an actuator, such as the cutter lift cylinder 208 described below, for raising and lowering the cutter head 22 relative to the roadway surface. The pump can also supply pressurized hydraulic fluid to any other actuator(s) of the machine 20. In some examples, engine 38 or another power source mountable on the chassis 24 can be configured to power the detection module 50 and the processing circuitry 55.Attorney Ref. No. 569079-100 (69WO01)

[0054] Referring again to FIGS. 1 and 2, the wheels supporting chassis 24 can include at least one driven wheel which, in an illustrated example, is a rear driven wheel 30 mountable on the lateral centerline of the chassis 24. The wheels additionally can include a pair of undriven front wheels 32 and 34. FIG. 2 show the front wheels 32 and 34 as extending in parallel with a longitudinal centerline of the chassis 24 or, stated another way, as rotating about horizontal axes that extend laterally of the chassis 24. The rear wheel 30 can be driven hydraulically by hydraulic motor 202 (as illustrated particularly in FIGS. 2 and 7). The rear wheel 30 can also be capable of swiveling about a vertical or z-axis by the hydraulic steering motor 204 to steer the machine 20 right or left. The hydraulic motor output shaft 205 may be coupled directly to a vertical shaft coupled to a fork on which the rear wheel 30 is rotatably mountable. The range of steering motion provided by the motor 204 may approach or even exceed 90 degrees to either side of the longitudinal centerline of the chassis 24. While the front wheels 32 and 34 as illustrated are non-driven, they also could be driven hydraulically by the same hydraulic motor driving the front motor or one or two other hydraulic motors.

[0055] Machine 20 can also include a controller 200, such as an electronic control unit (ECU), to manage certain functionality not already managed by detection module 50 or processing circuitry 55. The ECU, in turn, can output control signals to controlled devices including, but not necessarily limited to, hydraulic drive motor 202, hydraulic steering motor 204, cutter drive motor 206, and optionally an actuator for raising and lowering the cutter drum 22 relative to the roadway surface (e.g., after receiving instructions from processing circuitry 55). Such an actuator could take the form of a screw drive or a gear drive. In some examples, the actuator takes the form of a cylinder 208. Control of one or more of these devices, such as the cutter lift cylinder 208, may be based in whole or in part on signals from sensors.

[0056] In some examples, operation of other aspects of the machine 20, such as cutter drum depth and possibly rotational speed, and other controlled aspects of the machine 20 are controlled autonomously or semi-autonomously with the assistance of an operator-controlled input module 57, for example a touchscreen. The touchscreen may additionally include functionality that permits monitoring of the operation of the machine 20 including aspects such as travel speed, cutter drum depth, cutter drum revolutions per minute (RPM), etc. In some examples, the touchscreen may be controlled by a remote human operator and as such is characterized as an operator-controlled input module 57. In other examples, semi-Attorney Ref No. 569079-100 (69WO01) autonomous operation of certain aspects of machine 20 (e.g., processing circuitry 55, routing implement) can be controlled by an extended reality device; a deviceless interface having one or more of a voice interaction feature, a gesture interaction feature, and an eye-tracking feature; a controller; an optical scanner; or combinations thereof.

[0057] Referring now to FIGS. 1-6, and initially to FIGS. 1, 5, and 6, the cutter drum 22 can be mounted on the machine 20 forwardly of the chassis 24 and centrally of the machine 20. The cutter drum 22 can include a frame assembly or cutter housing 60 defining a center opening, and a cutter assembly or routing implement 62 supported on the cutter housing 60 within the center opening. As shown in the figures, the cutter assembly or routing implement 62 can extend in parallel with the front wheels 32 and 34 and with a longitudinal centerline of the chassis 24, and can rotate about a horizontal axis extending laterally of the chassis 24. The cutter housing 60 may be mounted on the chassis 24 either directly or by a quick connect coupling. The cutter housing 60 can include right and left side plates 64, 66, a rear cross plate 68 couplable to the rear ends of the side plates 64 and 66, and a front cross plate 70 couplable to the front ends of the plates 64 and 66. A cover 71 may overlie the cutter assembly or routing implement 62. The rear plate 68 may have an opening formed in it for receiving an inlet tube 132 of a dust handling system 42.

[0058] Referring especially to FIG. 2, the cutter housing 60 and thus the cutter drum 22 as a whole can be pivotably mounted to the chassis 24 by right and left pivot links 72 and 74, each having a rear end (not depicted) couplable to a subframe on the chassis 24 and a front end in the form of a boss 76, 78. Each boss 76, 78 may either be couplable to the support frame. The cutter housing 60 can be driven to pivot about the links 72 and 74 by the cutter lift cylinder 208. Cylinder 208 can have a barrel end 80 that is mountable on the chassis 24 and a rod end 82 that is couplable to a support plate of the chassis 24 (not depicted). Lift cylinder 208 can comprise a double acting hydraulic cylinder 208 that is locked in a given position in the absence of hydraulic fluid flow into and out of the cylinder. The cylinder 208 thus remains in a given position upon being actuated a particular amount unless it is again actuated to increase or decrease piston stroke. This negates the need to continuously pressurize the cylinder 208 with attendant risk of leaks. This also reduces the system pressure necessary to operate the machine 20 as a whole.

[0059] Referring especially to FIGS. 3-5, the cutter assembly or routing implement 62 can include a driven shaft 84 and a rotating drum 86 mountable centrally on the shaft 84 so asAttorney Ref. No. 569079-100 (69WO01) to rotate with the shaft. The shaft 84 can extend through aligned openings 65 and 67 in the side plates 64 and 66 and can be supported in bearing assemblies 87 and 89 mountable on the side plates 64 and 66. The shaft 84 can be driven by the hydraulic motor 206, which may be mounted on one of the bearing assemblies 89 in alignment with the driven shaft 84 as best seen in FIG.2. The drum 86 can include a central hub 88 affixable to the shaft 84 and a pair of spaced disks 90, 92. The disks 90, 92 may have a diameter of about 15 to 92 centimeters (about 6 to 36”) and, more typically, of about 30 to 61 centimeters (about 12 to 24”). A plurality of peripherally spaced cutter wheel assemblies 94 (only one of which is depicted) are mountable on the disks 90, 92. In some examples, six equally spaced cutter wheel assemblies 94 can be provided.

[0060] Referring especially to FIG. 6, each cutter wheel assembly 94 is mountable on a pin 96 extending between the disks 90, 92 so as to rotate about an axis that is parallel with but spaced radially from the axis of the driven shaft 84 so that the cutter wheel assembly 94 revolves around the shaft upon rotation of shaft 84. The cutter wheel 98 of each cutter wheel assembly 94 can freewheel or rotate passively about the associated pin 96 during rotation of the drum 86 about the shaft 84. Although only a single cutter wheel 98 is illustrated in FIG.6, more than one could be employed in each cutter wheel assembly 94, if desired. The cutter wheels 98 of the various assemblies 94 also can be staggered axially of the drum 86 relative to one another on their respective pins 96 to increase the effective width of the trench cut by the cutter assembly or routing implement 62. That effective width may be, for example, about 5.08 centimeters (about 2”).

[0061] Staggering may be achieved by inserting spacers 97 on the pin 96 on one or both sides of the cutter wheel 98, with the number and locations of spacers varying between cutter wheel assemblies 94. In order to reduce wear on the disks 90, 92 cutter wheel due to contact with an adjacent spacer 97 or cutter wheel 98, a sacrificial washer 99, typically made of hardened steel, may be bolted onto or otherwise attached to the inside surface of each of the disks 90, 92 to act as a buffer between the disk 90, 92 and an adjacent component in the form of either a spacer 97 or a cutter wheel 98. The sacrificial washer 99 can be attached to the disk 90 or 92 by a pair of bolts passing through associated through-bores in the disk 90 or 92 and into a tapped bore in the sacrificial washer 99.

[0062] Referring now to FIGS. 3-6, the support pin 96 for each cutter wheel assembly 94 is mountable on the disks 90 and 92 via a quick mount connection that facilitates changeoverAttorney Ref. No. 569079-100 (69WO01) of cutter wheels 98 of one configuration (such as the number of wheels or diameter or thickness of each wheel), or rapid replacement of worn or broken cutter wheels 98 or related components, such as the pins 96. Each quick mount arrangement can include the support pin 96 and first and second bushings 100 and 102 that are insertable into aligned sleeves 104 and 106 press fit into respective aligned bores 108 and 110 in the first and second disks 90 and 92. The bushings 100 and 102 and the devices with which they interact can be mirror images of each other.

[0063] As best seen in FIGS. 4 and 6, each bushing 100 or 102 can include an inner end 112 of reduced diameter and an outer end 114 of a larger diameter. The inner end 112 can be received in the associated sleeve 104 or 106. The larger diameter outer end 114 can fit within the bore 108 or 110 and can be seated against the outer axial end of the sleeve 104 or 106. Referring to FIGS. 4 and 6, the outer periphery of the outer end 114 can be notched with a semi-cylindrical through-notch 116, and a ledge or tab 118 can be positioned adjacent the through-notch 116. A threaded bore in the disk 90 or 92 can be aligned with the center of the virtual cylinder that can be partially defined by the through-notch 116 for receiving a retaining screw 120. When the bushing 100 or 102 is seated in the bore 108 or 110 and the sleeve 104 or 106, the retaining screw 120 can be threaded into the threaded bore to a position in which the head of the screw clamps 120 against the tab 118, preventing outward axial movement of the bushing 100 or 102 from the bore 108 or 110. The bushing, pin, and screw may be protected from dirt and debris by a cover 122. The cover 122 can be retained in its engaged position by a bolt 126 that extends through a through-bore in the cover 122 and into a tapped bore in the disk 90 or 92. The cover 122 can swivel about the bolt 126 from an engaged position in which it overlies the pin 96 and bushing 100 or 102 to a disengaged position exposing the pin 96 and bushing 100 or 102. The cover 122 can be retained from unintentionally swinging away from its engaged position under centrifugal forces by a pin 124 received in a bore in the disk 90 or 92. Note that one such cover is shown in FIG. 4 as being swung out of its engaged or overlying relationship with the pin and bushing. The cover 122 can also prevent axial movement of the pin 96 relative to the bushing 100 or 102 when the cover 122 is in its engaged position overlying the pin 96 and bushing 100 or 102.

[0064] To assemble the cutter assembly or routing implement 62, each of the removable bushings 100, 102 can be inserted into the associated sleeve 104 and 106 and locked in place using the retaining screw 120. The support pin 96 can then be inserted through one of theAttorney Ref. No. 569079-100 (69WO01) bushings 100 and into the space between the disks 90 and 92. The cutter wheel 98 can then be mounted on the inner end of the pin 96, and the pin 96 can be fully inserted into the other bushing. The pin 96 can be sized relative to the bushings 100 and 102 to provide a slip fit between the two. The covers 122 can then be swung into place to protect the ends of pin 96 and the bushings 100 and 102 and to inhibit axial movement of the pin 96 relative to the bushings 104 and 106.

[0065] Referring back to FIG. 1, a dust handling system 42 can be designed to receive dust and debris that are dislodged from the roadway surface during a routing operation and to blow that debris to the rear end of the machine 20. There, the dust either may be collected in bags or otherwise handled. The dust handling system 42 can include a blower 130, an inlet tube or duct arrangement 132 couplable to an inlet of the blower 130, and outlet tube or duct arrangement 134 couplable to the outlet of the blower 130. The blower 130 may be a centrifugal blower driven directly or indirectly by an output shaft of the engine 38.

[0066] The cutter drum 22 may be mounted on the chassis 24 by a quick connect coupling that permits rapid attachment of the cutter drum 22 to the chassis 24, rapid replacement of the cutter drum 22 with another cutter drum of a different configuration, or rapid replacement of the cutter drum 22 with a different implement entirely, such as a grazer, a blower, or a brush.

[0067] Autonomous or semi-autonomous operation of the machine 20 will now be described. The cutter drum 22 can be first mounted on the machine 20. The cutter lift cylinder 208 can then be actuated to fully raise the cutter drum 22 relative to the chassis 24, and the machine 20 can be driven to the vicinity of the crack with controlled speed and steering. Maximum vehicle speed may be about 8 to 19 kilometers per hour (about 5 to 12 miles per hour). The machine 20 may be configured to permit high speed travel only when the cutter drum 22 is raised. The cylinder 208 can then be actuated using the control 212 of FIG. 7 to lower the cutter drum 22 into its operative position in which the lowermost cutter wheel 98 engages a roadway surface and the disks 90 and 92 flank the crack. The cutter assembly or routing implement 62 can be driven to rotate by its dedicated hydraulic motor 206 during or just prior to cutter drum lowering so that the cutter wheel assemblies 94 revolve about the center axis of the drum 86 with the cutter wheels 98 freewheeling about the pins 96 as they engage the ground, routing the crack. Drum rotational speed may vary from application-to-application and with designer preference. The drum 86 also may be fixed or user settable. InAttorney Ref. No. 569079-100 (69WO01) the illustrated example, drum rotational speed can be fixed at about 1500 RPM to 2500 revolutions per minute (RPM) and, more typically, of about 2100 RPM.

[0068] The lowering process may be a two-step process, in which the cutter drum 22 is first lowered into proximity with but still above the roadway surface, and the machine 20 moves as necessary to better align the cutter drum 22 with the crack to lower the cutter assembly or routing implement 62 into contact with the roadway surface. The roadway surface can then be cut or routed to form a trench that eliminates the crack. The trench typically will be about 0.635 to 6.35 centimeters (about 0.25 to 2.5 inches) wide and about 0.635 to 6.35 centimeters (about 0.25 to 2.5 inches) deep. The cutter assembly or routing implement 62 can rotate in a direction such that debris ejected by drum travel travels rearwardly toward the dust handling system 42 rather than forwardly. The cover 71 assures that dust and debris generated during the cutting process remain confined to the work zone until collected by the dust handling system 42. These processes may occur autonomously with little or no human intervention, or semi-autonomously with at least some human intervention (e.g., human intervention to define a path having one or more cracks in a roadway surface, instructing the machine 20 to navigate along the path to rout the crack(s)).

[0069] The machine 20 can then be moved along the crack to precisely align the cutter drum 22 with the crack. The controller 200 of FIG. 7, which can be included with or couplable to processing circuitry 55, may be responsive to lowering of the cutter drum 22 to its operative position to limit the maximum vehicle speed during the routing operation to be substantially less than that which is possible when traveling from site to site. The maximum “routing speed” may be about 0.1 to 0.5 meters per second (about 20 to 100 feet per minute) or, more typically, of about 0.457 meters per second (about 90 feet per minute). The maximum routing speed may be dependent on prevailing cutting depth or cutting width. It is also possible that the routing speed can be always optimized for the prevailing cutting width and depth of the crack. In some examples, machine 20 can autonomously determine an optimal routing speed or other optimal operation settings based on the detection of one or more cracks in a roadway surface. In other examples, a remote human operator using an operator-controlled input module 57 can choose the routing speed and other operation settings manually, and instruct the machine 20 to implement such settings for the present crack routing operation. Settings may be saved for future crack routing operations or reset after each individual operation.Attorney Ref. No. 569079-100 (69WO01)

[0070] In one possible implementation, the machine 20 can automatically stop upon triggering of a cutter drum lowering command 212, with speed control changing over between rapid “site-to-site” propulsion to slower “routing” propulsion during the brief period that the machine 20 is stopped and the cutter drum 22 is being lowered to its operative position. The cutter drum lowering command 212 can be autonomously provided by processing circuitry 55 in some examples, or may be provided by a remote operator-controlled input module 57 to processing circuitry 55 in other examples.

[0071] The cutter wheel assemblies 94 can cut a trench in the crack of a width that is determined by the width of each cutter wheel 98 (typically about 0.9525 centimeters or 0.375”) and by the placement of the cutter wheel 98 of each assembly 94 on its respective pin 96. The trench can be cut to a depth that may be either predesignated or controlled by an external controller (e.g., by a remote operator-controlled input module 57), or controlled autonomously by processing circuitry 55. In either event, cutting depth may be monitored by any suitable device 216, such as a cutter lift sensor that monitors the vertical spacing between the road surface and the chassis 24 or the subframe. One suitable device is a spring-mounted wheel that rides along the road surface adjacent the cutter drum 22. The controller 200 or input module 57 may use the resultant signals as feedback to extend or retract the cylinder 208 as needed to maintain cutting depth uniform throughout the routing operation.Alternatively, the cutting depth control may be open-loop and set by extending the hydraulic cylinder 208 by an amount that is predetermined to obtain the desired cutting depth. In this case, no monitor is required, and machine 20 can operate generally autonomously. Dust generated during this routing operation can be removed by the dust handling system 42 and, ultimately, ejected from the rear outlet tube 134 for bagging or other handling.

[0072] In some examples, the machine 20 can include a crack treatment implement 36 couplable to the chassis 24. The crack treatment implement 36 can be configured to clean and heat at least one crack already routed using the crack detection and routing operations described previously. In some examples where an actuator is used to transition the cutter assembly or routing implement 62 from a raised position to a lowered position, and vice versa, the raised position can correspond to the cutter assembly or routing implement 62 being located distal from the roadway surface, and the lowered position can correspond to the cutter assembly or routing implement 62 being located proximate the roadway surface. The lowered position can enable the cutter assembly or routing implement 62 to rout cracks in theAttorney Ref. No. 569079-100 (69WO01) roadway surface. The actuator can be operated in conjunction with receiving instructions from the processing circuitry 55.

[0073] In some examples, machine 20 can include an emergency shutdown control configured to power off the machine 20 when activated (e.g., to stop operation of the plurality of wheels 30, 32, 34 or the cutter assembly or routing implement 62). The emergency shutdown control may be used in situations where quick deactivation of machine 20 is required, for example to prevent collision with external objects such as motor vehicles or humans in the path of machine 20. In some examples, the emergency shutdown control can include at least one of a switch, a button, and a lever couplable (e.g, fixedly, operably, communicatively, electrically) to the components of machine 20. The emergency shutdown control can be activatable by a remote human operator or by processing circuitry 55. In examples where the emergency shutdown control is activatable by processing circuitry 55, the circuitry 55 can be configured to receive an instruction from a remote human operator to activate the emergency shutdown control. The processing circuitry 55 can be further configured to activate the emergency shutdown control to power off the machine 20 after receiving the instruction to do so.

[0074] In some examples, processing circuitry 55 can be configured to receive roadway surface or crack-related information from an operator-controlled input module 57 instead of or in addition to detection module 50. The operator-controlled input module 57 is generally located at a location external to machine 20 but within communication distance (e.g., a remote human operator not in physical contact with machine 20). In some examples, input module 57 can include a touchscreen, an extended reality device, a deviceless interface (e.g, an interface having one or more of a voice interaction feature, a gesture interaction feature, and an eye-tracking feature), a controller, or combinations thereof, for generating information corresponding to a path defining at least one crack in a roadway surface that the machine 20 will be instructed to follow. In some examples, input module 57 can include an optical scanner configured to capture information from a physical object and to convert the information to computer-readable or digital data, the information corresponding to a path defining at least one crack in a roadway surface that the machine 20 will be instructed to follow.

[0075] Machine 20 can operate autonomously with little to no human intervention, or semi-autonomously with at least some human intervention. During operation, processingAttorney Ref. No. 569079-100 (69WO01) circuitry 55 can receive information from the detection module 50 or an operator-controlled input module 57, depending on whether autonomous or semi-autonomous operation is used. The information can correspond to one or more cracks in a roadway surface or to a path defining one or more cracks in the roadway surface. Functioning in both autonomous and semi-autonomous modes advantageously gives machines of the present disclosure the flexibility to operate in various scenarios. In some examples, a machine 20 can switch from semi-autonomous operation to autonomous operation, and vice versa, in accordance with the teachings of the present disclosure.

[0076] In autonomous operation, the detection module 50 can identify one or more cracks and generate a path corresponding to the crack(s) for routing. The processing circuitry 55 can process the path data and can navigate the machine 20 along a defined path. The cutter assembly or routing implement 62 can be activated by the processing circuitry 55 to rout the cracks along the path. The cutter assembly or routing implement 62 can be coupled to an actuator that can transition the assembly or implement 62 between a raised position, generally distal to the roadway surface, and a lowered position, generally proximate to the roadway surface and arranged to rout cracks. The processing circuitry 55 can operate the actuator to ensure the cutter assembly or routing implement 62 is lowered into position only when routing is required, and is raised when routing is complete or during navigation to a new roadway location or area containing one or more cracks. This can all be performed with little to no human intervention, and preferably no human intervention.

[0077] In semi-autonomous operation, an operator-controlled input module 57 can be used to define the path for routing. The input module 57 may include a touchscreen, an extended reality device, a deviceless interface (including voice, gesture, or eye-tracking features), a controller, or an optical scanner capable of capturing information from physical objects and converting such information into computer-readable or digital data. The input module 57 can provide path information to the processing circuitry 55, which can then navigate the machine 20 along the path and operate the cutter assembly or routing implement 62 to rout one or more cracks defined along the path. This can all be performed with at least some human intervention, for example instructions from the input module 57 regarding crack(s) in a roadway surface, navigation of machine 20, operation of processing circuitry 55 to control other components of machine 20, and other instructions related to crack routing,1Attorney Ref. No. 569079-100 (69WO01) safety procedures, and returning machine 20 to a resting or initial position after crack routing is complete, for example.

[0078] Examples of the present disclosure use advanced crack detection systems, processing circuitry, and automated control mechanisms to perform efficient and precise crack routing operations. Examples of the present disclosure can operate in autonomous and semi-autonomous modes to provide versatile, highly effective, and adaptable solutions for roadway maintenance. Specific examples of machines, methods of operating such machines, and non-transitory computer-readable media containing instructions to operate such machines, either autonomously or semi-autonomously, will now be listed.

[0079] According to a first example of the present disclosure, an autonomous or semi-autonomous roadway maintenance machine for routing cracks in a roadway surface is provided. The machine can include a chassis, a plurality of wheels couplable to the chassis, a routing implement couplable to the chassis and configured to rout cracks in a roadway surface, a detection module configured to identify cracks in a roadway surface, and processing circuitry couplable to the detection module and to the routing implement. The processing circuitry can be configured: to receive information from the detection module corresponding to at least one crack in a roadway surface; when operated autonomously, to navigate the machine using the plurality of wheels along a path defining the at least one crack, or when operated semi-autonomously, to send the information to a remote operator-controlled input module not in physical contact with the machine, to receive information corresponding to a path defining the at least one crack in the roadway surface from the operator-controlled input module, and to navigate the machine using the plurality of wheels along the path defining the at least one crack; and to operate the routing implement along the path to rout the at least one crack.

[0080] In a second example of the machine of the first example or any other example, the machine can further include a crack treatment implement couplable to the chassis, the crack treatment implement configured to clean and heat the at least one routed crack when instructed to by the processing circuitry. The crack implement can comprise at least one of a brush, a blower, and a grazer.

[0081] In a third example of the machine of the first example or any other example, the detection module can include at least one sensor couplable to a roadway -facing surface of the chassis, the at least one sensor being configured to detect cracks in the roadway surface andAttorney Ref. No. 569079-100 (69WO01) generate information corresponding to the detected cracks.

[0082] In a fourth example of the machine of the third example or any other example, the at least one sensor can include an optical system for optically identifying cracks in the roadway surface.

[0083] In a fifth example of the machine of the first example or any other example, the routing implement can include a routing cutter drum couplable to a front portion of the chassis, the routing cutter drum including a rotating cutter assembly configured to rotate about a horizontal cutter assembly axis extending laterally across the machine.

[0084] In a sixth example of the machine of the first example or any other example, the machine can further include a power source mountable on the chassis, the power source configured to power the routing implement, the detection module, and the processing circuitry. The power source can be a battery, a generator, an engine, or another powergenerating device.

[0085] In a seventh example of the machine of the first example or any other example, the plurality of wheels can include a first front wheel, a second front wheel, and a rear wheel. The first and second front wheels can be laterally spaced and non-steerable, and can be configured to rotate about a horizontal axis extending laterally across the machine. The rear wheel can be disposed laterally between the first and second front wheels, and can be configured to turn about a vertical axis to steer the machine.

[0086] In an eighth example of the machine of the first example or any other example, the machine can further include an actuator configured to raise and lower the routing implement relative to the chassis. In some such examples, the processing circuitry can be further configured to operate the actuator to transition the routing implement between a raised position and a lowered position relative to the chassis. In some such examples, the raised position can correspond to the routing implement being distal the roadway surface, and the lowered position can correspond to the routing implement being proximate the roadway surface and generally arranged to rout cracks in the roadway surface.

[0087] In a ninth example of the machine of the first example or any other example, the processing circuitry can be further configured: when operated autonomously, to navigate the machine to a resting position after operating the routing implement along the path to rout the at least one crack, or when operated semi-autonomously, to receive instruction from the operator-controlled input module to navigate the machine to a resting position after operatingAttorney Ref. No. 569079-100 (69WO01) the routing implement along the path to rout the at least one crack, and to navigate the machine to the resting position.

[0088] In a tenth example of the machine of the first example or any other example, the machine can further include an emergency shutdown control configured to power off the machine when activated. In some such examples, the emergency shutdown control can be activated by an operator. In some such examples, the emergency shutdown control can include at least one of a switch, a button, and a lever.

[0089] According to an eleventh example of the present disclosure, a semi-autonomous roadway maintenance machine for routing cracks in a roadway surface is provided. The machine can include a chassis, a plurality of wheels couplable to the chassis, a routing implement couplable to the chassis and configured to rout cracks in a roadway surface, and processing circuitry couplable to the routing implement. The processing circuitry can be configured: to receive information from an operator-controlled input module corresponding to a path defining at least one crack in a roadway surface; to navigate the machine using the plurality of wheels along the path; and to operate the routing implement along the path to rout the at least one crack.

[0090] In a twelfth example of the machine of the eleventh example or any other example, the input module can include a touchscreen for generating information corresponding to the path defining the at least one crack in a roadway surface.

[0091] In a thirteenth example of the machine of the eleventh example or any other example, the input module can include an extended reality device for generating information corresponding to the path defining the at least one crack in a roadway surface.

[0092] In a fourteenth example of the machine of the eleventh example or any other example, the input module can include a deviceless interface having one or more of a voice interaction feature, a gesture interaction feature, and an eye-tracking feature.

[0093] In a fifteenth example of the machine of the eleventh example or any other example, the input module can include a controller.

[0094] In a sixteenth example of the machine of the eleventh example or any other example, the input module can include an optical scanner configured to capture information from a physical object and convert the information to digital data, the information corresponding to the path defining the at least one crack in the roadway surface.

[0095] In a seventeenth example of the machine of the eleventh example or any otherAttorney Ref. No. 569079-100 (69WO01) example, the machine can further include a crack treatment implement couplable to the chassis, the crack treatment implement configured to clean and heat the at least one routed crack when instructed to by the processing circuitry.

[0096] In an eighteenth example of the machine of the eleventh example or any other example, the routing implement can include a routing cutter drum couplable to a front portion of the chassis, the routing cutter drum including a rotating cutter assembly configured to rotate about a horizontal cutter assembly axis extending laterally across the machine.

[0097] In a nineteenth example of the machine of the eleventh example or any other example, the machine can further include a power source mountable on the chassis, the power source configured to power the routing implement and the processing circuitry. The power source can be a battery, a generator, an engine, or another power-generating device.

[0098] In a twentieth example of the machine of the eleventh example or any other example, the plurality of wheels can include a first front wheel, a second front wheel, and a rear wheel. The first and second front wheels can be laterally spaced and non-steerable, and can be configured to rotate about a horizontal axis extending laterally across the machine. The rear wheel can be disposed laterally between the first and second front wheels, and can be configured to turn about a vertical axis to steer the machine.

[0099] In a twenty -first example of the machine of the eleventh example or any other example, the machine can further include an actuator configured to raise and lower the routing implement relative to the chassis. In some such examples, the processing circuitry can be further configured to operate the actuator to transition the routing implement between a raised position and a lowered position relative to the chassis. In some such examples, the raised position can correspond to the routing implement being distal the roadway surface, and lowered position can correspond to the routing implement being proximate the roadway surface and generally arranged to rout cracks in the roadway surface.

[0100] In a twenty-second example of the machine of the eleventh example or any other example, the processing circuitry can be further configured: to receive information from the operator-controlled input module corresponding to a resting position located on the roadway surface; and to navigate the machine to the resting position after operating the routing implement along the path to rout the at least one crack.

[0101] In a twenty -third example of the machine of the eleventh example or any other example, the machine can further include an emergency shutdown control configured toAttorney Ref. No. 569079-100 (69WO01) power off the machine when activated. In some such examples, the emergency shutdown control can be activated by an operator. In some such examples, the processing circuitry can be further configured: to receive an instruction from the operator-controlled input module to activate the emergency shutdown control; and to activate the emergency shutdown control to power off the machine. In some such examples, the emergency shutdown control can include at least one of a switch, a button, and a lever.

[0102] According to a twenty-fourth example of the present disclosure, a method of operating an autonomous or semi-autonomous roadway maintenance machine for routing cracks in a roadway surface is provided. The method can include: providing the machine including a chassis, a plurality of wheels couplable to the chassis, a routing implement couplable to the chassis and configured to rout cracks in a roadway surface, and processing circuitry; receiving information from a crack detection system couplable to the processing circuitry, the information corresponding to at least one crack in a roadway surface; when operated autonomously: navigating the machine using the plurality of wheels along a path defining the at least one crack, or when operated semi-autonomously: sending the information to an operator-controlled input module not in physical contact with the machine, receiving information corresponding to a path defining the at least one crack in the roadway surface from the operator-controlled input module, and navigating the machine using the plurality of wheels along the path defining the at least one crack; and operating the routing implement along the path to rout the at least one crack.

[0103] In a twenty -fifth example of the method of the twenty-fourth example or any other example, the method can further include treating the at least one routed crack with a crack treatment element, wherein treating comprises cleaning and heating the at least one routed crack.

[0104] In a twenty-sixth example of the method of the twenty-fourth example or any other example, the crack detection system can be a detection module configured to identify cracks in a roadway surface.

[0105] In a twenty-seventh example of the method of the twenty -fourth example or any other example, the operator-controlled input module can include a touchscreen; an extended reality device; a deviceless interface having one or more of a voice interaction feature, a gesture interaction feature, and an eye-tracking feature, a controller, or an optical scanner configured to capture information from a physical object and convert the information toAttorney Ref. No. 569079-100 (69WO01) digital data, the information corresponding to the path defining the at least one crack in the roadway surface.

[0106] In a twenty-eighth example of the method of the twenty-fourth example or any other example, the method can further include: when operated autonomously, navigating the machine to a resting position after operating the routing implement along the path to rout the at least one crack, or when operated semi-autonomously, receiving information from the crack detection system corresponding to a resting position located on the roadway surface; and navigating the machine to the resting position after operating the routing implement along the path to rout the at least one crack.

[0107] In a twenty -ninth example of the method of the twenty-fourth example or any other example, the machine can further include an emergency shutdown control configured to power off the machine when activated. In some such examples, the emergency shutdown control can be activated by an operator. In some such examples the method can further include: when operated autonomously, activating the emergency shutdown control to power off the machine, or when operated semi-autonomously, receiving an instruction to activate the emergency shutdown control; and activating the emergency shutdown control to power off the machine. In some such examples, the emergency shutdown control can include at least one of a switch, a button, and a lever.

[0108] According to a thirtieth example of the present disclosure, non-transitory computer-readable medium encoding instructions are provided. The non-transitory computer-readable medium can be operable to cause processing circuitry: to receive information from a crack detection system coupled to the processing circuitry, the information corresponding to a path defining at least one crack in a roadway surface; to navigate an autonomous or semi-autonomous roadway maintenance machine along the path, the machine configured to rout cracks in a roadway surface; to operate the machine along the path to rout the at least one crack; and to operate the machine along the path to treat the at least one routed crack by cleaning and heating the at least one routed crack.

[0109] According to a thirty-first example of the present disclosure, an autonomous or semi-autonomous roadway maintenance machine for routing cracks is provided. The machine can include a chassis, a plurality of wheels couplable to the chassis, a routing implement couplable to the chassis and configured to rout cracks, and processing circuitry couplable to the routing implement. The processing circuitry can be configured to: receive informationAttorney Ref No. 569079-100 (69WO01) corresponding to a path defining at least one crack; navigate the machine along the path; and operate the routing implement along the path to rout the at least one crack.

[0110] In a thirty-second example of the machine of the thirty -first example or any other example, the processing circuitry can be further configured to operate a crack treatment element to clean and heat the at least one routed crack.[OHl] In a thirty -third example of the machine of the thirty -first example or any other example, the machine can further include a detection module, and the processing circuitry can receive information corresponding to the path defining the at least one crack from the detection module.

[0112] In a thirty-fourth example of the machine of the thirty-first example or any other example, the processing circuitry can receive information corresponding to the path defining the at least one crack from an operator-controlled input module. The input module can include at least one of a touchscreen; an extended reality device; a deviceless interface having one or more of a voice interaction feature, a gesture interaction feature, and an eye-tracking feature; a controller; and an optical scanner.

[0113] In a thirty-fifth example of the machine of the thirty-first example or any other example, the processing circuitry can be further configured: to receive information corresponding to a resting position located on the roadway surface; and to navigate the machine to the resting position after operating the routing implement along the path to rout the at least one crack.

[0114] In a thirty-sixth example of the machine of the thirty-first example or any other example, the machine can further include an emergency shutdown control configured to power off the machine when activated. In some such examples, the emergency shutdown control can be activated by an operator. In some such examples, the processing circuitry can be further configured: to receive an instruction to activate the emergency shutdown control; and to activate the emergency shutdown control to power off the machine.

[0115] In a thirty-seventh example of the machine of the thirty -first example or any other example, the crack detection system can be an operator-controlled input module configured to generate information corresponding to the path defining the at least one crack in the roadway surface.

[0116] In a thirty-eighth example of any previous suitable example, the machine can further include at least one of a replaceable cutter wheel and one or more replaceable cutterAttorney Ref. No. 569079-100 (69WO01) bits.

[0117] Various examples of systems, devices, and methods have been described herein. These examples are given only by way of example and are not intended to limit the scope of the claimed inventions. It should be appreciated, moreover, that the various features of the examples that have been described may be combined in various ways to produce numerous additional examples. Moreover, while various materials, dimensions, shapes, configurations and locations, etc. have been described for use with disclosed examples, others besides those disclosed may be utilized without exceeding the scope of the claimed inventions.

[0118] Persons of ordinary skill in the relevant arts will recognize that the subject matter hereof may comprise fewer features than illustrated in any individual example described above. The examples described herein are not meant to be an exhaustive presentation of the ways in which the various features of the subject matter hereof may be combined.Accordingly, the examples are not mutually exclusive combinations of features; rather, the various examples can comprise a combination of different individual features selected from different individual examples, as understood by persons of ordinary skill in the art. Moreover, elements described with respect to one example can be implemented in other examples even when not described in such examples unless otherwise noted.

[0119] Although a dependent claim may refer in the claims to a specific combination with one or more other claims, other examples can also include a combination of the dependent claim with the subject matter of each other dependent claim or a combination of one or more features with other dependent or independent claims. Such combinations are proposed herein unless it is stated that a specific combination is not intended.

[0120] Any incorporation by reference of documents above is limited such that no subject matter is incorporated that is contrary to the explicit disclosure herein. Any incorporation by reference of documents above is further limited such that no claims included in the documents are incorporated by reference herein. Any incorporation by reference of documents above is yet further limited such that any definitions provided in the documents are not incorporated by reference herein unless expressly included herein.

[0121] For purposes of interpreting the claims, it is expressly intended that the provisions of 35 U.S.C. § 112(f) are not to be invoked unless the specific terms “means for” or “step for” are recited in a claim.

[0122] In one or more examples, the described examples and techniques may beAttorney Ref. No. 569079-100 (69WO01) implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored as one or more instructions or code on a computer-readable medium and executed by a hardware-based processing unit. Computer-readable media may include non-transitory computer-readable media, which corresponds to a tangible medium such as data storage media (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer).

[0123] Instructions may be executed by one or more processors or processing circuitry, such as one or more digital signal processors (DSPs), general purpose microprocessors, application specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Accordingly, the term “processor” as used herein may refer to any of the foregoing structure or any other physical structure suitable for implementation of the described techniques. Also, the techniques could be fully implemented in one or more circuits or logic elements.

Claims

Attorney Ref. No. 569079-100 (69WO01)CLAIMS1. An autonomous or semi-autonomous roadway maintenance machine for routing cracks in a roadway surface, comprising:a chassis;a plurality of wheels coupled to the chassis;a routing implement coupled to the chassis and configured to rout cracks in a roadway surface;a detection module configured to identify cracks in a roadway surface; and processing circuitry coupled to the detection module and to the routing implement, wherein the processing circuitry is configured:to receive information from the detection module corresponding to at least one crack in a roadway surface;when operated autonomously, to navigate the machine using the plurality of wheels along a path defining the at least one crack, or when operated semi-autonomously, to send the information to a remote operator-controlled input module not in physical contact with the machine, to receive information corresponding to a path defining the at least one crack in the roadway surface from the operator-controlled input module, and to navigate the machine using the plurality of wheels along the path defining the at least one crack; andto operate the routing implement along the path to rout the at least one crack.

2. The machine of claim 1, further comprising a crack treatment implement coupled to the chassis, the crack treatment implement configured to clean and heat the at least one routed crack when instructed to by the processing circuitry.

3. The machine of claim 2, wherein the crack treatment implement is a brush.

4. The machine of claim 2, wherein the crack treatment implement is a blower.

5. The machine of claim 2, wherein the crack treatment implement is a grazer.Attorney Ref. No. 569079-100 (69WO01) 6. The machine of claim 1, further comprising at least one of a replaceable cutter wheel and one or more replaceable cutter bits.

7. The machine of any one of claims 1-6, wherein the detection module comprises at least one sensor coupled to a roadway-facing surface of the chassis, the at least one sensor being configured to detect cracks in the roadway surface and generate information corresponding to the detected cracks.

8. The machine of any one of claims 1-7, wherein the routing implement comprises a routing cutter drum coupled to a front portion of the chassis, the routing cutter drum including a rotating cutter assembly configured to rotate about a horizontal cutter assembly axis extending laterally across the machine.

9. The machine of any one of claims 1-8, wherein the plurality of wheels comprise a first front wheel, a second front wheel, and a rear wheel, wherein the first and second front wheels are laterally spaced and non-steerable, the first and second front wheels configured to rotate about a horizontal axis extending laterally across the machine, wherein the rear wheel is disposed laterally between the first and second front wheels, the rear wheel configured to turn about a vertical axis to steer the machine.

10. The machine of any one of claims 1-9, further comprising an actuator configured to raise and lower the routing implement relative to the chassis, wherein the processing circuitry is further configured to operate the actuator to transition the routing implement between a raised position relative to the chassis, in which the routing implement is distal the roadway surface, and a lowered position relative to the chassis, in which the routing implement is proximate the roadway surface and arranged to rout cracks in the roadway surface.

11. The machine of any one of claims 1-10, wherein the processing circuitry is further configured:when operated autonomously, to navigate the machine to a resting position after operating the routing implement along the path to rout the at least one crack, orAttorney Ref. No. 569079-100 (69WO01) when operated semi-autonomously, to receive instruction from the operator-controlled input module to navigate the machine to a resting position after operating the routing implement along the path to rout the at least one crack, and to navigate the machine to the resting position.

12. The machine of any one of claims 1-11, further comprising an emergency shutdown control configured to power off the machine when activated.

13. The machine of any one of claims 1-12, wherein the operator-controlled input module comprises a touchscreen for generating information corresponding to the path defining the at least one crack in the roadway surface.

14. The machine of any one of claims 1-13, wherein the operator-controlled input module comprises at least one of the following to generate information corresponding to the path defining the at least one crack in the roadway surface:an extended reality device;a deviceless interface having one or more of a voice interaction feature, a gesture interaction feature, and an eye-tracking feature;a controller; andan optical scanner configured to capture information from a physical object and convert the information to digital data.

15. A method of operating an autonomous or semi-autonomous roadway maintenance machine for routing cracks in a roadway surface, comprising:providing the machine comprising a chassis, a plurality of wheels coupled to the chassis, a routing implement coupled to the chassis and configured to rout cracks in a roadway surface, and processing circuitry;receiving information from a crack detection system coupled to the processing circuitry, the information corresponding to at least one crack in a roadway surface;when operated autonomously:navigating the machine using the plurality of wheels along a path defining the at least one crack, orAttorney Ref. No. 569079-100 (69WO01) when operated semi-autonomously:sending the information to an operator-controlled input module not in physical contact with the machine,receiving information corresponding to a path defining the at least one crack in the roadway surface from the operator-controlled input module, andnavigating the machine using the plurality of wheels along the path defining the at least one crack; andoperating the routing implement along the path to rout the at least one crack.

16. The method of claim 15, further comprising treating the at least one routed crack with a crack treatment element, wherein treating comprises cleaning and heating the at least one routed crack.

17. The method of any one of claims 15-16, wherein the crack detection system is a detection module configured to identify cracks in a roadway surface.

18. The method of any one of claims 15-17, wherein the operator-controlled input module comprises a touchscreen for generating information corresponding to the path defining the at least one crack in the roadway surface.

19. The method of any of claim 15-17, wherein the operator-controlled input module comprises at least one of the following to generate information corresponding to the path defining the at least one crack in the roadway surface:an extended reality device;a deviceless interface having one or more of a voice interaction feature, a gesture interaction feature, and an eye-tracking feature;a controller; andan optical scanner configured to capture information from a physical object and convert the information to digital data.

20. The method of any one of claims 15-19, further comprising:when operated autonomously:Attorney Ref. No. 569079-100 (69WO01) navigating the machine to a resting position after operating the routing implement along the path to rout the at least one crack, orwhen operated semi-autonomously,receiving information from the crack detection system corresponding to a resting position located on the roadway surface; andnavigating the machine to the resting position after operating the routing implement along the path to rout the at least one crack.

21. The method of any one of claims 15-20, wherein the machine further comprises an emergency shutdown control configured to power off the machine when activated.

22. The method of claim 21, further comprising:when operated autonomously:activating the emergency shutdown control to power off the machine, or when operated semi-autonomously:receiving an instruction to activate the emergency shutdown control; and activating the emergency shutdown control to power off the machine.

23. The method of any one of claims 15-22, wherein operating the routing implement along the path to rout the at least one crack comprises:operating an actuator coupled to the routing implement to transition the routing implement between a raised position in which the routing implement is distal the roadway surface, and a lowered position in which the routing implement is proximate the roadway surface and arranged to rout cracks in the roadway surface;operating a routing cutter drum of the routing implement, the routing cutter drum including a rotating cutter assembly configured to rotate about a horizontal cutter assembly axis extending laterally across the machine; androuting the at least one crack along the path using the routing cutter drum.

24. A non-transitory computer-readable medium encoding instructions operable to cause processing circuitry to:Attorney Ref. No. 569079-100 (69WO01) receive information from a crack detection system coupled to the processing circuitry, the information corresponding to a path defining at least one crack in a roadway surface; navigate an autonomous or semi-autonomous roadway maintenance machine along the path, the machine configured to rout cracks in a roadway surface; andoperate the machine along the path to rout the at least one crack using a routing implement included with the machine.

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