CN106498834A - A kind of Athey wheel road face repair robot system and road surface repair method - Google Patents
A kind of Athey wheel road face repair robot system and road surface repair method Download PDFInfo
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- CN106498834A CN106498834A CN201611254370.3A CN201611254370A CN106498834A CN 106498834 A CN106498834 A CN 106498834A CN 201611254370 A CN201611254370 A CN 201611254370A CN 106498834 A CN106498834 A CN 106498834A
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- Prior art keywords
- road surface
- repair
- road
- mechanical arm
- robot body
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/09—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges
- E01C23/096—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges for forming, opening-out, cleaning, drying or heating and filling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
Abstract
The invention discloses a kind of Athey wheel road face repair robot system, including the robot body with dynamical system, is provided with mechanical arm, is provided with road surface prosthetic device on mechanical arm on robot body；The control system for control machinery arm is additionally provided with robot body, and control system has wireless signal receiver, control system and mechanical arm electrical connection.Specifically, the road surface prosthetic device includes provisions for grouting and/or drill hammer and/or slotting device.The invention also discloses a kind of road surface repair method.Intelligent reparation can be realized using the robot system of the present invention, due to only needing to artificial remote intervention, therefore, safety during reparation is improve to a certain extent；Modular mechanical arm is integrated with, dismounting combination can be carried out according to practical situation, and be changed end fix tool, improve the service efficiency of modular mechanical arm.
Description
Technical field
The present invention relates to a kind of Athey wheel road face repair robot system and road surface repair method, belong to road rehabilitation technology
Field.
Background technology
After highway builds up, in order to ensure current safety and efficiency, periodic inspection is needed to conserve.With Chinese high
The rapid growth of fast mileage in highway open to traffic, the increase of the road service time limit, highway have been enter into build with maintenance lay equal stress on when
Phase, more than the 10000 kilometers of highway for building up in the past for 2000 enter overhaul time comprehensively, more than 50,000 built up before the end of the year 2008
The normal maintenance curing period that kilometer highway is also generally entered after defects liability period, maintenance industry entirety staff size, increase fast
Speed.Highway Maintenance include roadbed maintenance, maintenance of surface, bridges and culverts maintenance, passage maintenance, tunnel maintenance, identifier marking maintenance,
House maintenance, electromechanical facility maintenance etc., wherein maintenance of surface is the important content of Highway Maintenance.The premise of maintenance of surface
It is the detection and assessment of road pavement situation.
At present, pavement behavior detection and the mode that repairs mainly manually with equipment cooperation, but, which is in work effect
There is certain defect in the aspects such as rate, personal safety, reparation speed.With the development of science and technology, occur in that some road surfaces are repaired successively
Equipment, but the general automaticity of the said equipment is relatively low, or volume is larger, is not suitable for modern accurately road surface and repairs demand,
And, also easily cause the unnecessary loss of manpower and materials.
Content of the invention
It is an object of the invention to, there is provided a kind of Athey wheel road face repair robot system, using the design of automatization's formula
Theory, can effectively improve reparation speed and remediation efficiency.
For solving above-mentioned technical problem, the present invention is adopted the following technical scheme that：
A kind of Athey wheel road face repair robot system, including the robot body with dynamical system, robot body
On mechanical arm is installed, road surface prosthetic device is installed on mechanical arm and forms a set of Dao Mian robots repair system；Robot sheet
The control system for control machinery arm is additionally provided with body, and control system has wireless signal receiver, control system and machine
Tool arm is electrically connected.Specifically, the road surface prosthetic device includes provisions for grouting and/or drill hammer and/or slotting device.Machinery
Arm can select electrically driven (operated), motor machine arm is mainly made up of motor, decelerator, driver etc. in terms of driving, and motor exists
Start under the control of driver or stop, by the startup of controlled motor, stop the machinery in mechanical arm through decelerator reaction
In activity.Mechanical arm can also select hydraulic/pneumatic formula mechanical arm, and hydraulic/pneumatic formula mechanical arm is main by liquid in terms of driving
Pressure/pulsometer, hydraulic/pneumatic cylinder, overflow valve, choke valve, reversal valve, sequence valve etc. are constituted, so as to drive manipulator motion.
Used as one of which embodiment, the mechanical arm is made up of some connecting rods being hinged successively, adjacent
It is connected by drive mechanism between connecting rod；The quantity of the drive mechanism is more than or equal to 4, and is less than or equal to 7,
The drive mechanism is completed the repair of a series of road face, is needed machinery using hydraulic pressure, air pressure or electronic as drive form
There are arm at least 4 degree of freedom, the degree of freedom of mechanical arm to be realized by drive mechanism, for example：Drive mechanism adopts motor, then
Rotated by motor drivening rod, a drive mechanism can increase one degree of freedom, so the quantity of drive mechanism is extremely
It is 4 less.It should be noted that under non-working condition, modular mechanical arm is in dead-center position, modular mechanical arm is received
Contracting, so that reduce robot center of gravity so that operation is more steady, also reduces overall taking up room, it is to avoid may go out
Existing brought damage of colliding with；Modular mechanical arm launches in a state of use, by the work that carries on modular mechanical arm
The auxiliary equipments such as industry camera are positioned to area to be repaired, and the drill hammer followed by end is carried out clearly to restoring area
Reason, after the completion of cleaning, using grouting equipment to the regional perfusion concrete, after condensation, using pavement detection equipment to repairing effect
Fruit is tested.
Used as a kind of type of drive of robot body, the dynamical system of the robot body includes Athey wheel, deceleration
Mechanism, actuating unit and supply unit, supply unit and actuating unit electrical connection, actuating unit are connected with reducing gear, slow down
Mechanism is connected with Athey wheel.Using Athey wheel driven machine human body so that robot body possesses all-around mobile and one
Fixed obstacle climbing ability.
In a kind of repair robot system of aforesaid Athey wheel road face, the control system includes global positioning system, top
Spiral shell instrument, encoder and avoidance laser radar, the system also includes auxiliary for the remote monitoring of robot body described in remotely control
Auxiliary system, remote monitoring aid system and robot body wireless telecommunications connection.Remote monitoring aid system is used for controlling machine
The movement of human body, and on robot body testing equipment, prosthetic device and mechanical arm operation.The navigation of robot body
Using the navigation scheme based on global positioning system, gyroscope, encoder and avoidance laser radar Multi-Sensor Data Fusion, real
High accuracy navigation and the location position of detection data of outdoor Centimeter Level are showed；In modular mechanical arm control aspect, employ
Based on the modular mechanical arm calibration method of spinor theory, the method can preferably make up DH parametric techniques because model error is led
The precision problem of cause.
In a kind of repair robot system of aforesaid Athey wheel road face, the dynamical system includes two groups of universal wheels and one group
Driving wheel, driving wheel are located between two groups of universal wheels, and each driving wheel is respectively provided with independent driving means.This kind of type of drive phase
More succinct than Athey wheel and Mecanum wheel version, it is easy to later maintenance work, and cost is told somebody what one's real intentions are relatively, and energy
Larger weight is enough born.
In a kind of repair robot system of aforesaid Athey wheel road face, the dynamical system includes four driving wheels, each
Driving wheel is respectively provided with independent driving means.The mobility that robot body is improve using four motorized wheels, improves phase
Speed is answered, meanwhile, compared to two wheel guide robot mode, reduce radius of turn during low speed so that control is more light；Also,
Using four In-wheel motor drivings and combine and have electronic, electrification feedback and the multi-functional wheel hub motor technology of electromagnetic braking concurrently, can be with
The recovery that robot body is realized to kinetic energy energy under the road conditions such as descending is made, with energy-conservation and endurance is improved.Robot sheet
Body can also adopt Mecanum wheel, and Mecanum wheel is more a little, can achieve straight trip, 45 degree of diagonals, row, pivot studs
Deng omnibearing movable, system flexibility is substantially improved, also, there is more preferable lifting capacity.
In a kind of repair robot system of aforesaid Athey wheel road face, as the another embodiment of mechanical arm, described
Mechanical arm includes mounting seat, is fixed with bracing frame in mounting seat, is hinged with first connecting rod on bracing frame, bracing frame connection the
The middle part of one connecting rod, the end of first connecting rod and second connecting rod are hinged；Also include the first retractor device and the second retractor device, the
One retractor device one end connects bracing frame, and the other end connects first connecting rod；Second retractor device one end connects the bracing frame other end
Connection second connecting rod, the end of second connecting rod are provided with for installing the instrument installation position of road surface prosthetic device.The machine of this kind of form
Tool arm configuration is compacter, and cost is lower.
In a kind of repair robot system of aforesaid Athey wheel road face, binocular camera is installed on the robot body,
Binocular camera and control system electrical connection；Binocular camera is used for collecting pavement image information and being transferred to control system, controls
The pavement image information that system docking processed is received is filtered, edge detection process, crack image binaryzation, classification of rifts, shape
State method measurement flaw size, restoring area are demarcated and map match, optimal route selection, then control system control machinery
Arm and road surface prosthetic device road pavement carry out repair.
The invention also discloses a kind of road surface repair method, including following methods：Control robot body movement superior self-cultivation face
The position that specifies；The artificial crucial point coordinates for determining area to be repaired；The artificial restoring area and restorative procedure for setting road face,
Robot body detects path according to area to be repaired position planning road face；Control robot body detects path along the road face
Area to be repaired is moved to, drill hammer or provisions for grouting or slotting device are navigated to by specified location by mechanical arm, according to
The artificial road surface repair method for setting is drilled to road face and/or is in the milk and/or is cracked；Road surface information number after collection reparation
According to carrying out monitor in real time analysis to road surface information data or delay analysis, determine repairing effect.Mechanical arm is by pre-entering
Coordinate information determines the position of maintenance, carries out bore operation using drill hammer to area to be repaired, then using grouting equipment
By the mixture injection hole such as concrete region.
In aforesaid road surface repair method, the loose pavement disease of road pavement basic unit carries out the reparation that drills, is in the milk；The brill
Hole, grouting reparation include following methods：Drill in road surface to be repaired, so as to obtain grout hole, then by oxidized asphalt or
Cement mortar injects grout hole with space under fill concrete plate, rebuilds the uniform bulk strength of road deck.Adopt this method and repair
The loose road surface of complex radical layer, it is possible to increase the quality on road surface, improves its bearing capacity, the problems such as preventing deformation, subside.
In aforesaid road surface repair method, the crack disease on road surface is repaired by cracking, being in the milk；Described crack, be in the milk and repair
Include following methods again：Crack, according to the fluting size of design, be pre-adjusted groove depth, then carried out fluting operation；Clearly
Seam：The dust in the range of the disintegrating slag in groove and crack both sides at least 10cm is cleaned up with blowing apparatus；The cementation of fissures：Set with grouting
Standby fluid sealant is equably poured in groove.
Compared with prior art, 1, the road face robot for overhauling system of the present invention, employs high-precision outdoor navigation system
System, modular mechanical arm system and detachable tool head, it is possible to achieve the autonomous reparation of road pavement, remediation efficiency, economy
Type and safety are increased dramatically, and overall system performance is preferable；
2nd, control mode of the present invention using " macroscopical remote control, microcosmic are autonomous, remote monitoring ", can contexture by self reach to be repaired
Fu Qu paths, enforcement repair；After robot body moves to specified location, using the industrial camera etc. of modular mechanical arm
Equipment, positions to restoring area, and ground is completed to repair using instruments such as drill hammer, grouting equipments, can pass through certainly
Dynamic, semiautomatic fashion is switched over to fix tool, it is achieved that intelligent reparation, due to less need for manual intervention, improve
The safety of repair process；
3rd, the present invention is using the navigation side based on GPS, gyroscope, encoder and laser radar Multi-Sensor Data Fusion
Case, it is achieved that the high accuracy navigation of outdoor Centimeter Level, drastically increases the accuracy of positioning；
4th, integrated modular mechanical arm of the present invention, the modular mechanical arm can enter line translation difference degree of freedom as needed,
And end-equipment is replaced by the instruments such as drill hammer, grouting equipment, it is thereby achieved that an arm is multiplex, module is improve
Change the utilization ratio of mechanical arm；
5th, reparation position of the invention and method can pass through artificial formulation, and reparation situation be entered using industrial camera
Row confirms, improves the accuracy of reparation, and ensure repairing effect；
6th, mobile platform of the present invention adopts Athey wheel as travel mechanism, it is possible to achieve all-around mobile, also, possesses one
Fixed obstacle climbing ability, can more flexibly set the track route of robot body, and then be more efficiently completed repair.
7th, Athey wheel road of the present invention face repair robot system can also be with multiple similar humanoid robot collaborative works
Pattern, can further lift remediation efficiency.
Description of the drawings
Fig. 1 is a kind of running status structural representation of embodiment of robot body；
Fig. 2 is a kind of structural representation of embodiment of mechanical arm；
Fig. 3 is embodiment schematic diagram of the modular mechanical arm using drill hammer；
Fig. 4 is the partial electric annexation schematic diagram of dynamical system；
Fig. 5 is a kind of structural representation of embodiment of dynamical system；
Fig. 6 is the structural representation of another kind of embodiment of mechanical arm；
Fig. 7 is the structural representation of robot body non-operating state；
Fig. 8 is embodiment schematic diagram of the modular mechanical arm using slotting device；
Fig. 9 is embodiment schematic diagram of the robot body using Mecanum wheel；
Figure 10 is embodiment schematic diagram of the robot body using four-wheel drive；
Figure 11 is the robot system overall schematic of the configuration diagram of aid system containing remote monitoring；
Figure 12 is robot body mode of operation schematic diagram.
Reference：1- dynamical systems, 2- robot bodies, 3- mechanical arms, 4- road surfaces prosthetic device, 5- connecting rods, 6- are driven
Motivation structure, 7- Athey wheels, 8- reducing gears, 9- actuating units, 10- supply units, 11- driving wheels, 12- driving means, 13- ten thousand
To wheel, 14- bracing frames, the first retractor devices of 15-, 16- first connecting rods, the second retractor devices of 17-, 18- installation positions, 19- second
Connecting rod, 20- mounting seats, 21- operating board, 22- monitoring screens, 23- refitted cars, 24- supply units, 25- control racks.
The present invention is further illustrated with reference to the accompanying drawings and detailed description.
Specific embodiment
Embodiments of the invention 1：A kind of Athey wheel road face repair robot system, including the machine with dynamical system 1
Human body 2, are provided with mechanical arm 3 on robot body 2, be provided with road surface prosthetic device 4 and form a set of road face machine on mechanical arm 3
Device people's repair system；The control system for control machinery arm 3 is additionally provided with robot body 2, and control system has wireless communication
Number reception device, control system and mechanical arm 3 are electrically connected.Specifically, the road surface prosthetic device 4 includes provisions for grouting.Grouting
Device is made up of mounting seat, union joint, flexible pipe, cylinder etc., is injected the mixture into crack by forms such as air pressure, hydraulic pressure or is repaiied
Mend region.In the present embodiment, the mechanical arm 3 is made up of some connecting rods 5 being hinged successively, is led between adjacent connecting rod 5
Overdrive mechanism 6 be connected；The drive mechanism 6 is equal to 6, and the drive mechanism 6 is using hydraulic pressure, air pressure or electronic as driving
Form, is assembled into more low degree-of-freedom mechanical arm system according to user's request, and its end can install drill hammer, provisions for grouting additional, open
Seam device etc..
The dynamical system 1 of the robot body 2 includes Athey wheel 7, reducing gear 8, actuating unit 9 and supply unit
10, supply unit 10 and actuating unit 9 are electrically connected, and actuating unit 9 is connected with reducing gear 8,7 phase of reducing gear 8 and Athey wheel
Even.The control system includes global positioning system, gyroscope, encoder and avoidance laser radar, the system also include for
The remote monitoring aid system of robot body 2 described in remotely control, 2 channel radio of remote monitoring aid system and robot body
News connection.Remote monitoring aid system includes operating board 21, monitoring screen 22 and control rack 25, operating board 21 and monitoring screen
22 electrically connect with control rack 25；Pass through wireless telecommunications side between robot body 1, mechanical arm 3 and remote monitoring aid system
Formula is received and sent messages.
Binocular camera, binocular camera and control system electrical connection are installed on the robot body 2；Binocular camera
For collecting pavement image information and being transferred to control system, control system is filtered to the pavement image information for receiving,
Edge detection process, crack image binaryzation, classification of rifts, morphological method measurement flaw size, restoring area are demarcated and ground
Figure coupling, optimal route selection, then control system control machinery arm 3 and 4 road pavement of road surface prosthetic device carry out repair.
Embodiment 2：A kind of Athey wheel road face repair robot system, including the robot body 2 with dynamical system 1,
Mechanical arm 3 is installed on robot body 2, road surface prosthetic device 4 is installed on mechanical arm 3 and is formed the reparation of a set of Dao Mian robots
System；The control system for control machinery arm 3 is additionally provided with robot body 2, and there is control system reception of wireless signals to fill
Put, control system and mechanical arm 3 are electrically connected.The road surface prosthetic device 4 includes drill hammer.Drill hammer is mainly by high-power
Motor, radiator fan, top-type impact module, drilling attachment and drill bit composition, and be impact drill by way of electrical connection
Head provides the energy.
The mechanical arm 3 is made up of some connecting rods 5 being hinged successively, passes through drive mechanism 6 between adjacent connecting rod 5
It is connected；In the present embodiment, the drive mechanism 6 is equal to 4, and the drive mechanism 6 is using hydraulic pressure, air pressure or electronic as driving
Form.The control system includes that global positioning system, gyroscope, encoder and avoidance laser radar, the system also include using
In the remote monitoring aid system of robot body described in remotely control 2, remote monitoring aid system and robot body 2 are wireless
Communication connection.Then the information for collecting be sent to far by the geological information below the collection road face of robot body 1 and road surface
Range monitoring aid system, remote monitoring aid system can be the forms (as shown in figure 11) of refitted car, be provided with repacking in-car
Supply unit 24, control rack 25, operating board 14 and monitoring screen 22, monitoring screen 22 be Multi-screen display system, supply unit
24 power for remote monitoring aid system, and the geological information for detecting is first sent to control rack 25, then by monitoring
Screen 22 shows, can pass through operating board 21 and process the geological information that collect；Remote monitoring aid system can also be used simultaneously
In the working condition of control robot body 1, long-distance transport and the storing unit of robot body is also used as.The power
System 1 includes that two groups of universal wheels 13 and one group of driving wheel 11, driving wheel 11 are located between two groups of universal wheels 13, each driving wheel 11
It is respectively provided with independent driving means 12.
Binocular camera, binocular camera and control system electrical connection are installed on the robot body 2；Binocular camera
For collecting pavement image information and being transferred to control system, control system is filtered to the pavement image information for receiving,
Edge detection process, crack image binaryzation, classification of rifts, morphological method measurement flaw size, restoring area are demarcated and ground
Figure coupling, optimal route selection, then control system control machinery arm 3 and 4 road pavement of road surface prosthetic device carry out repair.
Embodiment 3：A kind of Athey wheel road face repair robot system, including the robot body 2 with dynamical system 1,
Mechanical arm 3 is installed on robot body 2, road surface prosthetic device 4 is installed on mechanical arm 3 and is formed the reparation of a set of Dao Mian robots
System；The control system for control machinery arm 3 is additionally provided with robot body 2, and there is control system reception of wireless signals to fill
Put, control system and mechanical arm 3 are electrically connected.The road surface prosthetic device 4 includes slotting device.
The control system includes that global positioning system, gyroscope, encoder and avoidance laser radar, the system also include
For the remote monitoring aid system of robot body described in remotely control 2,2 nothing of remote monitoring aid system and robot body
Line communication connection.The dynamical system 1 includes four driving wheels 11, and each driving wheel 11 is respectively provided with independent driving means 12.
The mechanical arm 3 includes mounting seat 20, is fixed with bracing frame 14, is hinged with first connecting rod on bracing frame 14 in mounting seat 20
16, bracing frame 14 connects the middle part of first connecting rod 16, and the end of first connecting rod 16 and second connecting rod 19 are hinged；Also include that first stretches
Compression apparatus 15 and the second retractor device 17,15 one end of the first retractor device connect bracing frame 14, and the other end connects first connecting rod 16；
Second retractor device, 17 one end connection bracing frame 14 other end connection second connecting rod 19, the end of second connecting rod 19 are provided with for pacifying
The instrument installation position 18 of dress road surface prosthetic device 4.
Embodiment 4：A kind of Athey wheel road face repair robot system, including the robot body 2 with dynamical system 1,
Mechanical arm 3 is installed on robot body 2, road surface prosthetic device 4 is installed on mechanical arm 3 and is formed the reparation of a set of Dao Mian robots
System；The control system for control machinery arm 3 is additionally provided with robot body 2, and there is control system reception of wireless signals to fill
Put, control system and mechanical arm 3 are electrically connected.The road surface prosthetic device 4 includes provisions for grouting and/or drill hammer and/or opens
Seam device.
The dynamical system 1 of the robot body 2 includes Athey wheel 7, reducing gear 8, actuating unit 9 and supply unit
10, supply unit 10 and actuating unit 9 are electrically connected, and actuating unit 9 is connected with reducing gear 8,7 phase of reducing gear 8 and Athey wheel
Even.The control system includes global positioning system, gyroscope, encoder and avoidance laser radar, the system also include for
The remote monitoring aid system of robot body 2 described in remotely control, 2 channel radio of remote monitoring aid system and robot body
News connection.
The mechanical arm 3 includes mounting seat 20, is fixed with bracing frame 14, is hinged with bracing frame 14 in mounting seat 20
First connecting rod 16, bracing frame 14 connect the middle part of first connecting rod 16, and the end of first connecting rod 16 and second connecting rod 19 are hinged；Also wrap
Include the first retractor device 15 and the second retractor device 17,15 one end of the first retractor device connects bracing frame 14, other end connection the
One connecting rod 16；Second retractor device, 17 one end connection bracing frame 14 other end connection second connecting rod 19, the end of second connecting rod 19
It is provided with for installing the instrument installation position 18 of road surface prosthetic device 4.
Present invention also offers a kind of road surface repair method, repairs machine by the Athey wheel road face described in above example
People's system repairs road face, specifically includes following methods：The position that the control movement superior self-cultivation of robot body 2 face is specified；Artificial determination
The crucial point coordinates of area to be repaired；The artificial restoring area and restorative procedure for setting road face, robot body 2 is according to be repaired
Multiple regional location planning road face detection path；Control robot body 2 moves to area to be repaired along road face detection path,
Drill hammer or provisions for grouting or slotting device are navigated to by specified location by mechanical arm 3, is repaiied according to the road face for manually setting
Compound recipe Fa Dui roads face is drilled and/or is in the milk and/or is cracked；Road surface information data after collection reparation, to road surface information number
According to carrying out monitor in real time analysis or delaying analysis, repairing effect is determined；Mechanical arm 3 determines inspection by the coordinate information for pre-entering
The position that repaiies, carries out bore operation using drill hammer to area to be repaired, then mixes concrete etc. using grouting equipment
Thing injection hole region.
In aforesaid road surface repair method, the loose pavement disease of road pavement basic unit carries out the reparation that drills, is in the milk；The brill
Hole, grouting reparation include following methods：Drill in road surface to be repaired, so as to obtain grout hole, then by oxidized asphalt or
Cement mortar injects grout hole with space under fill concrete plate, rebuilds the uniform bulk strength of road deck.Adopt this method and repair
The loose road surface of complex radical layer, it is possible to increase the quality on road surface, improves its bearing capacity, the problems such as preventing deformation, subside.
The alternatively restorative procedure on road surface, the method for repairing road surface in the present embodiment are applied to the crack disease on road surface
Evil；Described crack, be in the milk reparation include following methods：Crack, according to the fluting size of design, be pre-adjusted groove depth,
Then fluting operation is carried out；Raked joint：Will be clear for the dust in the range of the disintegrating slag in groove and crack both sides at least 10cm with blowing apparatus
Sweep clean；The cementation of fissures：Fluid sealant is equably poured in groove with grouting equipment.Other methods of method for repairing road surface, step with front
State embodiment identical, therefore not to repeat here.
Robot body 1 is first by manual remote control to detection operation initial point position, the maintenance that then basis manually sets
Region, maintenance point and repair method, robot autonomous planning repair path is simultaneously implemented to repair, and after the completion of reparation, is set by detection
Standby repairing effect is weighed.The control system of robot body 1 and mechanical arm 3 is using built-in PC as master control system
System；Remote monitoring aid system possesses the work such as reparation confirmation, operation is evaluated by view data etc..
Robot body 1 operationally, will carry robot body 1, mechanical arm 3 by remote monitoring aid system first,
Drill hammer, grouting equipment etc. are transported to operation field, and then robot body 1 moves to detection starting point, sets manually
Relevant parameter information.After job initiation is repaired, robot body is moved near restoring area according to presetting, and root
According to technological requirement, using mechanical arm 3 and prosthetic appliance, repair is carried out to neighboring area, whole process can be by artificial reality
When supervisory-controlled robot body working condition, as necessary by remote monitoring auxiliary control system its run.
The invention also discloses a kind of method for repairing road surface of view-based access control model, determines road surface defect position by vision, from
Master program repair path, specifically includes following methods：
Pavement behavior investigation is a regular content of highway maintenance work, and conventional investigation method is substantially manual measurement
Based on, accuracy, operability, enforcement complexity are affected, also, because highway wagon flow is larger, have one during measurement
Fixed danger.This method employs the visual intelligent measuring method of view-based access control model, in implementation process, gathers image
Photographic head is installed on mechanical arm tail end, is analyzed process by remote monitoring aid system to the image for collecting, so as to
Obtain the information such as the length of pavement disease, the areas such as crack.
Road surface robot for overhauling can be demarcated to each maintenance position, and is directed to map and treats according to testing result
The relation pair repair path of restoring area planned, obtains optimal motion path.
Robot for overhauling carries out the flow process of image acquisition, path planning and road surface reparation：Pavement image collection → image
Filtering, edge detection process → crack image binaryzation → classification of rifts → morphological method measurement crack (flaw size calculating)
→ restoring area is demarcated and is completed with map match → optimal route selection → road surface repair → reparation detection → construction.
Next the method for repairing road surface of aforementioned view-based access control model is illustrated with binocular vision detection method as embodiment：
Binocular vision crack detection method be by binocular camera gather crack picture, to after image procossing with binocular vision
Feel the method that theory carries out flaw size calculating.The collection core of the method is binocular camera, and binocular camera is placed in pavement detection
The end of robot arm, the image for collecting are processed by methods such as noise reduction, enhancing, rim detection, binaryzations, and
Above-mentioned image is mated using camera calibration, images match, Coordinate calculation method and calculated, so as to obtain flaw size,
Road surface robot for overhauling passes through to be demarcated restoring area on the map for building, so as to obtain optimum repair path, and root
Restorative procedure is independently determined according to surface conditions.
Claims (10)
1. a kind of Athey wheel road face repair robot system, it is characterised in that include the robot body with dynamical system (1)
(2) mechanical arm (3) is installed on robot body (2), road surface prosthetic device (4) is installed on mechanical arm (3) and is formed a set of road
Face robot repair system；The control system for control machinery arm (3) is additionally provided with robot body (2), and control system has
There are wireless signal receiver, control system and mechanical arm (3) to electrically connect；Dynamical system (1) bag of robot body (2)
Include Athey wheel (7), reducing gear (8), actuating unit (9) and supply unit (10), supply unit (10) and actuating unit (9) electricity
Connection, actuating unit (9) are connected with reducing gear (8), and reducing gear (8) is connected with Athey wheel (7).
2. a kind of Athey wheel road face according to claim 1 repair robot system, it is characterised in that repair on the road surface
Device (4) includes provisions for grouting and/or drill hammer and/or slotting device.
3. a kind of Athey wheel road face according to claim 1 repair robot system, it is characterised in that the mechanical arm
(3) it is made up of some connecting rods (5) being hinged successively, is connected by drive mechanism (6) between adjacent connecting rod (5)；Described
The quantity of drive mechanism (6) is more than or equal to 4, and is less than or equal to 7, and described drive mechanism (6) adopt hydraulic pressure, gas
Pressure is electronic as drive form.
4. a kind of Athey wheel road face according to claim 1 repair robot system, it is characterised in that the control system
Including global positioning system, gyroscope, encoder and avoidance laser radar, the system is also included for machine described in remotely control
The remote monitoring aid system of human body (2), remote monitoring aid system and robot body (2) wireless telecommunications connection.
5. a kind of Athey wheel road face according to claim 1 repair robot system, it is characterised in that the mechanical arm
(3) include mounting seat (20), in mounting seat (20), be fixed with bracing frame (14), bracing frame is hinged with first connecting rod on (14)
(16), the middle part of bracing frame (14) connection first connecting rod (16), the end of first connecting rod (16) and second connecting rod (19) are hinged；Also
Including the first retractor device (15) and the second retractor device (17), the first retractor device (15) one end connects bracing frame (14), separately
One end connection first connecting rod (16)；Second retractor device (17) one end connection bracing frame (14) other end connection second connecting rod
(19), the end of second connecting rod (19) is provided with for installing the instrument installation position (18) of road surface prosthetic device (4).
6. a kind of Athey wheel road face repair robot system according to any one of claim 1-5, it is characterised in that described
Binocular camera, binocular camera and control system electrical connection are installed on robot body (2)；Binocular camera is used for collecting road
Face image information is simultaneously transferred to control system, and control system is filtered to the pavement image information for receiving, at rim detection
Reason, crack image binaryzation, classification of rifts, morphological method measurement flaw size, restoring area are demarcated and map match, optimum
Path selection, then control system control machinery arm (3) and road surface prosthetic device (4) road pavement carry out repair.
7. the road surface repair method of Athey wheel road face repair robot system described in a kind of any one of employing claim 2 to 5, its
It is characterised by, including following methods：The position that the mobile superior self-cultivation face of control robot body (2) is specified；Manually determine area to be repaired
The crucial point coordinates in domain；The artificial restoring area and restorative procedure for setting road face, robot body (2) is according to area to be repaired
Detect path in planning road face in position；Control robot body (2) moves to area to be repaired along road face detection path, passes through
Drill hammer or provisions for grouting or slotting device are navigated to specified location by mechanical arm (3), are repaired according to the road face for manually setting
Method is drilled to road face and/or is in the milk and/or is cracked；Road surface information data after collection reparation, to road surface information data
Carry out monitor in real time analysis or delay analysis, determine repairing effect.
8. road surface repair method according to claim 7, it is characterised in that also include following methods：Mechanical arm (3) passes through
The coordinate information for pre-entering determines the position of maintenance, carries out bore operation using drill hammer to area to be repaired, then makes
With grouting equipment by the mixture injection hole such as concrete region.
9. road surface repair method according to claim 8, it is characterised in that the loose pavement disease of road pavement basic unit is carried out
Drilling, grouting are repaired；The drilling, grouting reparation include following methods：Drill in road surface to be repaired, so as to be in the milk
Then oxidized asphalt or cement mortar injection grout hole are rebuild the uniform entirety of road deck with space under fill concrete plate by hole
Intensity.
10. road surface repair method according to claim 8, it is characterised in that repair the crack on road surface by cracking, being in the milk
Disease；Described crack, be in the milk reparation include following methods：Crack, according to the fluting size of design, be pre-adjusted fluting deep
Degree, then carries out fluting operation；Raked joint：With blowing apparatus by the dust in the range of the disintegrating slag in groove and crack both sides at least 10cm
Clean up；The cementation of fissures：Fluid sealant is equably poured in groove with grouting equipment.
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