CN106758719A - A kind of Two-wheeled road face repair robot system and road surface repair method - Google Patents
A kind of Two-wheeled road face repair robot system and road surface repair method Download PDFInfo
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- CN106758719A CN106758719A CN201611253643.2A CN201611253643A CN106758719A CN 106758719 A CN106758719 A CN 106758719A CN 201611253643 A CN201611253643 A CN 201611253643A CN 106758719 A CN106758719 A CN 106758719A
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- road
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- mechanical arm
- road surface
- robot
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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
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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
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Two-wheeled road face repair robot system, including the robot body with dynamical system, mechanical arm is installed on robot body, road surface prosthetic device is installed on mechanical arm；The control system for control machinery arm is additionally provided with robot body, control system has wireless signal receiver, and control system and mechanical arm are electrically connected.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 robot system of the invention, due to only needing to artificial remote intervention, therefore, security during reparation is improve to a certain extent；Modular mechanical arm is integrated with, dismounting combination can be carried out according to actual conditions, and change end fix tool, improve the service efficiency of modular mechanical arm.
Description
Technical field
The present invention relates to a kind of Two-wheeled road face repair robot system and road surface repair method, belong to road rehabilitation skill
Art field.
Background technology
After highway builds up, in order to ensure current security and efficiency, it is necessary to periodic inspection is conserved.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 enters overhaul time comprehensively, more than 50,000 built up before the end of the year 2008
The normal maintenance curing period that kilometer highway also generally enters after defects liability period, maintenance industry entirety staff size increases fast
Speed.Highway Maintenance include roadbed maintenance, maintenance of surface, bridges and culverts maintenance, passage maintenance, tunnel maintenance, identifier marking conserve,
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 main mode for manually coordinating with equipment of reparation, but, which is imitated in work
There is certain defect in the aspects such as rate, personal safety, reparation speed.With the development of science and technology, occurring 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.
The content of the invention
It is an object of the present invention to provide a kind of Two-wheeled road face repair robot system, using setting for automation formula
Meter theory, can effectively improve reparation speed and remediation efficiency.
In order to solve the above technical problems, the present invention is adopted the following technical scheme that：
A kind of Two-wheeled road face repair robot system, including the robot body with dynamical system, robot sheet
Mechanical arm is installed on body, road surface prosthetic device is installed on mechanical arm and is formed a set of Dao Mian robots repair system；Robot
Be additionally provided with the control system for control machinery arm on body, control system has a wireless signal receiver, control system and
Mechanical arm is electrically connected.Specifically, the road surface prosthetic device includes provisions for grouting and/or drill hammer and/or slotting device.Machine
Tool arm can select electrically driven (operated), and motor machine arm is mainly made up of in terms of driving motor, decelerator, driver etc., motor
Start under the control of driver or stop, by the startup of controlled motor, stop reacting the machine in mechanical arm through decelerator
In tool activity.Mechanical arm can also select hydraulic/pneumatic formula mechanical arm, hydraulic/pneumatic formula mechanical arm in terms of driving it is main by
Hydraulic/pneumatic pump, 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 drive mechanism is more than or equal to 4, and less than or equal to 7, the drive
Motivation structure completes the repair of a series of road face using hydraulic pressure, air pressure or electronic as drive form, at least needs mechanical arm
With 4 frees degree, the free degree of mechanical arm is realized by drive mechanism, for example：Drive mechanism uses motor, then by electricity
Machine drivening rod rotates, and a drive mechanism can increase one degree of freedom, so the quantity of drive mechanism is at least 4
It is individual.It is worth noting that, under non-working condition, modular mechanical arm is in dead-center position, modular mechanical arm shrinks, so that
Reduce robot center of gravity so that operation is more steady, also reduces overall taking up room, it is to avoid colliding with for being likely to occur
The damage for being brought；Modular mechanical arm launches in a state of use, by industrial camera of carrying etc. on modular mechanical arm
Auxiliary equipment is positioned to area to be repaired, and restoring area is cleared up followed by the drill hammer of end, has been cleared up
Cheng Hou, using grouting equipment to the regional perfusion concrete, after condensation, is examined using pavement detection equipment to repairing effect
Test.
Used as a kind of type of drive of robot body, the dynamical system of the robot body includes Athey wheel, slows down
Mechanism, actuating unit and supply unit, supply unit and actuating unit are electrically connected, and actuating unit is connected with reducing gear, are slowed 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 foregoing Two-wheeled road face repair robot system, the control system include global positioning system,
Gyroscope, encoder and avoidance laser radar, the system also include the remote monitoring for robot body described in remote control
Accessory system, remote monitoring accessory system and robot body wireless telecommunications are connected.Remote monitoring accessory system is used for control machine
The movement of device human body, and on robot body testing equipment, prosthetic device and mechanical arm operation.Robot body is led
Boat uses the navigation scheme based on global positioning system, gyroscope, encoder and avoidance laser radar Multi-Sensor Data Fusion,
Realize high accuracy navigation and the location position of detection data of outdoor Centimeter Level；In modular mechanical arm control aspect, use
Modular mechanical arm calibration method based on spinor theory, the method can preferably make up DH parametric techniques because of model error
Caused precision problem.
In a kind of foregoing Two-wheeled road face repair robot system, the dynamical system includes two groups of universal wheels and one
Group driving wheel, driving wheel is located between two groups of universal wheels, and each driving wheel is respectively provided with independent drive device.This kind of type of drive
It is more succinct compared to Athey wheel and Mecanum wheel structure type, it is easy to later maintenance work, and cost to tell somebody what one's real intentions are relatively, and
Larger weight can be born.
In a kind of foregoing Two-wheeled road face repair robot system, the dynamical system includes four driving wheels, often
Individual driving wheel is respectively provided with independent drive device.The mobility of robot body is improve using four motorized wheels, is improve
Corresponding speed, meanwhile, compared to two wheel guide robot mode, reduce radius of turn during low speed so that control is more light；And
And, using four In-wheel motor drivings and with reference to electronic, electrification feedback and the multi-functional wheel hub motor technology of electromagnetic braking is had concurrently, can
So that robot body realizes the recovery to kinetic energy energy under the road conditions such as descending, with energy-conservation and raising endurance.Robot
Body can also use Mecanum wheel, and Mecanum wheel is more a little, is capable of achieving straight trip, 45 degree of diagonals, row, pirouette
To grade omnibearing movable, system flexibility is substantially improved, also, with more preferable lifting capacity.
In a kind of foregoing Two-wheeled road face repair robot system, as the another embodiment of mechanical arm, institute
Stating mechanical arm includes mounting seat, and support frame is fixed with mounting seat, and first connecting rod, support frame connection are hinged with support frame
The middle part of first 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,
First retractor device one end connects support frame, other end connection first connecting rod；Second retractor device one end connection support frame is another
End connection second connecting rod, the end of second connecting rod is provided with the instrument installation position for installing road surface prosthetic device.This kind of form
Mechanical arm configuration is compacter, and cost is lower.
In a kind of foregoing Two-wheeled road face repair robot system, binocular camera is installed in the robot sheet,
Binocular camera and the control system are electrically connected；Binocular camera is used to collect pavement image information and be 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 is moved to face
The position specified；The artificial crucial point coordinates for determining area to be repaired；The restoring area and restorative procedure in artificial 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 road surface repair method of artificial setting is drilled to road face and/or is in the milk and/or cracked；Road face Information Number after collection reparation
According to, monitor in real time analysis is carried out to road face information data or analysis is delayed, determine repairing effect.
The coordinate information that mechanical arm passes through to pre-enter determines the position overhauled, and area to be repaired is entered using drill hammer
Row bore operation, then using grouting equipment by the mixture injection hole such as concrete region.
In foregoing road surface repair method, the loose pavement disease of road pavement basic unit is drilled, reparation of being in the milk；The brill
Hole, grouting reparation include following methods：In road surface to be repaired drilling, 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, collapse.
In foregoing road surface repair method, the crack disease on road surface is repaired by cracking, being in the milk；It is described to 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 carry 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
It is standby equably to pour into groove fluid sealant.
Compared with prior art, 1, road face robot for overhauling system of the 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 security are increased dramatically, and overall system performance is preferable；
2nd, the present invention using " macroscopical remote control, microcosmic autonomous, remote monitoring " control mode, can contexture by self reach to be repaired
Fu Qu paths, implementation 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 using instruments such as drill hammer, grouting equipments repair, can be by certainly
Dynamic, semiautomatic fashion is switched over to fix tool, intelligent reparation is realized, due to less need for manual intervention, improve
The security 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, realizes 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 as needed enter the line translation difference free degree,
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 by artificial formulation, and can be entered using industrial camera to reparation situation
Row confirmation, improves the accuracy of reparation, and ensure repairing effect；
6th, mobile platform of the present invention uses 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, Two-wheeled road of the present invention face repair robot system can also be with multiple similar humanoid robot collaboration works
Operation mode, can further lift remediation efficiency.
Brief 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 the embodiment schematic diagram that modular mechanical arm uses 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 embodiment of mechanical arm；
Fig. 7 is the structural representation of robot body non-operating state；
Fig. 8 is the embodiment schematic diagram that modular mechanical arm uses 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 accessory 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- drives
Motivation structure, 7- Athey wheels, 8- reducing gears, 9- actuating units, 10- supply units, 11- driving wheels, 12- drive devices, 13- ten thousand
To wheel, 14- support frames, the retractor devices of 15- first, 16- first connecting rods, the retractor devices of 17- second, 18- installation positions, 19- second
Connecting rod, 20- mounting seats, 21- operating desks, 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 Two-wheeled road face repair robot system, including the machine with dynamical system 1
Device human body 2, is provided with mechanical arm 3 on robot body 2, road surface prosthetic device 4 is provided with mechanical arm 3 and forms a set of road face
Robot repair system；The control system for control machinery arm 3 is additionally provided with robot body 2, control system has wireless
Signal receiving device, control system and mechanical arm 3 are electrically connected.Specifically, the road surface prosthetic device 4 includes provisions for grouting.Fill
Sizing device is made up of mounting seat, connector, flexible pipe, cylinder etc., by the forms such as air pressure, hydraulic pressure inject the mixture into crack or
Repairing area.In the present embodiment, the mechanical arm 3 is made up of some connecting rods 5 being hinged successively, between adjacent connecting rod 5
It is connected by drive mechanism 6；The drive mechanism is equal to 6, and the drive mechanism 6 is using hydraulic pressure, air pressure or electronic as drive
Dynamic form, more low degree-of-freedom mechanical arm system is assembled into according to user's request, its end can install additional drill hammer, provisions for grouting,
Slotting 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, reducing gear 8 and the phase of Athey wheel 7
Even.The control system includes global positioning system, gyroscope, encoder and avoidance laser radar, and the system also includes being used for
The remote monitoring accessory system of robot body 2 described in remote control, remote monitoring accessory system and the channel radio of robot body 2
News connection.Remote monitoring accessory system includes operating desk 21, monitoring screen 22 and control rack 25, operating desk 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 accessory system
Formula is received and sent messages.
Binocular camera is installed, binocular camera and the control system are electrically connected 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 matching, optimal route selection, then control system control machinery arm 3 and the road pavement of road surface prosthetic device 4 carry out repair.
Embodiment 2：A kind of Two-wheeled road face repair robot system, including 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 forms a set of Dao Mian robots and repair
Complex system；The control system for control machinery arm 3 is additionally provided with robot body 2, control system has reception of wireless signals
Device, control system and mechanical arm 3 are electrically connected.The road surface prosthetic device 4 includes drill hammer.Drill hammer is main by big work(
Rate motor, radiator fan, top-type impact module, drilling attachment and drill bit composition, and be impact by way of electrical connection
Drill bit provides the energy.
The mechanical arm 3 is made up of some connecting rods 5 being hinged successively, and drive mechanism 6 is passed through between adjacent connecting rod 5
It is connected；The drive mechanism 6 is equal to 4, and the drive mechanism 6 is using hydraulic pressure, air pressure or electronic as drive form.The control
System processed includes global positioning system, gyroscope, encoder and avoidance laser radar, and the system also includes being used for remote control institute
The remote monitoring accessory system of robot body 2 is stated, remote monitoring accessory system and the wireless telecommunications of robot body 2 are connected.Machine
Device human body 1 gathers the geological information below road face and road surface, and the information that then will be collected is sent to remote monitoring auxiliary
System, remote monitoring accessory system can be the form (as shown in figure 11) of refitted car, be provided with refitted car supply unit 24,
Control rack 25, operating desk 14 and monitoring screen 22, monitoring screen 22 are Multi-screen display system, and supply unit 24 is remote monitoring
Accessory system is powered, and the geological information for detecting is first sent to control rack 25, is then shown by monitoring screen 22, can
The geological information for collecting is processed with by operating desk 21；Remote monitoring accessory system can be used for control robot sheet simultaneously
The working condition of body 1, is also used as long-distance transport and the storing unit of robot body.The dynamical system 1 includes two groups
Universal wheel 13 and one group of driving wheel 11, driving wheel 11 are located between two groups of universal wheels 13, and each driving wheel 11 is respectively provided with independent
Drive device 12.
Binocular camera is installed, binocular camera and the control system are electrically connected 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 matching, optimal route selection, then control system control machinery arm 3 and the road pavement of road surface prosthetic device 4 carry out repair.
Embodiment 3：A kind of Two-wheeled road face repair robot system, including 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 forms a set of Dao Mian robots and repair
Complex system；The control system for control machinery arm 3 is additionally provided with robot body 2, control system has reception of wireless signals
Device, control system and mechanical arm 3 are electrically connected.The road surface prosthetic device 4 includes slotting device.
The control system includes global positioning system, gyroscope, encoder and avoidance laser radar, and the system also includes
For the remote monitoring accessory system of robot body described in remote control 2, remote monitoring accessory system and the nothing of robot body 2
Line communication connection.The dynamical system 1 includes four driving wheels 11, and each driving wheel 11 is respectively provided with independent drive device 12.
The mechanical arm 3 includes mounting seat 20, and support frame 14 is fixed with mounting seat 20, and first connecting rod is hinged with support frame 14
16, support 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 stretched including first
The retractor device 17 of compression apparatus 15 and second, the one end of the first retractor device 15 connection support frame 14, other end connection first connecting rod 16；
The one end of second retractor device 17 connection support frame 14 other end connection second connecting rod 19, the end of second connecting rod 19 is provided with for pacifying
Fill the instrument installation position 18 of road surface prosthetic device 4.
Embodiment 4：A kind of Two-wheeled road face repair robot system, including 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 forms a set of Dao Mian robots and repair
Complex system；The control system for control machinery arm 3 is additionally provided with robot body 2, control system has reception of wireless signals
Device, control system and mechanical arm 3 are electrically connected.The road surface prosthetic device 4 include provisions for grouting and/or drill hammer and/or
Slotting 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, reducing gear 8 and the phase of Athey wheel 7
Even.The control system includes global positioning system, gyroscope, encoder and avoidance laser radar, and the system also includes being used for
The remote monitoring accessory system of robot body 2 described in remote control, remote monitoring accessory system and the channel radio of robot body 2
News connection.
The mechanical arm 3 includes mounting seat 20, and support frame 14 is fixed with mounting seat 20, is hinged with support frame 14
First connecting rod 16, support 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 wrap
Include the first retractor device 15 and the second retractor device 17, the one end of the first retractor device 15 connection support frame 14, other end connection the
One connecting rod 16；The one end of second retractor device 17 connection support frame 14 other end connection second connecting rod 19, the end of second connecting rod 19
It is provided with the instrument installation position 18 for installing road surface prosthetic device 4.
Present invention also offers a kind of road surface repair method, by the Two-wheeled road face repair machine described in above example
Device people system repairs road face, specifically includes following methods：Control robot body 2 is moved to the position that face is specified；It is artificial true
Determine the crucial point coordinates of area to be repaired；The restoring area and restorative procedure in artificial setting road face, robot body 2 is according to treating
Detect path in planning road face in restoring area position；Control robot body 2 moves to area to be repaired along road face detection path
Domain, specified location is navigated to by mechanical arm 3 by drill hammer or provisions for grouting or slotting device, according to the road face of artificial setting
Restorative procedure is drilled to road face and/or is in the milk and/or cracked；Road face information data after collection reparation, to road face information
Data carry out monitor in real time analysis or delay analysis, determine repairing effect；The coordinate information that mechanical arm 3 passes through to pre-enter determines
The position of maintenance, bore operation is carried out using drill hammer to area to be repaired, then using grouting equipment that concrete etc. is mixed
Compound injection hole region.
In foregoing road surface repair method, the loose pavement disease of road pavement basic unit is drilled, reparation of being in the milk；The brill
Hole, grouting reparation include following methods：In road surface to be repaired drilling, 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, collapse.
The alternatively restorative procedure on road surface, the method for repairing road surface in the present embodiment is applied to the crack disease on road surface
Evil；It is 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：It is with blowing apparatus that the dust in the range of the disintegrating slag in groove and crack both sides at least 10cm is clear
Sweep clean；The cementation of fissures：Fluid sealant is equably poured into groove with grouting equipment.Other methods of method for repairing road surface, step with it is preceding
State embodiment identical, therefore not to repeat here.
Robot body 1 is first by manual remote control to detection operation initial point position, the then maintenance of the artificial setting of basis
Region, maintenance point and repair method, robot autonomous planning repair path simultaneously are implemented to repair, and after the completion of reparation, are set by detection
It is standby that 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 accessory system possesses the work such as reparation confirmation, and operation is evaluated by view data etc..
Robot body 1 operationally, will carry robot body 1, mechanical arm 3 by remote monitoring accessory 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 real
When supervisory-controlled robot body working condition, as necessary by remote monitoring auxiliary control system its operation.
The invention also discloses a kind of method for repairing road surface of view-based access control model, road surface defect position is determined 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, the degree of accuracy, operability, implementation complexity are affected, also, because highway wagon flow is larger, there is one during measurement
Fixed danger.This method employs the visual intelligent measuring method of view-based access control model, in implementation process, collection image
Camera is installed on mechanical arm tail end, by remote monitoring accessory system is analyzed treatment to the image for collecting, so that
Obtain the information such as length, the areas of pavement disease such as crack.
Road surface robot for overhauling can be demarcated according to testing result to each maintenance position, and for map with treat
The relation pair repair path of restoring area planned, obtains optimal motion path.
The flow that robot for overhauling carries out IMAQ, path planning and road surface are repaired is：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 completed with map match → optimal route selection → road surface repair → reparation detection → construction.
Next the method for repairing road surface of foregoing view-based access control model is illustrated by embodiment of binocular vision detection method：
Binocular vision crack detection method be by binocular camera gather crack picture, to after image procossing with binocular vision
Feel the theoretical method for carrying 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 is processed by methods such as noise reduction, enhancing, rim detection, binaryzations, and
Above-mentioned image is matched and calculated using camera calibration, images match, Coordinate calculation method, so as to obtain flaw size,
Road surface robot for overhauling is demarcated by by restoring area on the map for building, so as to obtain optimal repair path, and root
Independently determine restorative procedure according to surface conditions.
Claims (10)
1. a kind of Two-wheeled road face repair robot system, it is characterised in that including the robot sheet with dynamical system (1)
Body (2), is provided with mechanical arm (3) on robot body (2), road surface prosthetic device (4) is provided with mechanical arm (3) and forms a set of
Dao Mian robots repair system；The control system for control machinery arm (3), control system are additionally provided with robot body (2)
With wireless signal receiver, control system and mechanical arm (3) are electrically connected；The dynamical system (1) includes two groups of universal wheels
(13) and one group of driving wheel (11), between two groups of universal wheels (13), each driving wheel (11) is respectively provided with solely driving wheel (11)
Vertical drive device (12).
2. a kind of Two-wheeled road face according to claim 1 repair robot system, it is characterised in that repair on the road surface
Apparatus for coating (4) includes provisions for grouting and/or drill hammer and/or slotting device.
3. a kind of Two-wheeled 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)；It is described
The quantity of drive mechanism (6) is more than or equal to 4, and less than or equal to 7, the drive mechanism (6) is using hydraulic pressure, gas
Pressure is electronic as drive form.
4. a kind of Two-wheeled road face according to claim 1 repair robot system, it is characterised in that the control system
System includes global positioning system, gyroscope, encoder and avoidance laser radar, and the system also includes being used for machine described in remote control
The remote monitoring accessory system of device human body (2), remote monitoring accessory system and robot body (2) wireless telecommunications are connected.
5. a kind of Two-wheeled road face according to claim 1 repair robot system, it is characterised in that the mechanical arm
(3) including mounting seat (20), support frame (14) is fixed with mounting seat (20), support frame is hinged with first connecting rod on (14)
(16), the middle part of support 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 support frame (14), separately
One end connects first connecting rod (16)；Second retractor device (17) one end connection support frame (14) other end connection second connecting rod
(19), the end of second connecting rod (19) is provided with the instrument installation position (18) for installing road surface prosthetic device (4).
6. a kind of Athey wheel road face repair robot system according to claim any one of 1-5, it is characterised in that described
Binocular camera is installed, binocular camera and the control system are electrically connected on robot body (2)；Binocular camera is used to collect 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, optimal
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 Two-wheeled road face repair robot system described in a kind of any one of use claim 2 to 5,
It is characterised in that it includes following methods：The position that control robot body (2) face of being moved to is specified；Manually determine to be repaired
The crucial point coordinates in region；The restoring area and restorative procedure in artificial setting road face, robot body (2) is according to area to be repaired
Detect path in planning road face in domain position；Control robot body (2) moves to area to be repaired along road face detection path, leads to
Cross mechanical arm (3) and drill hammer or provisions for grouting or slotting device are navigated into specified location, the road face according to artificial setting is repaiied
Compound Fa Dui roads face is drilled and/or is in the milk and/or cracked；Road face information data after collection reparation, to road face Information Number
According to carrying out monitor in real time analysis or delaying analysis, repairing effect is determined.
8. road surface repair method according to claim 7, it is characterised in that also including following methods：Mechanical arm (3) passes through
The coordinate information for pre-entering determines the position of maintenance, and bore operation is carried out to area to be repaired using drill hammer, 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：In road surface to be repaired drilling, so as to be in the milk
Hole, then rebuilds the uniform entirety of road deck by oxidized asphalt or cement mortar injection grout hole with space under fill concrete plate
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；It is 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 into groove with grouting equipment.
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| CN201611253643.2A CN106758719A (en) | 2016-12-30 | 2016-12-30 | A kind of Two-wheeled road face repair robot system and road surface repair method |
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| CN112392518A (en) * | 2020-11-10 | 2021-02-23 | 山东大学 | Automatic repair mechanism, repair device and method for road tunnel leakage water |
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| CN113389125A (en) * | 2021-06-25 | 2021-09-14 | 华南理工大学 | Urban road roadbed cavity detection and repair device and repair construction method |
| CN114737459A (en) * | 2022-05-06 | 2022-07-12 | 福建兴夷交通科技有限公司 | Automatic detection and restoration integrated robot for road and bridge cracks |
| CN115522590A (en) * | 2022-09-03 | 2022-12-27 | 南通欧特建材设备有限公司 | Hydraulic breaking hammer with mechanical arm |
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| CN113389125A (en) * | 2021-06-25 | 2021-09-14 | 华南理工大学 | Urban road roadbed cavity detection and repair device and repair construction method |
| CN114737459A (en) * | 2022-05-06 | 2022-07-12 | 福建兴夷交通科技有限公司 | Automatic detection and restoration integrated robot for road and bridge cracks |
| CN115522590A (en) * | 2022-09-03 | 2022-12-27 | 南通欧特建材设备有限公司 | Hydraulic breaking hammer with mechanical arm |
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