CN106758728A - One kind automation road surface pit gun - Google Patents
One kind automation road surface pit gun Download PDFInfo
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- CN106758728A CN106758728A CN201611032373.2A CN201611032373A CN106758728A CN 106758728 A CN106758728 A CN 106758728A CN 201611032373 A CN201611032373 A CN 201611032373A CN 106758728 A CN106758728 A CN 106758728A
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- assembly
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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
- E01C23/0966—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 filling or priming, with or without working the surface of the filling or applying particulate material thereto, e.g. for filling the joints of stone-sett paving
- E01C23/0973—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 filling or priming, with or without working the surface of the filling or applying particulate material thereto, e.g. for filling the joints of stone-sett paving with liquid or semi-liquid materials, e.g. crack sealants
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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
- E01C23/01—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 one kind automation road surface pit gun, including：For the repairing assembly for providing emulsified asphalt and gathering materials and with three three-dimensional movement platforms of the direction free degree, three-dimensional movement platform is arranged on a moveable motion platform support, and detection assembly is provided with motion platform support；Described detection assembly includes multiple cameras for obtaining coordinate and pavement image information, and fixed seat is provided with described three-dimensional movement platform, and fixed seat is driven by three-dimensional movement platform, and the position of emulsified asphalt and the spray repair gathered materials is adjusted by fixed seat.The present invention integrates Road Detection and pit repairing operation, using image procossing, the automatic detection pavement disease in driving；Based on three-dimensional point cloud technology, intelligent repairing is carried out to pit using injecting type repairing technique；Fusion two dimensional image technology and three-dimensional reconstruction, realize pit detection and the automation of pit repairing, substantially increase repairing quality and repairing efficiency, and liberated labour.
Description
Technical field
The invention belongs to Asphalt Pavement Maintenance Technology field, it is related to pavement disease to automate repair apparatus, and in particular to one
Plant automation road surface pit gun.
Background technology
Injecting type repairing method has quick, environmental protection, repairs reliable advantage, and can be used to being recessed, crack is filled out
In the preventive maintenance operation such as envelope, sealing, cover.But the repairing work of existing injecting type pit repairing machine relies primarily on behaviour
Make the companies such as the experience of personnel, such as ROSCO, Total Patcher, the Bergkamp in the U.S., the Velocity of Britain, its life
The repairing machine of product is divided into pulling type, chassis vehicle installing type and self-propelled three types, even self-propelled repairing the most advanced
Machine automaticity is not still high, and the judgement and intervention of operator are all be unable to do without from detection pit to repairing work.
Field is repaired in asphalt pavement crack, the automation crack repairing machine based on machine vision has been achieved for gratifying
Achievement, its evolution have passed through CMU model machines, CMU-UT model machines, ARMM model machines, APCS model machine four-stages, there is now automatic
Change the Qualify Phase that crack repairing press proof machine enters practical application.However, unlike being repaired from the automation in crack, pit
Automation repairing is except needing plane information, in addition it is also necessary to obtain its depth information.
The content of the invention
For existing injecting type pit repairing machine automaticity it is not high, rely primarily on repairing personnel micro-judgment and dry
In advance, repairing precision shortcoming not high, it is an object of the invention to provide one kind automation road surface pit gun, integrated images treatment
With three-dimensional point cloud technology, when driving automatic detection disease, and the auto-mending of road surface pit is carried out.
In order to realize above-mentioned task, the present invention uses following technical scheme：
One kind automation road surface pit gun, including：For the repairing assembly and tool that provide emulsified asphalt He gather materials
There are three three-dimensional movement platforms of the direction free degree, three-dimensional movement platform is arranged on a moveable motion platform support,
Detection assembly is installed on motion platform support；Described detection assembly includes multiple for obtaining coordinate and pavement image letter
The camera of breath, is provided with fixed seat in described three-dimensional movement platform, fixed seat is driven by three-dimensional movement platform, by fixed seat
Adjustment emulsified asphalt and the position of the spray repair gathered materials.
Further, described repairing assembly includes assembly bracket, and assembly bracket is included by a pair of X-axis square bars, a pair of Y
The rectangular frame that axle square bar is formed, is provided with support base plate on framework, framework lower section is distributed with walking supporting leg；Described walking
Supporting leg includes earth plate, and earth plate bottom is connected with the first universal wheel by solid supporting leg, earth plate be fixed on institute
State the first supporting leg connecting plate consolidation of base of frame；
Electric compressor, electric fan, emulsified asphalt tank, motor drive asphalt pump, splicing are installed on described support base plate
Bucket and Material collecting box for harvesting, wherein, receiving hopper is located at the lower section of Material collecting box for harvesting, and the feed opening size of Material collecting box for harvesting can be adjusted；From described electricity
Collection material conveying tube is drawn on dynamic blower fan, the lower end of described receiving hopper connects with collection material conveying tube；On described motor drive asphalt pump
Emulsified asphalt pipeline is connected to, emulsified asphalt pipeline is commonly connected to described mixing nozzle, mixing with the front end of collection material conveying tube
Nozzle is arranged in described fixed seat；Emulsified asphalt in emulsified asphalt tank is pumped into by emulsified asphalt by motor drive asphalt pump
The front end of pipeline, will sequentially pass through Material collecting box for harvesting, receiving hopper and drops into and gathering materials in the pipeline that gathers materials be transported to collection by electric fan
The front end of pipe material, in emulsified asphalt and the pit for spraying into road surface after mixing in mixing nozzle of gathering materials；Described mixing nozzle
In three-dimensional movement platform.
Further, described motion platform support is to fix square tube, a pair of Y-axis for a pair by X-axis to fix square tubes and constitute
Rectangular configuration, motion platform support lower section is provided with lifting landing leg assembly；Described lifting landing leg assembly include screw thread supporting leg and
Installed in the second universal wheel of screw thread supporting leg bottom, the upper end of screw thread supporting leg is provided with lifting tooth case, is provided with lifting tooth case
Hand-operated wheel；The second supporting leg connecting plate is provided with described motion platform support, described lifting tooth roller box and the second supporting leg connect
Fishplate bar is consolidated；Screw thread leg motion is driven to adjust between motion platform support and ground by hand wheel drive lifting tooth case
Highly.
Further, carrier is installed above described motion platform support, carrier include platform upper support frame,
Platform lower bracing frame and Rocker arm assembly, wherein：
Platform upper support frame is rectangular frame framework, and described Rocker arm assembly is arranged on the top of platform upper support frame；It is flat
The lower end of platform upper support frame is consolidated with the first vertical square tube；Described platform lower bracing frame includes vertically being fixedly arranged at motion platform branch
The second vertical square tube on frame, the first described vertical square tube is inserted into the second vertical square tube, and is bolted；It is described
The Y-axis of motion platform support fix in square tube and be symmetrically arranged with two pairs of platform support panels, described X-axis is fixed in square tube and installed
There is articulated joint, articulated joint is connected by articulated jib with described repairing assembly.
Further, described Rocker arm assembly includes rocking arm upper backup pad, and rotating shaft is vertically and fixedly provided with rocking arm upper backup pad
Base, is provided with rotating shaft on shaft base；Described rotating shaft is connected with a telescopic arm, and telescopic arm includes the first joint arm and suit
The second joint arm in the first joint arm, the end of the second joint arm is provided with suspension hook, and suspension ring are detachably provided with suspension hook；It is described
Platform upper support frame on be fixed with rocking arm lower supporting plate, rocking arm upper backup pad is fixed on rocking arm lower supporting plate；Described turns
Multiple base triangle muscle are distributed between axle base and rocking arm upper backup pad, rocking arm is provided between described rotating shaft and telescopic arm
Triangle muscle.
Further, described three-dimensional movement platform includes a pair of Y-axis belt slide rails, and Y-axis belt slide rail is connected by slide rail
Fishplate bar is fixed on the Y-axis of described motion platform support and fixes in square tube；X-axis is equipped with a pair of described Y-axis belt slide rails
Belt slide rail, Z axis belt slide rail is provided with the side of X-axis belt slide rail；
Described fixed seat is installed, fixed seat includes spaced first side plate and the on described Z axis belt slide rail
Two side plates, along top board and base plate is from top to bottom disposed between the first side plate and the second side plate, top board and base plate are equal
In the low convex structure in middle high, both sides；Wherein, gather materials pipeline fixing hole and pitch pipeline have been opened between top board and base plate solid
Determine hole, depth camera connecting hole is further opened with top board, slide rail connecting hole is offered on the second side plate.
Further, described platform support panel includes horizontal square plate, and the side of horizontal square plate is arranged at intervals with the first side
Gusset and the second side angle plate, are connected, in horizontal square plate between the first side angle plate and the second side angle plate by a vertical square plate
Multiple supporting plate connecting holes are distributed with.
Further, described camera includes first camera, second camera, third camera and depth camera, wherein first
The X-axis that camera is arranged on described motion platform support fixes square tube bottom, and second camera is arranged on Y-axis and fixes under square tube
Portion, third camera is arranged on described platform upper support frame or installed in for drawing leading for automation road surface pit gun
Draw mechanically；Described depth camera is arranged in fixed seat.
Further, be provided with control assembly on described repairing assembly, control assembly include Serve Motor Control cabinet and
Host computer, control assembly is used to realize the automated procedures control of pit repairing process.
The present invention has following technical characterstic compared with prior art：
1. the present invention can replace traditional manual work, liberate labour, accelerate maintenance project progress, greatly improve pit
Repairing quality, with efficiency high, the advantage such as quality is good, it is adaptable to the patch work of the asphalt pavement pit disease of various grades,
Having filled up using injecting type repair technology and based on image procossing and three-dimensional point cloud technology has high accuracy while can realize complete
The blank of the pit repairing mechanical field of automation；
2. the present invention integrates Road Detection and pit repairing operation, cannot be only used for the automation inspection of pavement disease
Survey, and can be used for the automation repairing of road surface pit；
3. integration of the present invention is good, high degree of automation, and device integrally has dependable with function higher, is pitch
Maintenance of surface provides a kind of preferable instrument.
Brief description of the drawings
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural representation for repairing assembly；
Fig. 3 is the structural representation of carrier；
Fig. 4 is the structural representation of three-dimensional movement platform；
Fig. 5 is the structural representation of Rocker arm assembly；
Fig. 6 is the structural representation of platform support panel；
Fig. 7 is the structural representation of fixed seat；
Fig. 8 is the schematic flow sheet of Aulomatizeted Detect of the present invention and repairing；
Label is represented in figure：1- repairs assembly, and 11- mixing nozzles, 12- emulsified asphalt pipelines, 13- gathers materials pipeline, 14- collection
Hopper, 15- receiving hoppers, 16- motor drive asphalt pumps, 17- emulsified asphalt tanks, 18- electric fans, 19- electric compressors, 2- assembly branch
Frame, 21- walking supporting legs, the universal wheels of 211- first, the solid supporting legs of 212-, 213- earth plates, 22- the first supporting leg connecting plates, 23-
X-axis square bar, 24-Y axle square bars, 25- support base plates, 26- baffle plates, 3- control assemblies, 31- Serve Motor Control cabinets, 32- electricity
Brain server, 33-PCI motion control cards, 34- target trajectories, 35- actual motions track, 4- detection assemblies, the phases of 41- first
Machine, 42- second cameras, 43- depth cameras, 44- third camera, 5- three-dimensional movement platforms, 50- slide rail connecting plates, 51-Y axles are watched
Take motor, 52-Y axle belt slide rails, 53-Y axle belt drag chains, 54-X axle servomotors, 55-X axle belt slide rails, 56-X axle belts
Drag chain, 57-Z axle servomotors, 58-Z axle belt slide rails, 59-Z axle belt drag chains, 6- motion platform supports, 61- Rocker arm assemblies,
610- rocking arm lower supporting plates, 611- rocking arm upper backup pads, 612- base triangle muscle, 613- shaft bases, 614- rotating shafts, 615- shakes
Brachial triangle muscle, the joint arms of 616- first, the joint arms of 617- second, 618- suspension hooks, 619- suspension ring, 62- platform upper support frames are propped up on 621-
Support X-axis square tube, 622- upper support frame Y-axis square tubes, 623- upper support frame triangle muscle, the vertical square tubes of 624- first, under 63- platforms
Support frame, the vertical square tubes of 631- second, 632- lower bracing frame triangle muscle, 633- platform support panels, the horizontal square plates of 6331-, 6332-
First side angle plate, 6333- the second side angle plates, the vertical square plates of 6334-, 6335- supporting plate connecting holes, 634-Y axles fix square tube,
635-X axles fix square tube, 636- articulated joints, 637- articulated jibs, 64- lifting landing leg assemblies, 641- the second supporting leg connecting plates, 642-
Hand-operated wheel, 643- lifting tooth casees, 644- screw thread supporting legs, the universal wheels of 645- second, 7- fixed seats, the side plates of 71- first, 72- depth
Camera connecting hole, 73- gathers materials pipeline fixing hole, 74- pitch pipeline fixing holes, 75- top boards, 76- slide rail connecting holes, 77- second
Side plate, 78- base plates.
Specific embodiment
Above-mentioned technical proposal is deferred to, as shown in Figures 1 to 8, The present invention gives one kind automation road surface pit gun,
Including：For the repairing assembly 1 for providing emulsified asphalt and gathering materials and with three three-dimensional movement platforms of the direction free degree 5,
Three-dimensional movement platform 5 is arranged on a moveable motion platform support 6, detection is provided with motion platform support 6 total
Into 4, wherein detection assembly 4 includes multiple cameras for obtaining coordinate and pavement image information, described three-dimensional movement platform 5
On fixed seat 7 is installed, fixed seat 7 is driven by three-dimensional movement platform 5, and emulsified asphalt and the spray gathered materials are adjusted by fixed seat 7
The position of benefit, i.e. three-dimensional movement platform 5 drive fixed seat 7 to adjust position of the fixed seat 7 in space, fix in the process
Seat 7 drives shower nozzle adjustment position to carry out spray repair work.The present invention when in use, overall leading is carried out by outside hitching machinery
Draw, for example, moved and pavement patching under the traction of tractor.Additionally, used in the parts mentioned in following scheme
The generating set that drives both from tractor of electric power provide.
Specifically, in this programme, repairing assembly 1 includes assembly bracket 2, and assembly bracket 2 is included by a pair of parallel setting
X-axis square bar 23, a pair of parallel setting Y-axis square bar 24 formed rectangular frame, support base plate 25 is provided with framework,
The edge of support base plate 25 is provided with baffle plate 26；Framework lower section is distributed with walking supporting leg 21；Described walking supporting leg 21 includes branch
Leg base 213, the bottom of earth plate 213 is connected with the first universal wheel 211, earth plate 213 and fixation by solid supporting leg 212
Consolidated in the first supporting leg connecting plate 22 of the base of frame；
Electric compressor 19, electric fan 18, emulsified asphalt tank 17, electronic pitch are installed on described support base plate 25
Pump 16, receiving hopper 15 and Material collecting box for harvesting 14, wherein, receiving hopper 15 is located at the lower section of Material collecting box for harvesting 14, the feed opening size of Material collecting box for harvesting 14
Can adjust；Collection material conveying tube, lower end and the collection material conveying tube of described receiving hopper 15 are drawn from described electric fan 18
Connection；The front end of emulsified asphalt pipeline 12, emulsified asphalt pipeline 12 and collection material conveying tube is connected on described motor drive asphalt pump 16
Described mixing nozzle 11 is commonly connected to, mixing nozzle 11 is arranged in described fixed seat 7；Will by motor drive asphalt pump 16
Emulsified asphalt in emulsified asphalt tank 17 is pumped into the front end of emulsified asphalt pipeline 12, and collection will be sequentially passed through by electric fan 18
Hopper 14, receiving hopper 15 are dropped into and gathering materials in the pipeline 13 that gathers materials are transported to the front end of the pipeline 13 that gathers materials, and emulsified asphalt and are gathered materials
In the pit for spraying into road surface after mixing with fast state in mixing nozzle 11；Described electric compressor 19 is connected by pipeline
To mixing nozzle 11, for gases at high pressure are blown out in the pit of road surface, being cleared up with to the debris in pit, it is easy to follow-up
Mending course.Described mixing nozzle 11 is arranged in three-dimensional movement platform, and mixing nozzle 11 is driven by three-dimensional movement platform 5
The different position of adjustment.
As shown in figure 3, in this programme, motion platform support 6 is to fix square tube 635, a pair of Y-axis by a pair of X-axis to fix
The rectangular configuration that square tube 634 is constituted, the lower section of regular-shape motion platform support 6 is provided with lifting landing leg assembly 64；Described liter descending branch
Leg assembly 64 include screw thread supporting leg 644 and the second universal wheel 645 installed in the bottom of screw thread supporting leg 644, screw thread supporting leg 644 it is upper
End is provided with lifting tooth case 643, and hand-operated wheel 642 is provided with lifting tooth case 643；It is provided with described motion platform support 6
Second supporting leg connecting plate 641, described lifting tooth roller box is consolidated with the second supporting leg connecting plate 641；Driven by hand-operated wheel 642 and risen
Drop tooth case 643 drives screw thread supporting leg 644 to move to adjust the height between motion platform support 6 and ground.Motion platform support 6
Top carrier is installed, carrier includes platform upper support frame 62, platform lower bracing frame 63 and Rocker arm assembly 61, wherein：
Platform upper support frame 62 is rectangular frame framework, including upper support frame X-axis square tube 621, upper support frame Y-axis square tube
622 and the upper support frame triangle muscle 623 of reinforcement effect is played, described Rocker arm assembly 61 is arranged on platform upper support frame 62
Top；The lower end of platform upper support frame 62 is consolidated with the first vertical square tube 624；Described platform lower bracing frame 63 includes vertical solid
The second vertical square tube 631 on motion platform support 6 is tied, the first described vertical square tube 624 is inserted into the second vertical square tube
In 631, it is bolted in the way of embedded, and can be relative to change platform upper support frame by the position of adjustment bolt
In the height on ground；The lower bracing frame triangle muscle for playing reinforcement effect is provided with the lower side of the second vertical square tube 631
632；The Y-axis of described motion platform support 6 is fixed in square tube 634 and is symmetrically arranged with two pairs of platform support panels 633, described X
Axle is fixed in square tube 635 and is provided with articulated joint 636, and articulated joint 636 is connected by articulated jib 637 with described repairing assembly 1.It is flat
Platform supporting plate 633 includes horizontal square plate 6331, and the side of horizontal square plate 6331 is arranged at intervals with the first side angle plate 6332 and second
Side angle plate 6333, is connected, in level between the first side angle plate 6332 and the second side angle plate 6333 by a vertical square plate 6334
Multiple supporting plate connecting holes 6335 are distributed with square plate 6331.
Rocker arm assembly 61 includes rocking arm upper backup pad 611, and shaft base 613 is vertically and fixedly provided with rocking arm upper backup pad 611,
Rotating shaft 614 is installed, rotating shaft 614 can rotate in shaft base 613 on shaft base 613；Described rotating shaft 614 is stretched with one
Contracting arm is connected, and telescopic arm includes the first joint arm 616 and the second joint arm 617 being sleeved in the first joint arm 616, the second joint arm 617
End suspension hook 618 is installed, be detachably provided with suspension ring 619 on suspension hook 618, suspension ring 619 are by the first joint arm 616 and the
The expansion fit adjustment position of two joint arms 617；The effect of suspension ring 619 is to hang emulsified asphalt pipeline 12 and the pipeline 13 that gathers materials, such as
Shown in Fig. 1.Rocking arm lower supporting plate 610 is fixed with described platform upper support frame 62, rocking arm upper backup pad 611 is fixed on rocking arm
On lower supporting plate 610；Multiple base triangle muscle 612 are distributed between described shaft base 613 and rocking arm upper backup pad 611,
Rocking arm triangle muscle 615 is provided between described rotating shaft 614 and telescopic arm.
As shown in figure 4, in the present invention, three-dimensional movement platform 5 includes a pair of Y-axis belt slide rails 52, on Y-axis belt slide rail 52
It is provided with Y-axis servomotor 51, Y-axis belt drag chain 53；Y-axis belt slide rail 52 is fixed on described fortune by slide rail connecting plate 50
The Y-axis of moving platform support 6 is fixed in square tube 634；X-axis belt slide rail 55 is equipped with a pair of described Y-axis belt slide rails 52,
The side of X-axis belt slide rail 55 is provided with Z axis belt slide rail 58；X-axis servomotor 54, X-axis is provided with X-axis belt slide rail 55
Belt drag chain 56；Z axis servomotor 57, Z axis belt drag chain 59 are provided with Z axis belt slide rail 58；
Described fixed seat 7 is installed, fixed seat 7 includes spaced first side plate on described Z axis belt slide rail 58
71 and second side plate 77, top board 75 and base plate 78 are from top to bottom disposed between the first side plate 71 and the second side plate 77,
Top board 75, base plate 78 are in the convex structure that middle high, both sides are low；Wherein, aggregate pipe is offered between top board 75 and base plate 78
Road fixing hole 73 and pitch pipeline fixing hole 74, are further opened with depth camera connecting hole 72 on top board 75, opened on the second side plate 77
It is provided with slide rail connecting hole 76.Three-dimensional movement platform 5, by three settings of the slide rail in direction, makes it have three directions
The free degree, is driven using motor, be may be such that fixed seat 7 to drive in the three dimensions within the specific limits of mixing nozzle 11 and is arbitrarily adjusted
Whole position, to meet actual spray repair demand.
In the present invention, camera includes first camera 41, second camera 42, third camera 44 and depth camera 43, wherein
The X-axis that first camera 41 is arranged on described motion platform support 6 fixes the bottom of square tube 635, and second camera 42 is solid installed in Y-axis
Determine the bottom of square tube 634, first camera 41 and second camera 42 are horizontally mounted by connecting plate, the two cameras constitute stereopsis
Feel, the world coordinates for obtaining mixing nozzle 11；Third camera 44 is arranged on described platform upper support frame 62 or installs
In the hitching machinery for drawing automation road surface pit gun, for detecting road surface front whether there is pit；Described depth
Degree camera 43 is arranged in fixed seat 7, the three-dimensional coordinate for obtaining road surface pit.
In order to realize the automation of pit spray repair process of the present invention, control assembly 3 is provided with repairing assembly 1, control is total
Include Serve Motor Control cabinet 31 and host computer 32 into 3, control assembly 3 is used to realize the automated procedures of pit repairing process
Control；Built with the PCI motion control cards 33 for controlling three-dimensional movement platform 5 to act, its effect is wherein host computer 32
Drive three motors in three-dimensional movement platform 5 so that mixing nozzle 11 can reach target location under the drive of three-dimensional platform；And
The three-dimensional coordinate of the road surface pit that depth camera 43 is obtained is parsed by computer, for instructing spray repair process；Electronic pneumatics
The electrical equipments such as machine 19, electric fan 18, motor drive asphalt pump 16 are uniformly controlled by host computer 32.
As shown in figure 8, Aulomatizeted Detect of the present invention and mending course are as follows：
Carrier and assembly bracket 2 are connected as an entirety by articulated jib 637, along road in the presence of outside hitching machinery
Face is advanced, and at the same time third camera 44 is in opening, and the pavement image for obtaining is processed by host computer 32, detects road
Side whether there is pit in front.Detect in the presence of pit, traction carrier is simultaneously emitted by parking letter to pit top
Number.Then, the controlling depth camera 43 of host computer 32 is opened, and according to the Range Image Segmentation pit for obtaining, and calculates pit
Depth information and detailed threedimensional point cloud coordinate, the target trajectory 34 of mixing nozzle 11 are planned by point cloud model, as control
The foundation of the action of three-dimensional movement platform processed 5.
After the target trajectory 34 of mixing nozzle 11 determines, watched by the PCI motion control cards 33 in host computer 32
Take motor controlling cabinet 31 and send control signal, control X-axis servomotor 54, Y-axis servomotor 51 and Z axis servomotor 57 turn
The mesh that the mixing nozzle 11 fixed by fixed seat 7 on square, rotating speed etc., and then drive Z axis belt slide rail 58 is required along program
Mark movement locus 34 is moved, and pit is repaired.In the motion process of mixing nozzle 11, its actual movement locus 35 with electricity
There is deviation, it is necessary to carry out error compensation in the target trajectory 34 that brain server 32 sends according to point cloud model, it is specific the need for
Determine the actual error amount of track, can be obtained by the target location of contrast mixing nozzle 11 in real time and physical location.Its
In, the target location of mixing nozzle 11 comes from the calculating of the point cloud model obtained to depth camera 43, that is, calculate mixing nozzle
11 target trajectory 34, and the physical location of mixing nozzle 11 comes from what first camera 41 and second camera 42 were obtained
The calculating conversion of the image coordinate of mixing nozzle 11.In mending course, the target trajectory 34 of mixing nozzle 11 is with hole
The change of the depth of groove and change, at the same time, the error compensation of actual motion track 35 is also to carry out in real time.
The technical process of pit spray repair includes cleaning pit inside debris, sprinkling bonding agent, sprinkling compound and dispersing dry
Gather materials, this collaborative work for needing to repair assembly 1 and three-dimensional movement platform 5 is completed, and it is concretely comprised the following steps：Host computer 32 passes through
PCI motion control cards 33 send the control signal of three-dimensional movement platform 5, drive mixing nozzle 11 to move, and are simultaneously from electronic sky
The high pressure draught of press 19 is blown out by mixing nozzle 11, debris in cleaning pit；Then, spray one layer and come from motor drive asphalt pump 16
Emulsified asphalt as bonding agent；Then, mixing nozzle 11 is driven successively to travel through inside pit, while motor drive asphalt pump 16 is conveyed
Emulsified asphalt and electric fan 18 conveying gather materials, uniformly mix in mixing nozzle 11, and enter in the penetrating pit of high speed
Row repairing；Finally, three-dimensional movement platform 5 drives mixing nozzle 11, and one layer of dry conduct of gathering materials is sprayed on the pit surface after repairing
Protective layer.
When three-dimensional movement platform 5 drives mixing nozzle 11 to move, for gather materials pipeline 13 and the emulsified asphalt pipeline of feeding
12 are fixed by the suspension ring 619 of Rocker arm assembly 61, to mitigate the heavy burden of three-dimensional movement platform 5；Rocker arm assembly 61 can pass through simultaneously
Rotating shaft 614 is rotated, and can be stretched by the first joint arm 616 and the second joint arm 617, it is ensured that the smooth action of three-dimensional movement platform 5.
Additionally, in order to study influence of the terrain clearance of mixing nozzle 11 for spraying parameter, the terrain clearance of three-dimensional movement platform 5 can be by
Lifting landing leg assembly 64 is adjusted, and the relative fortune of lifting tooth case 643 and screw thread supporting leg 644 is driven especially by hand-operated wheel 642
It is dynamic, and then adjust the terrain clearance with the second supporting leg connecting plate 641 of plane-welding on lifting tooth case 643.
Claims (9)
1. it is a kind of to automate road surface pit gun, it is characterised in that including：Repairing for providing emulsified asphalt He gather materials is total
Into (1) and with three three-dimensional movement platforms of the direction free degree (5), three-dimensional movement platform (5) is removable installed in one
Motion platform support (6) on, be provided with motion platform support (6) detection assembly (4)；Described detection assembly (4) bag
Multiple cameras for obtaining coordinate and pavement image information are included, fixed seat is installed in described three-dimensional movement platform (5)
(7) emulsified asphalt and the spray repair position for gathering materials, are adjusted by fixed seat (7).
2. it is as claimed in claim 1 to automate road surface pit gun, it is characterised in that described repairing assembly (1) includes
Assembly bracket (2), assembly bracket (2) includes the rectangle frame that is formed by a pair of X-axis square bars (23), a pair of Y-axis square bars (24)
Frame, is provided with support base plate (25) on framework, framework lower section is distributed with walking supporting leg (21)；Described walking supporting leg (21) includes
Earth plate (213), earth plate (213) bottom is connected with the first universal wheel (211), supporting leg bottom by solid supporting leg (212)
Seat (213) is consolidated with the first supporting leg connecting plate (22) for being fixed on the base of frame；
Electric compressor (19), electric fan (18), emulsified asphalt tank (17), electronic is installed on described support base plate (25)
Bitumenpump (16), receiving hopper (15) and Material collecting box for harvesting (14), wherein, receiving hopper (15) is positioned at the lower section of Material collecting box for harvesting (14), Material collecting box for harvesting
(14) feed opening size can be adjusted；Collection material conveying tube, described receiving hopper are drawn from described electric fan (18)
(15) lower end connects with collection material conveying tube；Emulsified asphalt pipeline (12), emulsification drip are connected on described motor drive asphalt pump (16)
The front end of blue or green pipeline (12) and collection material conveying tube is commonly connected to described mixing nozzle (11), and mixing nozzle (11) is installed in institute
In the fixed seat (7) stated；Emulsified asphalt in emulsified asphalt tank (17) is pumped into by emulsified asphalt by motor drive asphalt pump (16)
The front end of pipeline (12), will sequentially pass through Material collecting box for harvesting (14), receiving hopper (15) and drop into the pipeline that gathers materials by electric fan (18)
(13) front end of the pipeline that gathers materials (13), emulsified asphalt and the penetrating after mixing in mixing nozzle (11) of gathering materials are transported to gathering materials in
In the pit on road surface；Described mixing nozzle (11) is in three-dimensional movement platform (5).
3. it is as claimed in claim 1 to automate road surface pit gun, it is characterised in that described motion platform support (6)
It is to fix square tube (635), a pair of Y-axis by a pair of X-axis to fix the rectangular configuration that square tube (634) is constituted, under motion platform support (6)
Side is provided with lifting landing leg assembly (64)；Described lifting landing leg assembly (64) is including screw thread supporting leg (644) and installed in screw thread
Second universal wheel (645) of supporting leg (644) bottom, the upper end of screw thread supporting leg (644) is provided with lifting tooth case (643), lifting tooth
Hand-operated wheel (642) is installed on case (643)；The second supporting leg connecting plate (641) is provided with described motion platform support, it is described
Lifting tooth roller box and the second supporting leg connecting plate (641) consolidation；Lifting tooth case (643) is driven to drive spiral shell by hand-operated wheel (642)
Line supporting leg (644) moves to adjust the height between motion platform support and ground.
4. it is as claimed in claim 3 to automate road surface pit gun, it is characterised in that described motion platform support (6)
Top carrier is installed, carrier includes platform upper support frame (62), platform lower bracing frame (63) and Rocker arm assembly (61),
Wherein：
Platform upper support frame (62) is rectangular frame framework, and described Rocker arm assembly (61) is installed in platform upper support frame (62)
Top；The lower end of platform upper support frame (62) is consolidated with the first vertical square tube (624)；Described platform lower bracing frame (63) includes
Vertical the second vertical square tube (631) being fixedly arranged on motion platform support, the first described vertical square tube (624) is inserted into second
In vertical square tube (631), and it is bolted；The Y-axis of described motion platform support is fixed and is symmetrical arranged in square tube (634)
There are two pairs of platform support panels (633), described X-axis is fixed and articulated joint (636) is provided with square tube (635), and articulated joint (636) is led to
Articulated jib (637) is crossed to be connected with described repairing assembly (1).
5. it is as claimed in claim 4 to automate road surface pit gun, it is characterised in that described Rocker arm assembly (61) includes
Rocking arm upper backup pad (611), is vertically and fixedly provided with shaft base (613), on shaft base (613) on rocking arm upper backup pad (611)
Rotating shaft (614) is installed；Described rotating shaft (614) is connected with a telescopic arm, and telescopic arm includes the first joint arm (616) and suit
The second joint arm (617) in the first joint arm (616), the end of the second joint arm (617) is provided with suspension hook (618), suspension hook (618)
On be detachably provided with suspension ring (619)；Rocking arm lower supporting plate (610) is fixed with described platform upper support frame (62), is shaken
Arm upper backup pad (611) is fixed on rocking arm lower supporting plate (610)；Described shaft base (613) and rocking arm upper backup pad
(611) multiple base triangle muscle (612) are distributed between, described rotating shaft (614) is provided with rocking arm triangle and telescopic arm between
Muscle (615).
6. it is as claimed in claim 3 to automate road surface pit gun, it is characterised in that described three-dimensional movement platform (5)
Including a pair of Y-axis belts slide rail (52), Y-axis belt slide rail (52) is fixed on described motion platform by slide rail connecting plate (50)
The Y-axis of support is fixed in square tube (634)；X-axis belt slide rail (55) is equipped with a pair of described Y-axis belts slide rail (52), in X
The side of axle belt slide rail (55) is provided with Z axis belt slide rail (58)；
Described fixed seat (7) is installed, fixed seat (7) includes spaced first side on described Z axis belt slide rail (58)
Plate (71) and the second side plate (77), edge is from top to bottom disposed with top board between the first side plate (71) and the second side plate (77)
(75) and base plate (78), top board (75) and base plate (78) are in the convex structure that middle high, both sides are low；
Gather materials pipeline fixing hole (73) and pitch pipeline fixing hole (74), top board have been opened between top board (75) and base plate (78)
(75) depth camera connecting hole (72) is further opened with, slide rail connecting hole (76) is offered on the second side plate (77).
7. it is as claimed in claim 4 to automate road surface pit gun, it is characterised in that described platform support panel (633)
Including horizontal square plate (6331), the side of horizontal square plate (6331) is arranged at intervals with the first side angle plate (6332) and the second side angle plate
(6333), connected by a vertical square plate (6334) between the first side angle plate (6332) and the second side angle plate (6333), in water
Multiple supporting plate connecting holes (6335) are distributed with square plate (6331).
8. it is as claimed in claim 3 to automate road surface pit gun, it is characterised in that described camera includes first camera
(41), second camera (42), third camera (44) and depth camera (43), wherein first camera (41) is installed in described motion
The X-axis of platform support fixes square tube (635) bottom, and second camera (42) fixes the bottom of square tube (634), the 3rd installed in Y-axis
Camera (44) is on described platform upper support frame (62) or installed in for drawing automation road surface pit gun
On hitching machinery；Described depth camera (43) is in fixed seat (7).
9. it is as claimed in claim 1 to automate road surface pit gun, it is characterised in that to be set on described repairing assembly (1)
Control assembly (3) is equipped with, control assembly (3) includes Serve Motor Control cabinet (31) and host computer (32), and control assembly (3) is used
Controlled in the automated procedures for realizing pit repairing process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611032373.2A CN106758728B (en) | 2016-11-17 | 2016-11-17 | A kind of automation road surface pit slot sprayer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611032373.2A CN106758728B (en) | 2016-11-17 | 2016-11-17 | A kind of automation road surface pit slot sprayer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106758728A true CN106758728A (en) | 2017-05-31 |
| CN106758728B CN106758728B (en) | 2019-01-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611032373.2A Expired - Fee Related CN106758728B (en) | 2016-11-17 | 2016-11-17 | A kind of automation road surface pit slot sprayer |
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| Country | Link |
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| CN (1) | CN106758728B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108611955A (en) * | 2018-04-28 | 2018-10-02 | 中建路桥集团有限公司 | Intelligent pavement seam filling equipment and cementation of fissures method |
| CN109577157A (en) * | 2018-12-20 | 2019-04-05 | 上海电机学院 | A kind of pavement patching device relying on vehicle |
| CN111749104A (en) * | 2020-07-13 | 2020-10-09 | 李运富 | Asphalt pavement crack filling device |
| CN113189612A (en) * | 2021-05-17 | 2021-07-30 | 长安大学 | Gravel seal quality detection device based on depth camera |
| CN114000396A (en) * | 2021-11-02 | 2022-02-01 | 西华大学 | Automatic repairing system and method for unevenness of highway road |
| CN114775386A (en) * | 2022-04-18 | 2022-07-22 | 中电建路桥集团有限公司 | Pit slot identification and segmentation method based on machine vision |
| CN116876319A (en) * | 2023-08-24 | 2023-10-13 | 广东腾昊建设工程有限公司 | Municipal asphalt filling device and method capable of automatically adjusting discharging range based on visual detection |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205420989U (en) * | 2016-03-21 | 2016-08-03 | 公为财 | Intelligent asphalt pavement pit slot repairing vehicle |
| CN206189247U (en) * | 2016-11-17 | 2017-05-24 | 长安大学 | Asphalt pavement spouts remounting and puts |
-
2016
- 2016-11-17 CN CN201611032373.2A patent/CN106758728B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205420989U (en) * | 2016-03-21 | 2016-08-03 | 公为财 | Intelligent asphalt pavement pit slot repairing vehicle |
| CN206189247U (en) * | 2016-11-17 | 2017-05-24 | 长安大学 | Asphalt pavement spouts remounting and puts |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108611955A (en) * | 2018-04-28 | 2018-10-02 | 中建路桥集团有限公司 | Intelligent pavement seam filling equipment and cementation of fissures method |
| CN109577157A (en) * | 2018-12-20 | 2019-04-05 | 上海电机学院 | A kind of pavement patching device relying on vehicle |
| CN111749104A (en) * | 2020-07-13 | 2020-10-09 | 李运富 | Asphalt pavement crack filling device |
| CN111749104B (en) * | 2020-07-13 | 2021-09-10 | 李运富 | Asphalt pavement crack filling device |
| CN113189612A (en) * | 2021-05-17 | 2021-07-30 | 长安大学 | Gravel seal quality detection device based on depth camera |
| CN114000396A (en) * | 2021-11-02 | 2022-02-01 | 西华大学 | Automatic repairing system and method for unevenness of highway road |
| CN114775386A (en) * | 2022-04-18 | 2022-07-22 | 中电建路桥集团有限公司 | Pit slot identification and segmentation method based on machine vision |
| CN116876319A (en) * | 2023-08-24 | 2023-10-13 | 广东腾昊建设工程有限公司 | Municipal asphalt filling device and method capable of automatically adjusting discharging range based on visual detection |
| CN116876319B (en) * | 2023-08-24 | 2023-12-08 | 广东腾昊建设工程有限公司 | Municipal asphalt filling device and method capable of automatically adjusting discharging range based on visual detection |
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| Publication number | Publication date |
|---|---|
| CN106758728B (en) | 2019-01-18 |
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