CN107806002A - A kind of portable self-powered type Intelligent road repair system and its control method - Google Patents
A kind of portable self-powered type Intelligent road repair system and its control method Download PDFInfo
- Publication number
- CN107806002A CN107806002A CN201711087196.2A CN201711087196A CN107806002A CN 107806002 A CN107806002 A CN 107806002A CN 201711087196 A CN201711087196 A CN 201711087196A CN 107806002 A CN107806002 A CN 107806002A
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- Prior art keywords
- processor
- image
- housing
- instruction
- mechanical arm
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/07—Apparatus combining measurement of the surface configuration of paving with application of material in proportion to the measured irregularities
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/09—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges
- E01C23/096—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges for forming, opening-out, cleaning, drying or heating and filling
-
- 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
- E01C23/0993—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges for forming or installing surface markings or signals in the paving, e.g. grooving for striping or for producing rumble strips, forming marker-receiving recesses
-
- 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
- E01C23/16—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings
- E01C23/20—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ
- E01C23/22—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying
- E01C23/225—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying comprising means for mechanically working the applied material, e.g. smoothing brushes
-
- 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
- E01C23/16—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings
- E01C23/20—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ
- E01C23/22—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying
- E01C23/227—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying the marking material being supplied in aerosol containers
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Road Repair (AREA)
Abstract
A kind of portable self-powered type Intelligent road repair system,Including housing,Prosthetic device,Cutter device,Drive device,Retractor device,Positioner,Wireless device and processor,Housing includes object storage silo,Telescopic door body,First camera,Rotary shaft and telescopic mechanical arm,Prosthetic device includes repairing storage silo,Heater,Repair nozzle,Rubbing device and floating device,Cutter device includes cutting blade and cutting motor,Drive device includes motor and driving crawler belt,Retractor device includes repairing expansion plate and fixed card buckle,Positioner is arranged at enclosure interior position,Wireless device is arranged at positioner side position,Processor is arranged at wireless device side position,For respectively with telescopic door body,First camera,Rotary shaft,Telescopic mechanical arm,Heater,Repair nozzle,Rubbing device,Floating device,Cutting motor,Motor,Fixed card buckle,Positioner and wireless device connection.
Description
Technical field
The present invention relates to road rehabilitation field, more particularly to a kind of portable self-powered type Intelligent road repair system and its control
Method processed.
Background technology
Currently, China Higher level highway is in the stage of developing rapidly, built and most in the high-grade highway built
All it is bituminous paving, and basic unit is substantially cement, the semi-rigid type base of lime stabilization.Construction for roadbed, due to by
The influence of the various factors such as fund, duration can only carry out generally simple processing：Filled out as shallow-layer changes, cement and lime is punished, strong rammer
Deng.Sharp increase and overload and oversize getting worse with the volume of traffic, and the influence of climatic environment and weak soil geological conditions, some
There is different degrees of disease in highway, has had a strong impact on Pavement Condition.
In existing road rehabilitation, typically by a large-scale bituminous concrete agitator truck from pitch coagulation
Soil mixing station transport concrete, reparation scene is then arrived again and is repaired.The problem of this mode is present is as follows：1st, due to transport
Bituminous concrete it is more, the road failure area of zonule repaired, huge waste be present, for example football size
Region, seldom bituminous concrete may be only needed, and transport less bituminous concrete, then cost is very big.If the 2nd, repair
Region span is excessive, is required for heating the bituminous concrete of in-car every time, and waste is very big, because may one place
A part is needed, and to the distant place of span, need again to the bituminous concrete in tank（Now may also much it be dripped in tank
Blue or green concrete）Heated.
So, how to allow road prosthetic device can automatically walk find the region that goes wrong of road, then will appear from asking
The region of topic is repaired, and is that current urgent need solves so as to detect that road is repaired in time after going wrong in moving process
Problem.
The content of the invention
Goal of the invention：The shortcomings that in order to overcome in background technology, the embodiments of the invention provide a kind of portable self-powered type
Intelligent road repair system and its control method, it can effectively solve the problem that the problem of being related in above-mentioned background technology.
Technical scheme：
A kind of portable self-powered type Intelligent road repair system, including it is housing, prosthetic device, cutter device, drive device, flexible
Device, positioner, wireless device and processor, the housing include object storage silo, telescopic door body, the first shooting
Head, rotary shaft and telescopic mechanical arm, the object storage silo is arranged at the enclosure interior position, for storage article；Institute
The Hatch Opening position that telescopic door body is arranged at the object storage silo is stated, for switching the object storage silo；Described first takes the photograph
Housing side position is arranged at as head and keeps same horizontal line with the surface of shell, for absorbing the casing surroundings
Environmental images；The rotary shaft is arranged at housing side position, for rotating the housing；The telescopic mechanical arm is set
It is equipped with several and is arranged at housing side position, for performs assigned operation；The prosthetic device, which includes repairing, to be stored
Storehouse, heater, repairing nozzle, rubbing device and floating device, the reparation storage silo are arranged at the enclosure interior position
Put, for storing the article on repairing ground；The heater is arranged at the reparation storage silo inner wall position, for heating
State the article repaired in storage silo；The repairing nozzle is arranged at the telescopic mechanical arm front position, for by the reparation
Ground article is repaired in storage silo and is sprayed to specified location；The rubbing device is arranged at the telescopic mechanical arm front position,
The ground specified for polishing；The floating device is arranged at the telescopic mechanical arm front position, is completed for floating repairing
Ground；The cutter device includes cutting blade and cutting motor, and the cutting blade is arranged at the telescopic mechanical arm
Front position, for cutting specified article and ground；The cutting motor is arranged at the enclosure interior position, for driving
The cutting blade is cut；The drive device includes motor and driving crawler belt, the motor are arranged at
The enclosure interior position, for driving the driving crawler belt to run；The driving crawler belt is arranged at the housing lower position,
For driving the housing to walk；The retractor device includes repairing expansion plate and fixed card buckle, and the reparation expansion plate is set
It is placed in the housing top position and uses wear-resisting design against pressure, is close to defect ground for carrying out multi-direction stretch；It is described solid
Determine buckle and be arranged at the reparation expansion plate to be attached with housing junction and respectively with the reparation expansion plate with housing, use
It is fixed in by the reparation expansion plate above the housing；The positioner is arranged at the enclosure interior position, is used for
Position location data corresponding to the shell position and acquisition；The wireless device is arranged at positioner side position,
For respectively with external equipment, road rehabilitation center, alarm center, repair expansion plate and network connection；The processor is set
Be placed in wireless device side position, for respectively with telescopic door body, the first camera, rotary shaft, telescopic mechanical arm, plus
Thermal, repairing nozzle, rubbing device, floating device, cutting motor, motor, fixed card buckle, positioner and wireless
Device connects.
As a kind of preferred embodiment of the present invention, unmanned plane is provided with the object storage silo, the unmanned plane also wraps
Second camera, coating storage silo and paint spray nozzle are included, the second camera is arranged at unmanned plane side position simultaneously
It is connected with wireless device, for absorbing the environmental images around the unmanned plane；The coating storage silo is provided with several simultaneously
The unmanned plane interior location is arranged at, for storing corresponding road traffic mark-line coating；The paint spray nozzle is arranged at institute
State unmanned plane lower position and be connected with wireless device, for spraying the coating in specified coating storage silo.
As a kind of preferred embodiment of the present invention, the unmanned plane also includes blowing device, and the blowing device is arranged at
The unmanned plane lower position is simultaneously connected with wireless device, for being blowed to specified location.
As a kind of preferred embodiment of the present invention, in addition to display screen against pressure, the display screen against pressure is arranged at described repair
Multiple expansion plate and housing junction are simultaneously connected with wireless device, for showing the roadmarking information specified.
As a kind of preferred embodiment of the present invention, the housing also includes warning device, and the warning device includes sound
Siren and light siren, the audible alarm are arranged at housing side position and are connected with processor, be used for
Sound the alarm and warn；The light siren is arranged at housing side position, for sending alarm light alerting system.
A kind of portable self-powered type Intelligent road repair system control method, use a kind of described portable self-powered type intelligence
Energy road rehabilitation system, the described method comprises the following steps：
The enabled instruction that wireless device receives external equipment transmission is then returned to processor, and the processor receives then
Extract the route map included in the enabled instruction and send real time shooting instruction to the first camera, first camera connects
Receive, obtain the first image of casing surroundings in real time and be returned to the processor；
The processor receives then sends route map, the first image and the travel commands, the driving to motor
Motor receives then housing described in control driving track drive and carries out pre-set velocity row according to the route map and the first image
Walk and walking information is returned into the processor；
The processor receives, and analyzes first image in real time, is asked if analyzing road in first image and occurring
Then the processor sends heating instructions to heater and sends first image and close instruction to motor topic,
The heater is received, and controls and itself enters heated condition, and the motor is received then according to first image
Go to the path problem opening position and return to the processor by information is reached；
The processor is received, and the path problem region size information is calculated in real time and to cutting according to first image
Motor is cut to send enabled instruction and send first image, problem area chi to the telescopic mechanical arm for being provided with cutting blade
Very little information and cutting instruction, the cutting motor receive, and control and itself start and drive the cutting blade to run, institute
State telescopic mechanical arm to receive, cut the path problem region according to first image and problem area dimension information
Cut smooth and cutting completion information is returned into the processor；
The processor is received, and first shadow is sent to the telescopic mechanical arm and rubbing device for being provided with rubbing device
Picture, problem area dimension information and polishing instruction, the telescopic mechanical arm and rubbing device receive the then telescopic machine
Tool arm controls the rubbing device to extend out to path problem region bottom according to first image and problem dimension information
Face, which is polished and polishing is completed into information, returns to the processor；
The processor is received, and first shadow is sent to the telescopic mechanical arm and repairing nozzle for being provided with repairing nozzle
Picture, problem area dimension information and reparation instruction, the telescopic mechanical arm and repairing nozzle receive the then telescopic machine
The tool arm control repairing nozzle extend out to the path problem region sprinkling road repair article and repairing is completed into information and returns
Back to the processor；
The processor is received, and first shadow is sent to the telescopic mechanical arm and floating device for being provided with floating device
Picture, problem area dimension information and floating instruction, the telescopic mechanical arm and floating device receive the then telescopic machine
Tool arm control the floating device extend out to the path problem region road repair article is carried out it is floating and will be floating
Complete information and return to the processor；
The processor receives then sends first image, problem area dimension information and placed in the middle to the motor
Instruct and send rotation instruction to idle telescopic mechanical arm and rotary shaft and send positioning instruction to positioner, it is described
Motor receives, and controls housing described in the driving track drive according to first image and problem area size
Information is moved to path problem region center position, and the telescopic mechanical arm and rotary shaft receive, and control the shell
Body rises carries out 180 ° of rotations using the rotary shaft by the housing, and the positioner receives, and positions the housing position
Put and the location data of acquisition is returned into the processor；
The processor, which receives, then sends described problem region size information and transformation directive and to nothing to repairing expansion plate
Line apparatus, which sends first image, problem information and repairs to send instruction and send to the telescopic mechanical arm, declines fitting
Instruct and send flexible release to fixed card buckle and instruct, the expansion plate of repairing receives, and controls itself according to the region
Dimension information carries out being retractable to correspondingly-sized, and the wireless device receives then sends first image to road rehabilitation center
And problem information, the telescopic mechanical arm receive, control the housing that the reparation expansion plate is conformed into the road
Problem area bottom surface, the fixed card buckle receive, and release the housing with repairing the stationary state of expansion plate and will release
The processor is returned into information；
The processor, which receives, then to be sent reset instruction to the telescopic mechanical arm and rotary shaft and is stretched to described repair
Plate sends fitting fixed instruction and sends first image, route map to motor and reset travel commands, described to stretch
Contracting mechanical arm and rotary shaft receive, and control the housing to rise and the housing is carried out into 180 ° again using the rotary shaft
Position rotation, the reparation expansion plate receive, and control itself stretching pre-determined distance to be fixed on the path problem region, described
Motor receives, control the motor drive the housing according to the route map and the first image continue into
Row pre-set velocity is walked.
As a kind of preferred embodiment of the present invention, road, which occurs, in the processor analyzes first image asks
During topic, methods described is further comprising the steps of：
If the processor analyze if there is graticule problem in the road to telescopic door body send open command and to nobody
Machine sends enabled instruction and sends real time shooting instruction to second camera；
The flexible door body receives, and controls and itself opens object storage silo, and the unmanned plane receives, control itself from
The object storage silo flies out and hovered and received in the housing top position, the second camera described in then real time shooting
The second image around unmanned plane is simultaneously returned to the processor；
The processor receive then according to second image analysing computer roadmarking information and to the unmanned plane and
Paint spray nozzle sends the second image and roadmarking the repairing instruction, and the unmanned plane and paint spray nozzle receive then institute
State unmanned plane and the paint spray nozzle is controlled by the painting of corresponding road traffic marking in coating storage silo according to second image
Material is sprayed at roadmarking problem.
As a kind of preferred embodiment of the present invention, the paint spray nozzle is utilized by corresponding road traffic in the unmanned plane
After at the paint spray of graticule to roadmarking problem, methods described is further comprising the steps of：
The processor sends second image to the unmanned plane and blowing device and air-dries instruction, the unmanned plane
And blowing device receives the painting that then unmanned plane is completed sprinkling using the blowing device according to second image
Material, which is dried up and drying is completed into information, returns to the processor；
The processor, which receives, then to be sent reset instruction to the unmanned plane and sends out code to the telescopic door body,
The unmanned plane receives, and controls itself to be back in the object storage silo and fixes, the flexible door body is received, controlled
Itself is closed the object storage silo.
As a kind of preferred embodiment of the present invention, road, which occurs, in the processor analyzes first image asks
During topic, methods described is further comprising the steps of：
The processor sends audible alarm instruction to audible alarm and sends light alarm command to light siren；
The audible alarm receives, and controls itself to sound the alarm and is warned, and the light siren receives, and controls
Make and itself send light and warned.
As a kind of preferred embodiment of the present invention, the housing is released with repairing the fixation of expansion plate in the fixed card buckle
After state, methods described is further comprising the steps of：
The processor sends display releasing instruction to the fixed card buckle and sends the first image, road to the display screen against pressure
Road problem area information and marking line idsplay order；
The fixed card buckle receives, and releases the stationary state of the housing and display screen against pressure, and the display screen against pressure receives
To the then roadmarking information according to corresponding to first image and path problem area information control itself to show.
The present invention realizes following beneficial effect：1. Intelligent road repair system refers in the startup for receiving external equipment transmission
After order, route map therein is extracted, then controls and itself is walked according to the route map, if finding to have ground problem to occur
Afterwards, control and itself go at described problem regional location, then control cutting blade to be cut flat with whole, after the completion of cutting, utilize
The rubbing device polishing road area to be repaired, after the completion of polishing, the article for repairing road is sprayed to using nozzle is repaired
Path problem region, after the completion of sprinkling, expansion plate will be repaired and be put into the region, and it is default to control the reparation expansion plate to stretch out
Distance is fixed, then controls and itself continues to be walked according to the route map.
2. when the Intelligent road repair system detects that road occurs graticule problem, the Intelligent road reparation system
The system control object storage silo of itself is opened, image the asking road area for then controlling unmanned plane to fly out according to intake
The roadmarking spray paint of topic is repaired.
3. after the Intelligent road repair system controls the unmanned plane spray paint to repair, the unmanned plane profit is controlled
The coating of the sprinkling is dried up with blowing device.
4. when the Intelligent road repair system detects that road occurs problem, control audible alarm sends police
Report sound is warned and controlled light siren to send light and warns,
5., will be against pressure aobvious when the reparation expansion plate is fixed on the path problem region by the Intelligent road repair system
Display screen is positioned on the reparation expansion plate and fixed, then roadmarking information corresponding to display.
Brief description of the drawings
Accompanying drawing herein is merged in specification and forms the part of this specification, shows and meets embodiment of the disclosure,
And it is used for the principle for explaining the disclosure together in specification.Fig. 1 is the Intelligent road reparation that the one of example of the present invention provides
The sectional view of system；
Fig. 2 is the schematic diagram for the Intelligent road repair system that the one of example of the present invention provides；
Fig. 3 is the schematic diagram for the unmanned plane that the one of example of the present invention provides；
Fig. 4 is the flow chart for the Intelligent road repair system that the one of example of the present invention provides；
Fig. 5 is the flow chart for the unmanned plane spray painting control method that the one of example of the present invention provides；
Fig. 6 is the flow chart for the graticule air-dry method that the one of example of the present invention provides；
The flow chart of the problem of Fig. 7 provides for the one of example of present invention warning method；
Fig. 8 is the flow chart for the display screen fixing means against pressure that the one of example of the present invention provides；
Fig. 9 is the electronic device connection figure for the Intelligent road repair system that the one of example of the present invention provides.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.
Embodiment one
With reference to figure 1-3, shown in Fig. 9, Fig. 1 is the sectional view for the Intelligent road repair system that the one of example of the present invention provides；
Fig. 2 is the schematic diagram for the Intelligent road repair system that the one of example of the present invention provides；Fig. 3 is the one of example of the present invention
The schematic diagram of the unmanned plane of offer；Fig. 9 is the electronic device for the Intelligent road repair system that the one of example of the present invention provides
Connection figure.
Specifically, the present embodiment provides a kind of portable self-powered type Intelligent road repair system, including housing 1, reparation dress
2, cutter device 3, drive device 4, retractor device 5, positioner 6, wireless device 7 and processor 8 are put, the housing 1 wraps
Object storage silo 10, telescopic door body 11, the first camera 12, rotary shaft 13 and telescopic mechanical arm 14, the object is included to deposit
Warehouse 10 is arranged at the interior location of housing 1, for storage article；The telescopic door body 11 is arranged at the object storage
The Hatch Opening position in storehouse 10, for switching the object storage silo 10；First camera 12 is arranged at the side coil of housing 1
Put and keep same horizontal line with the surface of housing 1, for absorbing the environmental images around the housing 1；The rotary shaft
13 are arranged at the side position of housing 1, for rotating the housing 1；The telescopic mechanical arm 14 is provided with several and set
The side position of housing 1 is placed in, for performing assigned operation；The prosthetic device 2 includes repairing storage silo 20, heater
21st, nozzle 22, rubbing device 23 and floating device 24 are repaired, the reparation storage silo 20 is arranged at position in the housing 1
Put, for storing the article on repairing ground；The heater 21 is arranged at the reparation inner wall position of storage silo 20, for adding
The heat article repaired in storage silo 20；The repairing nozzle 22 is arranged at the front position of telescopic mechanical arm 14, is used for
Specified location is sprayed to by ground article is repaired in the reparation storage silo 20；The rubbing device 23 is arranged at the telescopic machine
The front position of tool arm 14, the ground specified for polishing；The floating device 24 is arranged at the front end position of telescopic mechanical arm 14
Put, the ground completed for floating repairing；The cutter device 3 includes cutting blade 30 and cutting motor 31, the cutting
Blade 30 is arranged at the front position of telescopic mechanical arm 14, for cutting specified article and ground；The cutting motor 31
The interior location of housing 1 is arranged at, for driving the cutting blade 30 to be cut；The drive device 4 includes driving
Motor 40 and driving crawler belt 41, the motor 40 are arranged at the interior location of housing 1, for driving the driving to carry out
Band 41 is run；The driving crawler belt 41 is arranged at the lower position of housing 1, for driving the housing 1 to walk；It is described flexible
Device 5 includes repairing expansion plate 50 and fixed card buckle 51, and the reparation expansion plate 50 is arranged at the top position of housing 1 simultaneously
Using wear-resisting design against pressure, it is close to defect ground for carrying out multi-direction stretch；The fixed card buckle 51 is arranged at the reparation
Expansion plate 50 is attached with the junction of housing 1 and respectively with the reparation expansion plate 50 with housing 1, for the reparation to be stretched
Contracting plate 50 is fixed on the top of housing 1；The positioner 6 is arranged at the interior location of housing 1, for positioning the shell
Location data corresponding to the position of body 1 and acquisition；The wireless device 7 is arranged at the side position of positioner 6, for respectively
With external equipment, road rehabilitation center, alarm center, reparation expansion plate 50 and network connection；The processor 8 is arranged at institute
State the side position of wireless device 7, for respectively with telescopic door body 11, the first camera 12, rotary shaft 13, telescopic mechanical arm
14th, heater 21, repairing nozzle 22, rubbing device 23, floating device 24, cutting motor 31, motor 40, fixed card buckle
51st, positioner 6 and wireless device 7 connect.
As a kind of preferred embodiment of the present invention, unmanned plane 15, the unmanned plane are provided with the object storage silo 10
15 also include second camera 150, coating storage silo 151 and paint spray nozzle 152, and the second camera 150 is arranged at institute
State the side position of unmanned plane 15 and be connected with wireless device 7, for absorbing the environmental images around the unmanned plane 15；The painting
Material storage silo 151 is provided with several and is arranged at the interior location of unmanned plane 15, for storing corresponding road traffic mark
Line coating；The paint spray nozzle 152 is arranged at the lower position of unmanned plane 15 and is connected with wireless device 7, refers to for spraying
Determine the coating in coating storage silo 151.
As a kind of preferred embodiment of the present invention, the unmanned plane 15 also includes blowing device 153, the blowing device
153 are arranged at the lower position of unmanned plane 15 and are connected with wireless device 7, for being blowed to specified location.
As a kind of preferred embodiment of the present invention, in addition to display screen against pressure 9, the display screen 9 against pressure is arranged at described
Repair expansion plate 50 and the junction of housing 1 and be connected with wireless device 7, for showing the roadmarking information specified.
As a kind of preferred embodiment of the present invention, the housing 1 also includes warning device 16, and the warning device 16 includes
Audible alarm 160 and light siren 161, the audible alarm 160 be arranged at the side position of housing 1 and with place
Reason device 8 connects, and is warned for sounding the alarm；The light siren 161 is arranged at the side position of housing 1, for sending out
Go out alarm light alerting system.
Wherein, the telescopic mechanical arm 14 there are several, and cutting blade 30 is corresponding with a telescopic mechanical arm 14, repaiies
The mouth 22 that fills spray is corresponding with a telescopic mechanical arm 14, and rubbing device 23 is corresponding with a telescopic mechanical arm 14, floating device 24 with
One correspondence of telescopic mechanical arm 14, if desired installing function additional then increases new telescopic mechanical arm 14, by that analogy, the intelligent road
Road repair system can be upgraded according to the demand of user；The telescopic mechanical arm 14 can carry out flexible and 360 ° of rotations
Turn；Electronic device inside the Intelligent road repair system returns corresponding after the instruction received is performed to processor 8
Command information corresponding to information or execution is completed in instruction；The rubbing device 23 is ground sander；The floating device 24 is used
Struck off in by the reparation article for being sprayed at problem area；The fixed card buckle 51 is fixed the reparation expansion plate 50 and shown respectively
Display screen is on the housing 1；The unmanned plane 15 hangs on the inner tip position of object storage silo 10；In the processor
8 to the reparation expansion plate 50, second camera 150, unmanned plane 15, paint spray nozzle 152, blowing device 153 and against pressure aobvious
Display screen 9 is operated when sending information and instruction by wireless device 7.
Embodiment two
With reference to shown in figure 4, Fig. 4 is the flow chart for the Intelligent road repair system that the one of example of the present invention provides.
Specifically, the present embodiment provides a kind of portable self-powered type Intelligent road repair system control method, using described
A kind of portable self-powered type Intelligent road repair system, the described method comprises the following steps：
The enabled instruction that S1, wireless device 7 receive external equipment transmission is then returned to processor 8, and the processor 8 connects
Receive, extract the route map included in the enabled instruction and send real time shooting instruction to camera, the camera receives
To then real-time the first image obtained around housing 1 and it is returned to the processor 8；
S2, the processor 8 are received, and the route map, the first image and travel commands, institute are sent to motor 40
State motor 40 to receive, control driving crawler belt 41 drives the housing 1 to be carried out according to the route map and the first image
Pre-set velocity is walked and walking information is returned into the processor 8；
S3, the processor 8 receive, and analyze first image in real time, if analyzing road in first image has
Existing problem then the processor 8 to heater 21 send heating instructions and to motor 40 send first image and
Close to instruction, the heater 21 receives, controls and itself enter heated condition, and the motor 40 receives then root
The path problem opening position is gone to according to first image and returns to the processor 8 by information is reached；
S4, the processor 8 are received, and the path problem region size information is calculated in real time simultaneously according to first image
To cutting motor 31 send enabled instruction and to the telescopic mechanical arm 14 for being provided with cutting blade 30 send first image,
Problem area dimension information and cutting instruction, the cutting motor 31 receive, control and itself start and drive the cutting
Blade 30 is run, and the telescopic mechanical arm 14 is received then according to first image and problem area dimension information by described in
The cutting of path problem region is smooth and cutting completion information is returned into the processor 8；
S5, the processor 8 receive, and are sent to the telescopic mechanical arm 14 and rubbing device 23 for being provided with rubbing device 23
First image, problem area dimension information and polishing instruction, the telescopic mechanical arm 14 and rubbing device 23 receive
The rubbing device 23 is controlled to extend out to according to first image and problem dimension information to the then telescopic mechanical arm 14
Path problem region bottom surface, which is polished and polishing is completed into information, returns to the processor 8；
S6, the processor 8 receive, and are sent to the telescopic mechanical arm 14 and repairing nozzle 22 for being provided with repairing nozzle 22
First image, problem area dimension information and reparation instruction, the telescopic mechanical arm 14 and repairing nozzle 22 receive
The repairing nozzle 22 is controlled to extend out to the path problem region sprinkling road repair article to the then telescopic mechanical arm 14
And information is completed into repairing and returns to the processor 8；
S7, the processor 8 receive, and are sent to the telescopic mechanical arm 14 and floating device 24 for being provided with floating device 24
First image, problem area dimension information and floating instruction, the telescopic mechanical arm 14 and floating device 24 receive
The floating device 24 is controlled to extend out to the path problem region by the road repair thing to the then telescopic mechanical arm 14
Product carry out floating and floating completion information are returned into the processor 8；
S8, the processor 8 receive, to the motor 40 send first image, problem area dimension information with
And instruct between two parties and send rotation instruction to idle telescopic mechanical arm 14 and rotary shaft 13 and determine to the transmission of positioner 6
Bit instruction, the motor 40 receive, and control the driving crawler belt 41 to drive the housing 1 according to first image
And problem area dimension information is moved to path problem region center position, the telescopic mechanical arm 14 and rotary shaft
13 receive, and control the housing 1 to rise and the housing 1 is carried out into 180 ° of rotations, the positioning dress using the rotary shaft 13
Put 6 to receive, position the position of housing 1 and the location data of acquisition is returned into the processor 8；
S9, the processor 8 receive then sends described problem region size information and transformation directive to reparation expansion plate 50
Instruct and sent out to the telescopic mechanical arm 14 with sending first image, problem information to wireless device 7 and repairing to send
Send decline fitting instruction and send to stretch to fixed card buckle 51 and release instruction, the reparation expansion plate 50 receives then control certainly
Body is carried out being retractable to correspondingly-sized according to the region size information, and the wireless device 7 is received then to road rehabilitation center
First image and problem information are sent, the telescopic mechanical arm 14 receives, and controls the housing 1 by the reparation
Expansion plate 50 conforms to path problem region bottom surface, and the fixed card buckle 51 receives, and releases the housing 1 with repairing
Releasing completion information is simultaneously returned to the processor 8 by the stationary state of expansion plate 50；
S10, the processor 8 receive then sends reset instruction and to described to the telescopic mechanical arm 14 and rotary shaft 13
Expansion plate 50 is repaired to send fitting fixed instruction and send first image, route map to motor 40 and reset walking
Instruction, the telescopic mechanical arm 14 and rotary shaft 13 receive, and controlling the housing 1 to rise will using the rotary shaft 13
The housing 1 carries out 180 ° and resets rotation, and the reparation expansion plate 50 receives, and controls itself stretching pre-determined distance to be fixed on
The path problem region, the motor 40 receive, and control the motor 40 to drive the housing 1 according to institute
State route map and the first image continues pre-set velocity walking.
Wherein, operation information and the route map of traveling are included in the enabled instruction；First image refers to institute
State the real time environment image around the housing 1 of the real time shooting of the first camera 12；The pre-set velocity be 0-100 kilometers/
Hour, preferably 20 kilometers/hour in the present embodiment；The path problem includes but is not limited to pothole, damage, defect
Deng path problem；The heating instructions include heating-up temperature and heat time；Described problem region size information includes problem
Zone length, width, depth and shape information；The cutting is smooth refer to according to the shape in the path problem region by its
Smooth cut is neat；The polishing refers to the bottom surface and side for completing the cutting in path problem region using ground sander
It is polishing to smooth；The road repair article includes the asphalt floor patching material of repairing road, cement flooring repairing
Material etc. repairs the material on ground；The floating repairing road articles for use for referring to be sprayed in the bottom surface of path problem region are scraped
It is flat；The cutting blade 30 cuts out one when cutting road problem area, by path problem region bottom surface surrounding side
The deep 5 centimetres groove in bar side, stretch out fixation for repairing expansion plate 50；Described 180 ° of rotations of progress refer to revolve the top of housing 1
Lower section is gone to, the rotation of expansion plate 50 will be repaired extremely towards road surface；180 ° of the progress resets rotations and refers to revolve the lower section of housing 1
Turn to recover, i.e., rotate object storage silo 10 to towards road surface；The pre-determined distance refers to 0-100 centimetres, in the present embodiment
Preferably 5 centimetres, the pre-determined distance is consistent with fluting depth measurement.
In S1, specifically after the enabled instruction that wireless device 7 receives external equipment transmission, the wireless device 7 will
The enabled instruction returns to processor 8, after the processor 8 receives the enabled instruction, extracts in the enabled instruction
Comprising route map, while the processor 8 to camera send real time shooting instruction, the camera receive it is described in real time
After intake instruction, the first image around housing 1 is obtained in real time, while first image is returned into the processor in real time
8。
In S2, specifically after the processor 8 receives first image, the route is sent to motor 40
Figure, the first image and travel commands, after the motor 40 receives described information and instruction, control driving crawler belt 41
The speed for driving the housing 1 to carry out 20 kilometers/hour according to the route map and the first image is walked, after walking,
Walking information is returned to the processor 8 by the motor 40.
In S3, specifically after the processor 8 receives the walking information, first image is analyzed in real time, if
Analyze after road occurs problem in first image, the processor 8 sends heating instructions to heater 21, simultaneously
The processor 8 sends first image and close to instruction to motor 40, and the heater 21 receives described
After heating instructions, control and itself enter the heated condition of time consistent with the heat time that heating instructions include, heated condition
Temperature for it is described reparation storage silo 20 in road repair article fusing point, the motor 40 receive first image with
And after instruction, the path problem opening position is gone to according to first image, after arrival, the motor 40 will arrive
The processor 8 is returned to up to information.
In S4, specifically after the processor 8 receives the arrival information, calculated in real time according to first image
The path problem region size information, after the completion of calculating, the processor 8 sends enabled instruction to cutting motor 31, simultaneously
The processor 8 sends first image, problem area dimension information to the telescopic mechanical arm 14 for being provided with cutting blade 30
And cutting instruction, after the cutting motor 31 receives the enabled instruction, control and itself start and drive the cutter
Piece 30 is run, after the telescopic mechanical arm 14 receives described information and instruction, according to first image and problem area
Domain sizes information is smooth by path problem region cutting, and after the completion of cutting, the telescopic mechanical arm 14 will cut and complete letter
Breath returns to the processor 8.
In S5, specifically received in the processor 8 after the cutting completes information, to being provided with rubbing device 23
Telescopic mechanical arm 14 and rubbing device 23 send first image, problem area dimension information and polishing instruction, described
After telescopic mechanical arm 14 and rubbing device 23 receive described information and instruction, the telescopic mechanical arm 14 is according to described the
One image and problem dimension information control the rubbing device 23 to extend out to path problem region bottom surface and polished,
After the completion of polishing, the information for completion of polishing is returned to the processor 8 by the telescopic mechanical arm 14 and rubbing device 23.
In S6, specifically after the processor 8 receives the polishing completion information, nozzle 22 is repaired to being provided with
Telescopic mechanical arm 14 and repairing nozzle 22 send first image, problem area dimension information and repair instruction, described
After telescopic mechanical arm 14 and repairing nozzle 22 receive described information and instruction, the telescopic mechanical arm 14 is by the repairing
Nozzle 22 extend out to the path problem region sprinkling road repair article for repairing heating completion in storage silo 20, sprinkling
After the completion of, the telescopic mechanical arm 14 and repairing nozzle 22 will repair completion information and return to the processor 8.
In S7, specifically received in the processor 8 after the repairing completes information, to being provided with floating device 24
Telescopic mechanical arm 14 and floating device 24 send first image, problem area dimension information and floating instruction, described
After telescopic mechanical arm 14 and floating device 24 receive described information and instruction, the telescopic mechanical arm 14 controls described smear
Leveling device 24 extend out to the path problem region road repair article is carried out it is floating, it is described flexible after the completion of floating
Floating completion information is returned to the processor 8 by mechanical arm 14 and floating device 24.
In S8, specifically after the processor 8 receives the floating completion information, sent to the motor 40
First image, problem area dimension information and instruction placed in the middle, the motor 40 perform complete described information with
And instruction and complete corresponding perform after information returns to the processor 8, the processor 8 is to idle telescopic mechanical arm
14 and rotary shaft 13 send rotation instruction, the idle telescopic mechanical arm 14 for referring to be not in running status, while described
Processor 8 sends positioning instruction to positioner 6, after the motor 40 receives described information and instruction, controls institute
Driving crawler belt 41 is stated to drive the housing 1 to be moved to the road according to first image and problem area dimension information to ask
Inscribe region center position, the path problem region be positioned over for expansion plate 50 will be repaired, the telescopic mechanical arm 14 and
After rotary shaft 13 receives the rotation instruction, the telescopic mechanical arm 14 controls the housing 1 to rise and utilizes the rotary shaft
The housing 1 is carried out the rotation of 180 ° of side by 13, will be repaired expansion plate 50 and be faced to road-surface problem region, the positioner
After 6 receive the positioning instruction, position the position of housing 1 and obtain the location data of the position, the then positioning
The location data of acquisition is returned to the processor 8 by device 6.
In S9, specifically after the information that the processor 8 receives the location data and rotation is completed, the place
Manage device 8 and send described problem region size information and transformation directive to repairing expansion plate 50, while the processor 8 is to wireless
Device 7, which sends first image, problem information and repaired, sends instruction, is completed in reparation expansion plate 50 execution corresponding
Information and instruction and to processor 8 return corresponding to perform and complete information after, the processor 8 is to the telescopic mechanical arm
14, which send decline fitting, instructs, and completes corresponding instruction in the telescopic mechanical arm 14 execution and is returned to processor 8 corresponding
Perform after completing information, the processor 8 sends flexible releasing instruction to fixed card buckle 51, and the reparation expansion plate 50 receives
After described problem region size information and transformation directive, control and itself corresponding chi is retractable to according to the region size information
Very little, i.e., described reparation expansion plate 50 is converted into the size consistent with described problem region size information, and the wireless device 7 receives
To after described information and instruction, the wireless device 7 sends first image and problem information to road rehabilitation center,
Repaiied with notifying the road rehabilitation department in Intelligent road repair system place city to go in time described in reparation road surface and replacement
Multiple expansion plate 50, after the telescopic mechanical arm 14 receives the decline fitting instruction, control and repaiied described in described 1 time general who has surrendered of housing
Multiple expansion plate 50 conforms to path problem region bottom surface, that is, controls the housing 1 that the reparation expansion plate 50 is placed into patch
Together in the road rehabilitation article surface in the path problem region, the fixed card buckle 51 receives flexible release and instructed
Afterwards, control and itself release the housing 1 with repairing the stationary state of expansion plate 50, described will repair expansion plate 50 and be positioned over institute
Path problem region is stated, after the completion of releasing, the fixed card buckle 51 will release completion information and return to the processor 8.
In S10, specifically after the processor 8 receives the releasing completion information, the processor 8 is stretched to described
Contracting mechanical arm 14 and rotary shaft 13 send reset instruction, while the processor 8 sends fitting to the reparation expansion plate 50
Fixed instruction, the telescopic mechanical arm 14 and rotary shaft 13 perform the instruction and performing complete information return to it is described
After processor 8, the processor 8 sends first image, route map to motor 40 and resets travel commands, described
After telescopic mechanical arm 14 and rotary shaft 13 receive the reset instruction, the telescopic mechanical arm 14 is controlled on the housing 1
Rise and the housing 1 is carried out 180 ° using the rotary shaft 13 reset rotation, will the housing 1 rotation recover to initial bit
Put, by object storage silo 10 towards road surface, after the reparation expansion plate 50 receives the fitting fixed instruction, control and itself stretch
Go out 5 centimetres of pre-determined distance and be fixed on the path problem region, the motor 40 receives described information and instruction
Afterwards, control the motor 40 drive the housing 1 according to the route map and the first image continue 20 kilometers/it is small
When speed walking.
Embodiment three
With reference to shown in figure 5, Fig. 5 is the flow chart for the unmanned plane spray painting control method that the one of example of the present invention provides.
The present embodiment and embodiment one are substantially consistent, and difference part is, in the present embodiment, divides in the processor 8
When separating out that road occurs problem in first image, methods described is further comprising the steps of：
S20, if the processor 8 analyze if there is graticule problem in the road to telescopic door body 11 send open command simultaneously
Enabled instruction is sent to unmanned plane 15 and sends real time shooting instruction to second camera 150；
S21, the flexible door body receive, and control and itself open object storage silo 10, and the unmanned plane 15 receives, and controls
Make and itself fly out and hover from the object storage silo 10 in the top position of housing 1, the camera receives then real-time
Absorb the second image around the unmanned plane 15 and be returned to the processor 8；
S22, the processor 8 receive the then roadmarking information and to the unmanned plane according to second image analysing computer
15 and paint spray nozzle 152 send second image and roadmarking repairing instruction, unmanned plane 15 and the coating spray
Mouth 152 receives the then unmanned plane 15 and controls the paint spray nozzle 152 by coating storage silo 151 according to second image
At the paint spray of corresponding road traffic marking to roadmarking problem.
Specifically, when road occurs problem during the processor 8 analyzes first image, if the processor
8 analyze the road produced problem as after graticule problem, the graticule problem refer to road ground occur graticule lack,
The problems such as abrasion, the processor 8 send open command to telescopic door body 11, are performed in the telescopic door body 11 and complete institute
After stating instruction and the information for performing completion being returned into processor 8, the processor 8 sends enabled instruction to unmanned plane 15, together
Shi Suoshu processors 8 send real time shooting instruction to second camera 150, and the flexible door body receives the open command
Afterwards, control autogenous shrinkage is opened object storage silo 10, and after the unmanned plane 15 receives the enabled instruction, control is certainly
Body is flown out from the object storage silo 10 and hovered in the top position of housing 1, and the camera receives described to be taken the photograph in real time
After instruction fetch, the second image described in real time shooting around unmanned plane 15, second image refers to the second camera 150
Environmental images around the unmanned plane 15 of real time shooting, while the second camera 150 is real-time by second image
The processor 8 is returned to, after the processor 8 receives second image, according to road described in second image analysing computer
There is the graticule pattern of graticule problem area, graticule color, graticule size, coating needed for graticule etc. in marking lines information, i.e. analysis
Information, the processor 8 sends second image, analysis to the unmanned plane 15 and paint spray nozzle 152 after the completion of analysis
Roadmarking information and roadmarking the repairing instruction gone out, the unmanned plane 15 and paint spray nozzle 152 receive the letter
After breath and instruction, the unmanned plane 15 controls the coating according to second image and the roadmarking information analyzed
Nozzle 152 by coating storage silo 151 with graticule needed for the coating root of coating and the corresponding road traffic marking of graticule color
It is sprayed to according to the graticule pattern, graticule size at roadmarking problem.
Example IV
With reference to shown in figure 6, Fig. 6 is the flow chart for the graticule air-dry method that the one of example of the present invention provides.
The present embodiment and embodiment one are substantially consistent, and difference part is, in the present embodiment, in the profit of unmanned plane 15
With the paint spray nozzle 152 by after at the paint spray of corresponding road traffic marking to roadmarking problem, methods described is also
Comprise the following steps：
S23, the processor 8 send second image to the unmanned plane 15 and blowing device 153 and air-dry instruction,
The unmanned plane 15 and blowing device 153 are received the then unmanned plane 15 and filled according to second image using the blowing
153 are put to dry up the coating for spraying completion and drying completion information is returned into the processor 8；
S24, the processor 8 receive, and send reset instruction to the unmanned plane 15 and are sent to the telescopic door body 11
Out code, the unmanned plane 15 receive, and control and itself are back in the object storage silo 10 fixed, the retractable door
Body receives, and controls and itself is closed the object storage silo 10.
Specifically, the coating of corresponding road traffic marking is sprayed using the paint spray nozzle 152 in the unmanned plane 15
After spilling to roadmarking problem, the processor 8 sends second image to the unmanned plane 15 and blowing device 153
And instruction is air-dried, it is described after the unmanned plane 15 and blowing device 153 receive second image and air-dry instruction
Unmanned plane 15 is dried up the coating for spraying completion using the blowing device 153 according to second image, coating drying
After the completion of, the unmanned plane 15 and blowing device 153 will dry up completion information and return to the processor 8, the processor 8
After receiving the drying completion information, second image and reset instruction are sent to the unmanned plane 15, in the nothing
Man-machine 15 perform complete the instruction and to the processor 8 return corresponding to perform and complete information after, the processor 8 is to institute
State telescopic door body 11 and send out code, after the unmanned plane 15 receives second image and reset instruction, control
Itself is back to hang in the object storage silo 10 according to second image and fixed, and the flexible door body receives the pass
After closing instruction, control itself to stretch out and closed the object storage silo 10.
Embodiment five
With reference to shown in figure 7, the problem of Fig. 7 provides for the one of example of the present invention warning method flow chart.
The present embodiment and embodiment one are substantially consistent, and difference part is, in the present embodiment, divides in the processor 8
When separating out that road occurs problem in first image, methods described is further comprising the steps of：
S25, the processor 8 send audible alarm instruction to audible alarm 160 and send light to light siren 161
Alarm command；
S26, the audible alarm 160 receive, and control itself to sound the alarm and are warned, the light siren 161
Receive, control and itself send light and warned.
Specifically, when road occurs problem during the processor 8 analyzes first image, the processor 8
Audible alarm instruction is sent to audible alarm 160 and sends light alarm command, the sound police to light siren 161
After report device 160 receives the audible alarm instruction, the alarm song for itself sending 90 decibels is controlled to be warned, around reminding
Pedestrian and vehicle pay attention to, avoid construction when pedestrian and vehicle cause injures and deaths, the light siren into construction area accidentally
After 161 receive the light alarm command, control and itself send strong light and warned, to strengthen warning.
Embodiment six
With reference to shown in figure 8, Fig. 8 is the flow chart for the display screen fixing means against pressure that the one of example of the present invention provides.
The present embodiment and embodiment one are substantially consistent, and difference part is, in the present embodiment, in the fixed card buckle 51
After releasing stationary state of the housing 1 with repairing expansion plate 50, methods described is further comprising the steps of：
S90, the processor 8 send display to the fixed card buckle 51 and release instruction and send the to the display screen 9 against pressure
One image, path problem area information and marking line idsplay order；
S91, the fixed card buckle 51 receive, and release the stationary state of the housing 1 and display screen 9 against pressure, described against pressure aobvious
Display screen 9 receives, the roadmarking letter according to corresponding to first image and path problem area information control itself to show
Breath.
Specifically, after the fixed card buckle 51 releases stationary state of the housing 1 with repairing expansion plate 50, the place
Manage device 8 and send display to the fixed card buckle 51 and release instruction, while the processor 8 sends the to the display screen 9 against pressure
One image, path problem area information and marking line idsplay order, the fixed card buckle 51 receive the display releasing and referred to
After order, the stationary state of the housing 1 and display screen 9 against pressure is released, i.e., display screen 9 against pressure is positioned over the reparation expansion plate
On 50, after the display screen 9 against pressure receives described information and instruction, according to first image and path problem region
Information controls and itself shows roadmarking information corresponding with path problem region front and back end.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow be familiar with the skill of the technical field
Art personnel can understand present disclosure and implement according to this, can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, it should all be included within the scope of the present invention.
Claims (10)
1. a kind of portable self-powered type Intelligent road repair system, including housing, prosthetic device, cutter device, drive device, stretch
Compression apparatus, positioner, wireless device and processor, it is characterised in that the housing includes object storage silo, telescopic door
Body, the first camera, rotary shaft and telescopic mechanical arm, the object storage silo are arranged at the enclosure interior position, are used for
Storage article；The telescopic door body is arranged at the Hatch Opening position of the object storage silo, for switching the object storage silo；
First camera is arranged at housing side position and keeps same horizontal line with the surface of shell, for absorbing
State the environmental images of casing surroundings；The rotary shaft is arranged at housing side position, for rotating the housing；It is described to stretch
Contracting mechanical arm is provided with several and is arranged at housing side position, for performing assigned operation；The prosthetic device bag
Include and repair storage silo, heater, repairing nozzle, rubbing device and floating device, the reparation storage silo is arranged at described
Enclosure interior position, for storing the article on repairing ground；The heater is arranged at the reparation storage silo inner wall position,
For heating the article in the reparation storage silo；The repairing nozzle is arranged at the telescopic mechanical arm front position, is used for
Specified location is sprayed to by ground article is repaired in the reparation storage silo；The rubbing device is arranged at the telescopic mechanical arm
Front position, the ground specified for polishing；The floating device is arranged at the telescopic mechanical arm front position, for floating
Repair the ground completed；The cutter device includes cutting blade and cutting motor, and the cutting blade is arranged at described stretch
Contracting mechanical arm front position, for cutting specified article and ground；The cutting motor is arranged at the enclosure interior position,
For driving the cutting blade to be cut；The drive device includes motor and driving crawler belt, the driving electricity
Machine is arranged at the enclosure interior position, for driving the driving crawler belt to run；The driving crawler belt is arranged at the housing
Lower position, for driving the housing to walk；The retractor device includes repairing expansion plate and fixed card buckle, the reparation
Expansion plate is arranged at the housing top position and uses wear-resisting design against pressure, for carrying out multi-direction stretch with being close to defect
Face；The fixed card buckle is arranged at the reparation expansion plate and entered with housing junction and respectively with the reparation expansion plate with housing
Row connection, for the reparation expansion plate to be fixed on above the housing；The positioner is arranged at the enclosure interior
Position, for positioning location data corresponding to the shell position and acquisition；The wireless device is arranged at the positioner
Side position, for respectively with external equipment, road rehabilitation center, alarm center, repair expansion plate and network connection；It is described
Processor is arranged at wireless device side position, for respectively with telescopic door body, the first camera, rotary shaft, flexible
Mechanical arm, heater, repairing nozzle, rubbing device, floating device, cutting motor, motor, fixed card buckle, positioning dress
Put and wireless device connects.
A kind of 2. portable self-powered type Intelligent road repair system according to claim 1, it is characterised in that the object
It is provided with unmanned plane in storage silo, the unmanned plane also includes second camera, coating storage silo and paint spray nozzle, and described
Two cameras are arranged at unmanned plane side position and are connected with wireless device, for absorbing the environment around the unmanned plane
Image；The coating storage silo is provided with several and is arranged at the unmanned plane interior location, for storing corresponding road
Traffic marking coating；The paint spray nozzle is arranged at the unmanned plane lower position and is connected with wireless device, refers to for spraying
Determine the coating in coating storage silo.
A kind of 3. portable self-powered type Intelligent road repair system according to claim 2, it is characterised in that it is described nobody
Machine also includes blowing device, and the blowing device is arranged at the unmanned plane lower position and is connected with wireless device, for
Specified location is blowed.
4. a kind of portable self-powered type Intelligent road repair system according to claim 1, it is characterised in that also include anti-
Display screen is pressed, the display screen against pressure is arranged at the reparation expansion plate and housing junction and is connected with wireless device, used
In the roadmarking information that display is specified.
A kind of 5. portable self-powered type Intelligent road repair system according to claim 1, it is characterised in that the housing
Also include warning device, the warning device includes audible alarm and light siren, and the audible alarm is arranged at
Housing side position is simultaneously connected with processor, is warned for sounding the alarm；The light siren is arranged at the shell
Side orientation is put, for sending alarm light alerting system.
6. a kind of portable self-powered type Intelligent road repair system control method, usage right requires that one kind described in 1-5 is mobile
Formula self-powered type Intelligent road repair system, it is characterised in that the described method comprises the following steps：
The enabled instruction that wireless device receives external equipment transmission is then returned to processor, and the processor receives then
Extract the route map included in the enabled instruction and send real time shooting instruction to the first camera, first camera connects
Receive, obtain the first image of casing surroundings in real time and be returned to the processor；
The processor receives then sends route map, the first image and the travel commands, the driving to motor
Motor receives then housing described in control driving track drive and carries out pre-set velocity row according to the route map and the first image
Walk and walking information is returned into the processor；
The processor receives, and analyzes first image in real time, is asked if analyzing road in first image and occurring
Then the processor sends heating instructions to heater and sends first image and close instruction to motor topic,
The heater is received, and controls and itself enters heated condition, and the motor is received then according to first image
Go to the path problem opening position and return to the processor by information is reached；
The processor is received, and the path problem region size information is calculated in real time and to cutting according to first image
Motor is cut to send enabled instruction and send first image, problem area chi to the telescopic mechanical arm for being provided with cutting blade
Very little information and cutting instruction, the cutting motor receive, and control and itself start and drive the cutting blade to run, institute
State telescopic mechanical arm to receive, cut the path problem region according to first image and problem area dimension information
Cut smooth and cutting completion information is returned into the processor；
The processor is received, and first shadow is sent to the telescopic mechanical arm and rubbing device for being provided with rubbing device
Picture, problem area dimension information and polishing instruction, the telescopic mechanical arm and rubbing device receive the then telescopic machine
Tool arm controls the rubbing device to extend out to path problem region bottom according to first image and problem dimension information
Face, which is polished and polishing is completed into information, returns to the processor；
The processor is received, and first shadow is sent to the telescopic mechanical arm and repairing nozzle for being provided with repairing nozzle
Picture, problem area dimension information and reparation instruction, the telescopic mechanical arm and repairing nozzle receive the then telescopic machine
The tool arm control repairing nozzle extend out to the path problem region sprinkling road repair article and repairing is completed into information and returns
Back to the processor；
The processor is received, and first shadow is sent to the telescopic mechanical arm and floating device for being provided with floating device
Picture, problem area dimension information and floating instruction, the telescopic mechanical arm and floating device receive the then telescopic machine
Tool arm control the floating device extend out to the path problem region road repair article is carried out it is floating and will be floating
Complete information and return to the processor；
The processor receives then sends first image, problem area dimension information and placed in the middle to the motor
Instruct and send rotation instruction to idle telescopic mechanical arm and rotary shaft and send positioning instruction to positioner, it is described
Motor receives, and controls housing described in the driving track drive according to first image and problem area size
Information is moved to path problem region center position, and the telescopic mechanical arm and rotary shaft receive, and control the shell
Body rises carries out 180 ° of rotations using the rotary shaft by the housing, and the positioner receives, and positions the housing position
Put and the location data of acquisition is returned into the processor；
The processor, which receives, then sends described problem region size information and transformation directive and to nothing to repairing expansion plate
Line apparatus, which sends first image, problem information and repairs to send instruction and send to the telescopic mechanical arm, declines fitting
Instruct and send flexible release to fixed card buckle and instruct, the expansion plate of repairing receives, and controls itself according to the region
Dimension information carries out being retractable to correspondingly-sized, and the wireless device receives then sends first image to road rehabilitation center
And problem information, the telescopic mechanical arm receive, control the housing that the reparation expansion plate is conformed into the road
Problem area bottom surface, the fixed card buckle receive, and release the housing with repairing the stationary state of expansion plate and will release
The processor is returned into information；
The processor, which receives, then to be sent reset instruction to the telescopic mechanical arm and rotary shaft and is stretched to described repair
Plate sends fitting fixed instruction and sends first image, route map to motor and reset travel commands, described to stretch
Contracting mechanical arm and rotary shaft receive, and control the housing to rise and the housing is carried out into 180 ° again using the rotary shaft
Position rotation, the reparation expansion plate receive, and control itself stretching pre-determined distance to be fixed on the path problem region, described
Motor receives, control the motor drive the housing according to the route map and the first image continue into
Row pre-set velocity is walked.
A kind of 7. portable self-powered type Intelligent road repair system control method according to claim 6, it is characterised in that
When road occurs problem during the processor analyzes first image, methods described is further comprising the steps of：
If the processor analyze if there is graticule problem in the road to telescopic door body send open command and to nobody
Machine sends enabled instruction and sends real time shooting instruction to second camera；
The flexible door body receives, and controls and itself opens object storage silo, and the unmanned plane receives, control itself from
The object storage silo flies out and hovered and received in the housing top position, the second camera described in then real time shooting
The second image around unmanned plane is simultaneously returned to the processor；
The processor receive then according to second image analysing computer roadmarking information and to the unmanned plane and
Paint spray nozzle sends the second image and roadmarking the repairing instruction, and the unmanned plane and paint spray nozzle receive then institute
State unmanned plane and the paint spray nozzle is controlled by the painting of corresponding road traffic marking in coating storage silo according to second image
Material is sprayed at roadmarking problem.
A kind of 8. portable self-powered type Intelligent road repair system control method according to claim 7, it is characterised in that
After the unmanned plane utilizes the paint spray nozzle by the paint spray of corresponding road traffic marking to roadmarking problem,
Methods described is further comprising the steps of：
The processor sends second image to the unmanned plane and blowing device and air-dries instruction, the unmanned plane
And blowing device receives the painting that then unmanned plane is completed sprinkling using the blowing device according to second image
Material, which is dried up and drying is completed into information, returns to the processor；
The processor, which receives, then to be sent reset instruction to the unmanned plane and sends out code to the telescopic door body,
The unmanned plane receives, and controls itself to be back in the object storage silo and fixes, the flexible door body is received, controlled
Itself is closed the object storage silo.
A kind of 9. portable self-powered type Intelligent road repair system control method according to claim 6, it is characterised in that
When road occurs problem during the processor analyzes first image, methods described is further comprising the steps of：
The processor sends audible alarm instruction to audible alarm and sends light alarm command to light siren；
The audible alarm receives, and controls itself to sound the alarm and is warned, and the light siren receives, and controls
Make and itself send light and warned.
10. a kind of portable self-powered type Intelligent road repair system control method according to claim 6, its feature exist
In after the fixed card buckle releases stationary state of the housing with repairing expansion plate, methods described is further comprising the steps of：
The processor sends display releasing instruction to the fixed card buckle and sends the first image, road to the display screen against pressure
Road problem area information and marking line idsplay order；
The fixed card buckle receives, and releases the stationary state of the housing and display screen against pressure, and the display screen against pressure receives
To the then roadmarking information according to corresponding to first image and path problem area information control itself to show.
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