CN108611955A - Intelligent pavement seam filling equipment and cementation of fissures method - Google Patents
Intelligent pavement seam filling equipment and cementation of fissures method Download PDFInfo
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- CN108611955A CN108611955A CN201810401363.4A CN201810401363A CN108611955A CN 108611955 A CN108611955 A CN 108611955A CN 201810401363 A CN201810401363 A CN 201810401363A CN 108611955 A CN108611955 A CN 108611955A
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- gap
- cementation
- fissures
- rack
- controller
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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
- E01C23/098—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 and working the surface of the filling or applying particulate material thereto, e.g. smoothing, gritting
Abstract
The invention discloses a kind of intelligent pavement seam filling equipment and cementation of fissures method, cementation of fissures equipment to include：Moveable rack；Cementation of fissures device；First detection device obtains environment detection result for being detected to present position and surface conditions；Second detection device, the gap for road pavement detect and obtain relevant parameter；Cementation of fissures device；Communication device；Control device, including：First controller controls movement or stopping and the direction of rack；Second controller controls cementation of fissures device；Master controller and emergency governor.Plan the traveling of rack in cementation of fissures method according to environment detection result by master controller, it is determined whether to enable the second detection devices, and according to choosing whether to use cementation of fissures device after the relevant parameter in its gap measured and preset range.The present invention is applied widely, and service life of road surface is long after the cementation of fissures.
Description
Technical field
The present invention relates to construction equipments and method field.It is more particularly related to which a kind of intelligence pavement seam filling is set
Standby and cementation of fissures method.
Background technology
Crack is one of the principal mode of highway early disease, wherein being split with threadiness such as transverse crack, longitudinal cracks
It stitches most commonly seen.Slit-pouring Technology is the treatment technology for these diseases, covers gap-grouting material, cementation of fissures equipment and cementation of fissures work
The content of skill etc..Pouring machine is the important equipment of Slit-pouring Technology.The effect of pouring machine be fracture carry out fluting with it is clear
After managing step, fracture is heated, and is used in combination caulking gun that fluid sealant is equably poured into slot, completes work of squeegeeing.
With the fast development of Chinese Highway especially high-grade highway, the requirement to maintenance technology and maintenance of equipment is also got over
Come it is higher, at present the country maintenance department about highway crack handle operation, be mostly in craft and semi-mechanization operation, automatically
Phenomena such as change degree is not high, and the road surface of sealing is easy to crack, easy to aging since manually-operated error will appear, short life, reduces
The security performance on road surface.Therefore there is an urgent need for a kind of high degree of automation of searching, operations precisely, the cementation of fissures intelligent road with long service life
Face cementation of fissures equipment and rational cementation of fissures method, to improve the safety of road.
Invention content
It is an object of the invention to solve the above problems, and provide the advantages of will be described later.
It is a still further object of the present invention to provide a kind of intelligent pavement seam filling equipment, control device includes control cementation of fissures device
Second controller, the first controller of machine frame movement is controlled, compared with being analyzed according to the relevant parameter in gap and preset range
Master controller can be established contact with external control centre and realize the external communication device controlled and can be controlled by user
Emergency braking key, security performance is high, and controllability is good, and intelligent pavement seam filling equipment is applied widely, high degree of automation, and function is neat
Entirely, using flexible.
It is a still further object of the present invention to provide a kind of cementation of fissures method of intelligent pavement seam filling equipment, by master controller according to
Environment detection result plans the traveling of rack, and according to the relevant parameter in its gap measured and preset range relatively after first select
Whether second detection device is opened, and then it is determined whether to enable cementation of fissures device, can be automatically stopped after the completion of the cementation of fissures, and advance to
Next place continues.The cementation of fissures method of the present invention is applied widely, and high degree of automation can repair system-wide section, fills
Service life of road surface is long after seam.
In order to realize these purposes and other advantages according to the present invention, a kind of intelligent pavement seam filling equipment, packet are provided
It includes：
Moveable rack；
Cementation of fissures device is fixed in the rack；
First detection device is set in the rack, for the ambient enviroment of present position and including gap
Surface conditions detected to obtain environment detection result；
Second detection device is set in the rack, and the gap for road pavement is detected and obtains the phase in gap
Close information；
Communication device is contacted with control centre, and for realizing the reception and transmission of information between control centre；
Control device is set to the machine frame inside, including：
First controller is used to control the direction of movement or the stopping and movement of the rack；
Second controller is used to control the cementation of fissures device and carries out the cementation of fissures；And
Master controller is connected respectively to first controller, second controller, the first detection device, the second detection
Device and communication device, the direction that the master controller is used to be advanced according to rack described in the environment detection output control；
It is additionally operable to pass through the first controller control if there are gap with the presence or absence of gap according to the environment detection interpretation of result
It makes the rack to stop, being then turned on second detection device；The seam measured according to second detection device after unlatching
The environment detection result binding analysis that the relevant information of gap is measured with first detection device, obtains the correlation in real-time gap
Parameter, if the relevant parameter in gap is in the first preset range, the master controller is started by the second controller to be filled
Device is stitched, is not otherwise started, then when the relevant parameter in real-time gap is in the second preset range, the filling is closed in control
Device is stitched, then machine frame movement described in the main controller controls；The master controller is additionally operable to connect by the communication device
Receive order or the transmission information of control centre；
Emergency governor and the emergency braking key that transparent watertight lid to be opened/closed is equipped with set on rack outer surface and surface, institute
It states emergency braking and is keyed to the emergency governor, emergency governor is connected to first controller, second controller,
One detection device and the second detection device, for being simultaneously stopped rack, cementation of fissures device, the first detection device and the second detection dress
It sets.
Preferably, further include：Rotatable base is fixed in the rack；
The cementation of fissures device includes：
Bitumen crack-pouring equipment comprising the cementation of fissures mouth of pitch outflow, the cementation of fissures mouth are fixed on the Rotatable base
Side and the Rotatable base can be worn act on road surface；
Patch seam device comprising patch seam Jiao Kou described can be revolved with non-interfering be fixed on of the bitumen crack-pouring equipment
Turn on pedestal, is located at the other side opposite with the bitumen crack-pouring equipment, the Rotatable base can be worn and act on road surface；
The control device further includes：
Third controller is connected respectively to the Rotatable base and the master controller, for controlling rotatable bottom
Seat is rotated with 180 ° every time together with the fixed bitumen crack-pouring equipment in top and patch seam device.
Preferably, first detection device includes the GPRS positioning devices being arranged above the rack, passes through transmitting
Laser ranging system and road surface laser detector of the laser scanning itself to the distance of surrounding enviroment；
The master controller can be according to environment detection interpretation of result build environment map, to plan machine according to environmental map
The direction that frame is advanced, and control second detection device when finding gap in environmental map and open.
Preferably, the relevant parameter in gap include the length in gap, width, rack described in depth and distance with gap
Distalmost end be the center of circle, length be in the border circular areas of radius gap be distributed the case where.
Preferably, the master controller is used to mark the relevant parameter in gap in border circular areas no more than the gap of reference value
It is denoted as one kind, the gap that reference value is less than to the relevant parameter in gap in border circular areas is labeled as two classes, and by controlling third
Controller using patch seam device processing, two classes is handled using bitumen crack-pouring equipment one kind.
Preferably, the bitumen crack-pouring equipment includes fluting apparatus and accommodates the Asphaltum heating pot of fluid sealant.
Preferably, first detection device includes that the humiture being measured for the humiture to environment measures dress
It sets, the environment detection result includes the humiture of environment；
Intelligent pavement seam filling equipment further includes：
Road surface pre-heating device, the road surface pre-heating device control it by the master controller according to the humiture situation of environment
Opening and closing.
Preferably, further include：
Cleaning equipment is fixed in the rack；
The control device further includes：
4th controller is connected to the master controller, is cleaned for being controlled after opening second detection device
Equipment starts the cleaning to gap, and reselection uses cementation of fissures device after main controller controls cleaning.
The present invention also provides a kind of cementation of fissures methods of intelligent pavement seam filling equipment, include the following steps：
S1, road of first detection device to the ambient enviroment of present position and including gap in the rack
Face situation is detected to obtain environment detection result；
S2, master controller control the movement and traveling of rack according to the environment detection result by first controller
Direction, master controller according to the environment detection interpretation of result whether there is gap；
If S3, there are gap, master controller controls the rack by first controller to be stopped, and is then turned on described
Second detection device；
The relevant information and described first in the gap that S4, master controller are measured according to second detection device after unlatching
The environment detection result binding analysis that detection device measures, obtains the relevant parameter in real-time gap, if the relevant parameter in gap
Start cementation of fissures device when in the first preset range；
S5, when the relevant parameter in real-time gap is in the second preset range, the cementation of fissures device is closed, then described
Machine frame movement described in main controller controls.
The present invention includes at least following advantageous effect：
The control device of the intelligent pavement seam filling equipment of the present invention includes the second controller for controlling cementation of fissures device, control machine
First controller of the movement of frame；The second detection device and root of normally opened the first detection device, main controller controls opening and closing
It selects to enable cementation of fissures device more afterwards with preset range according to the relevant parameter in gap and self-braking master can be controlled after the cementation of fissures
Controller.Pre-filling gap section is detected using the first detection device and the second detection device, Through Several Survey Measure combines, knot
Fruit is accurate, and makes there is comprehensive understanding to the road surface of system-wide section and ambient conditions by the first detection device, in conjunction with only opposite joint
Related data can be grasped by being had the gap in the second detection device energy road pavement that gap uses, the second detection device of selective enabling
Also save energy consumption, and can be according to the physical life on road surface to gap selectivity repairing, it is energy saving, while to system-wide Duan Qing
Condition has comprehensive grasp, improves the safety of pavement usage.
In specific cementation of fissures method, the first road by the first detection device to the ambient enviroment of present position and including gap
Face situation is detected, and the pavement crackings such as crackle and gap are referred to as gap, i.e., obtain environment detection knot by the first detection device
Fruit, at the same this environment detection result necessarily include road surface ahead the case where, then by master controller to environment detection interpretation of result
It realizes the Orientation on map including surface conditions to shelf position, and plans the travelling route of rack.If master controller point
Analysis finds gap, then stops movement at rack to gap, and the second detection device that control is set in rack enables, the second detection dress
The relevant parameters such as length, width, the depth for further being detected to the gap oriented and obtaining gap are set, after passing back to master controller
By this parameter compared with the first preset range, in the first preset range, then cementation of fissures device starts, and the cementation of fissures is carried out to certain phase,
The relevant parameter in gap reaches the second preset range, then cementation of fissures device stops, and rack continues to move at next gap.Work as crackle
When more with gap, can bitumen crack-pouring equipment further be respectively adopted in different zones and patch seam device works at the same time, control respectively
System.Intelligent pavement seam filling equipment is applied widely, multiple functional, using flexible.The cementation of fissures method of the present invention is applied widely, from
Dynamicization degree is high, and service life of road surface is long after the cementation of fissures.
Part is illustrated to embody by further advantage, target and the feature of the present invention by following, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Description of the drawings
Fig. 1 is the control flow schematic diagram of the intelligent pavement seam filling equipment of the embodiment of the present invention 1；
Fig. 2 is the structural schematic diagram of the intelligent pavement seam filling equipment of the embodiment of the present invention 1.
Specific implementation mode
The present invention is described in further detail with reference to the accompanying drawings and examples, to enable those skilled in the art's reference
Specification word can be implemented according to this.
It should be noted that in the description of the present invention, term " transverse direction ", " longitudinal direction ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, and is not the dress of instruction or hint meaning
It sets or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as the limit to the present invention
System.
Embodiment 1
The present invention provides a kind of intelligent pavement seam filling equipment, as shown in Fig. 2, including：
Moveable rack 1；Can walking on road surface for being arranged by the bottom of rack 1 in specifically used is at least a pair of
Scroll wheel moves, and the first controller it is moved by the driving that is connected with scroll wheel power plant and can be connected with scroll wheel
Brake apparatus controls scroll wheel movement or stops respectively.
Rotatable base 2 is fixed in the rack 1；Can be the pedestal of 180 ° of rotations every time, concretely rotation is pressed
Riveting understructure, turntable and fixing piece, which combine, the modes such as multiple shafts and apical axis can also be used is implemented in combination with 180 ° every time
Rotation.
Cementation of fissures device 3 is fixed in the rack 1；Further comprise bitumen crack-pouring equipment 310 and patch seam device 320,
Can damping device further be set in bitumen crack-pouring equipment bottom in specifically used.Bitumen crack-pouring equipment 310 it include pitch stream
The cementation of fissures mouth gone out, side that the cementation of fissures mouth is fixed on the Rotatable base and can wear the effect of the Rotatable base 2
In road surface, it may also include the fluting apparatus for fluting and accommodate the Asphaltum heating pot of fluid sealant.Igniting can be further comprised
Heating system, pitch spray gun and fluid power system with cementation of fissures mouth.Patch seam device 320, with the bitumen crack-pouring equipment
310 non-interfering are fixed in the rack.It includes patch seam Jiao Kou, non-interfering solid with the bitumen crack-pouring equipment
It is scheduled on the Rotatable base, is located at the other side opposite with the bitumen crack-pouring equipment 310, can wear described rotatable
Pedestal acts on road surface.Specific can be used is set to different parts or region in rack with bitumen crack-pouring equipment 310, makes whole cloth
Set more succinct safety.Preferably the gathering hole of the cementation of fissures or patch seam can wear rack 1 and act on road surface, and the two distance is relatively close and can
It is non-interfering to work at the same time.The setting convenience of such rotary structure easily realizes inciting somebody to action for short distance to the gap of not homonymy
Gathering hole is directed at road surface to be repaired.It is deep that different flutings is corresponded to for the gap depth of the predeterminable different range of fluting apparatus
It spends, different range residing for the relevant parameter according to actual gap selectes groove depth.
Cleaning equipment 4 is fixed in the rack 1；Purging instrument etc. can be selected, it specifically can be further according to gap
Relevant parameter such as depth selects different size of power.
First detection device is set in the rack 1, for the ambient enviroment of present position and including gap
Surface conditions detected to obtain environment detection result.First detection device may include that the GPRS above the rack is arranged
Positioning device is filled by the laser ranging system and road surface laser detection that emit laser scanning itself to the distance of surrounding enviroment
It sets.GPRS positioning devices and laser ranging system realize precise positioning and gap to intelligent pavement seam filling device location jointly
Substantially situation, road surface laser detector may include road surface laser profilometer, is detected for road pavement superficial appearance.
First detection device may also include the humiture measurement device being measured for the humiture to environment, the environment detection knot
Fruit includes the humiture of environment；
Second detection device is set in the rack 1, and the gap for road pavement is detected and obtains the phase in gap
Close information；Second detection device may include Ground Penetrating Radar, drop hammer deflection meter, impact echo instrument, ultrasonoscope etc., can be further
Realize that the transversal crack inside road pavement, the geology state of deep layer, the thickness on road surface, road surface cheat the depth and road surface fallen into
The detection of flatness.
Communication device can contact with control centre and realize control of the control centre to control device 6, and for realizing
The reception and transmission of information between control centre.It is specific to can be used in the realization such as network transmission, GPRS communication devices and control
The communication of the heart.Control centre can be operated by user or construction party, and control centre includes the central controller that remote control can be achieved
With the communication apparatus for being connected to communication device, central controller can be contacted by communication apparatus and communication device foundation, such as respectively
Bluetooth module, infrared module or network transmission device etc. are set, with can receiving the environment of analysis generation by master controller at any time
Scheme, the relevant parameter etc. in gap, and alternative storage.In addition it can also be realized in the analytic function failure of master controller
The relevant information in gap and the comprehensive analysis of surface conditions obtain the relevant parameter in gap, can also force to beat by master controller
First controller, second controller, third controller, the 4th controller, the first detection device described in opening/closing and the second spy
One or more of device is surveyed, to make the controllability of intelligent pavement seam filling equipment more preferably.
Road surface pre-heating device 5, the road surface pre-heating device 5 are controlled by the master controller according to the humiture situation of environment
It is opened and closed.Such equipment is correspondingly arranged with the humiture measurement device in the first detection device, and ordinary circumstance can not start, can be only
Start when winter temperature is less than setting value, makes cementation of fissures process that can also be smoothed out, the service life is longer for the cementation of fissures.
Control device 6 is set to inside the rack 1, including：
First controller is used to control the direction of movement or the stopping and movement of the rack；Before specifically may include
It moves, move, move to left, move to right and stop afterwards, can further comprise the regulation and control to movement speed.
Second controller is used to control the cementation of fissures device and carries out the cementation of fissures；In order to realize that bitumen crack-pouring equipment and patch stitch
Device controls respectively, and is distinguish, and is divided into No.1 second controller and No. two second controllers.No.1 second controller,
The cementation of fissures is carried out for controlling the bitumen crack-pouring equipment；Such as wider gap is repaired using patch seam glue.No. two second controls
Device processed is used to control the patch seam device and carries out the cementation of fissures；Relatively narrow gap is repaired using patch seam glue in patch seam device.
Third controller is connected respectively to the Rotatable base 2 and the master controller, for controlling rotatable bottom
Seat 2 is rotated with 180 ° every time together with the fixed bitumen crack-pouring equipment in top and patch seam device.
4th controller is connected to the master controller, is cleaned for being controlled after opening second detection device
Equipment 4 starts the cleaning to gap.
Master controller is connected respectively to first controller, second controller, the first detection device, the second detection
Device and communication device, the master controller are used to control according to environment detection interpretation of result path and by described first
Device processed controls the direction that the rack is advanced；It is additionally operable to whether there is gap according to the environment detection interpretation of result, if in the presence of
Gap then controls the rack 1 by first controller and stops, being then turned on second detection device；According to unlatching
The environment detection result that the relevant information in the gap that second detection device afterwards measures is measured with first detection device
Binding analysis obtains the relevant parameter in real-time gap, if the relevant parameter in gap is in the first preset range, the master control
After device processed starts cementation of fissures device by the second controller, when the relevant parameter in real-time gap is in the second preset range
When, the master controller closes the cementation of fissures device 3 by the second controller, then machine described in the main controller controls
Frame 1 moves.The master controller is additionally operable to receive order or the transmission information of control centre by the communication device, to real
Control of the existing control centre to the master controller.
When specifically used, master controller first receive the environment detection that normally opened first detection device measures as a result,
By analyzing the environment detection interpretation of result build environment map, to plan and control the direction that the rack is advanced, row
It enters at the gap shown on environmental map, is continued to move to if no gap.After determining there are gap, master controller passes through the
One controller, which controls the rack 1, to be stopped, and is then turned on by sending a signal to second detection device.
The relevant information in the gap measured according to second detection device after unlatching is surveyed with first detection device
The environment detection result binding analysis obtained, obtains the relevant parameter in real-time gap, if the relevant parameter in this gap is in first
When preset range, if width and depth are respectively greater than 2mm, the master controller starts the cementation of fissures by the second controller and fills
It sets, is otherwise not turned on and continues to move to.After cementation of fissures device starts, the relevant parameter in gap with the cementation of fissures change,
When the relevant parameter that the cementation of fissures is repaired to the gap measured when second detection device is in the second preset range, such as width and depth
Degree is respectively smaller than 0.5mm, and master controller closes the cementation of fissures device, the then main control by second controller control
Device controls the rack and continues to move to, and continues to move to find next road surface for needing the cementation of fissures on preset route.Specific master control
Device processed may include multiple sub-controllers for analysis and sequence controller etc..It further include storage ring condition in hollow devices
Scheme, the memory of the relevant parameter in gap.
Wherein, Through Several Survey Measure combines to make master controller that can realize to intelligent pavement seam filling in the first detection device
The detection of the precise positioning and surface conditions of device location, then master controller can be generated according to this environment detection interpretation of result
Environmental map including the substantially situation in location information and gap, to which master controller can plan rack according to environmental map
The direction of traveling is moved to the place in environmental map there are gap and stops, controlling second detection device and open.According to ring
Border result of detection accurately identifies gap, obtains gap substantially structural parameters.In conjunction with the phase in the gap obtained after the second detection device
Related parameter include the length in gap, width, depth and be the center of circle using the distalmost end of rack described in the distance in gap, length is half
The case where gap is distributed in the border circular areas of diameter etc..These parameters have more important meaning for the feature in gap, conveniently set
Determine preset value, simultaneously for distribution the case where investigation also allow for master controller for and meanwhile there are the feelings in Multiple site crack and gap
Condition formulates solution.The master controller can be used for being not more than reference value to the relevant parameter such as depth in gap in border circular areas
Gap labeled as one kind, the gap that reference value is more than to the relevant parameter such as depth in gap in border circular areas is labeled as two classes,
And by controlling third controller to one kind using patch seam device processing, two classes are handled using bitumen crack-pouring equipment.
The emergency governor of machine frame inside and it is equipped with the tight of transparent watertight lid to be opened/closed set on rack outer surface and surface
Anxious brake key 7, the emergency braking are keyed to the emergency governor, emergency governor be connected to first controller,
Second controller, the first detection device and the second detection device, for being simultaneously stopped rack, cementation of fissures device, the first detection dress
It sets and the second detection device.It, can be by manually being pressed in rack when the setting of emergency braking key 7 makes main controller break down
Lower emergency braking key 7 realizes the emergent stopping of intelligent pavement seam filling equipment, avoids accidents, improves intelligent pavement seam filling
The safety of equipment.
Emergency governor is connected respectively to first controller, second controller, third controller, the master control
Device, first the second detection device of detection device and the communication device processed, the emergency governor are subjected to external startup
Or stop and information transmission command.
Control centre can be remote control, can be connected remotely to master controller by communication apparatus, control under normal circumstances
System is centrally through the letters such as acquisition environment detection result, the relevant parameter in gap, environmental map and geographical location from master controller
Breath so that intelligent pavement seam filling equipment user or construction party can be set by the information monitoring intelligence pavement seam filling that communication device transmits
Standby operating status, when master controller when something goes wrong, the central controller of control centre can be analyzed instead of master controller
And issued and ordered by master controller, also emergency braking key directly can not be pressed by user by master controller under the state of emergency,
Positive closing bitumen crack-pouring equipment, patch seam device, the first detection device and the second detection device, you can stop intelligent road manually
Face cementation of fissures equipment makes intelligent pavement seam filling equipment using flexible, and applicable scene is extensive, and controllability is good, security performance higher.
When the intelligent pavement seam filling equipment operation of the present invention, as shown in Figure 1, the first detection devices of step S110 are to residing position
The ambient enviroment and surface conditions set are detected to obtain environment detection as a result, i.e. by the first detection in the rack 1
Surface conditions of the device to the ambient enviroment of present position and including gap are carried out by Through Several Survey Measure integration test
Detection obtains environment detection result；
Step S120 master controllers analyze whether road surface deposits according to the movement of the environment detection output control rack 1
In gap, i.e., master controller controls the movement and traveling of rack according to the environment detection result by first controller
Direction, master controller whether there is gap according to the environment detection interpretation of result；
If step S130, there are gap, master controller controls the rack by first controller to be stopped, and is then opened
Open the relevant information that second detection device measures gap；
Step S140 master controllers measure the relevant information in gap and surface conditions binding analysis obtains real-time gap
The relevant information and described first in the gap that relevant parameter, i.e. master controller are measured according to second detection device after unlatching
The environment detection result binding analysis that detection device measures, obtains the relevant parameter in real-time gap, if the relevant parameter in gap
Start cementation of fissures device when in the first preset range；
When the relevant parameter in the gap obtained in real time is in the second preset range, the cementation of fissures device closes step S150
It closes, then rack 1 described in the main controller controls moves, and an emergency situation is encountered in the process to be controlled simultaneously by emergency governor
Stop rack, cementation of fissures device, the first detection device and the second detection device.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein and embodiment.
Claims (9)
1. a kind of intelligence pavement seam filling equipment, which is characterized in that including：
Moveable rack；
Cementation of fissures device is fixed in the rack；
First detection device is set in the rack, for the road to the ambient enviroment of present position and including gap
Face situation is detected to obtain environment detection result；
Second detection device is set in the rack, and the gap for road pavement is detected and obtains the related letter in gap
Breath；
Communication device is contacted with control centre, for realizing the reception and transmission of information between control centre；
Control device is set to the machine frame inside, including：
First controller is used to control the direction of movement or the stopping and movement of the rack；
Second controller is used to control the cementation of fissures device and carries out the cementation of fissures；And
Master controller is connected respectively to first controller, second controller, the first detection device, the second detection device
And communication device, the direction that the master controller is used to be advanced according to rack described in the environment detection output control；Also use
In whether there is gap according to the environment detection interpretation of result, if there are gap, institute is controlled by first controller
Rack stopping is stated, second detection device is then turned on；The gap measured according to second detection device after unlatching
The environment detection result binding analysis that relevant information is measured with first detection device obtains the related ginseng in real-time gap
Number, if the relevant parameter in gap is in the first preset range, the master controller starts the cementation of fissures by the second controller
Otherwise device does not start, then when the relevant parameter in real-time gap is in the second preset range, the cementation of fissures is closed in control
Device, then machine frame movement described in the main controller controls；The master controller is additionally operable to receive by the communication device
The order of control centre or transmission information；
Emergency governor and the emergency braking key that transparent watertight lid to be opened/closed is equipped with set on rack outer surface and surface are described tight
Anxious braking is keyed to the emergency governor, and emergency governor is connected to first controller, second controller, the first spy
Device and the second detection device are surveyed, for being simultaneously stopped rack, cementation of fissures device, the first detection device and the second detection device.
2. intelligence pavement seam filling equipment as described in claim 1, which is characterized in that further include：
Rotatable base is fixed in the rack；
The cementation of fissures device includes：
Bitumen crack-pouring equipment comprising the cementation of fissures mouth of pitch outflow, the cementation of fissures mouth are fixed on one on the Rotatable base
It side and the Rotatable base can be worn acts on road surface；
Patch seam device comprising patch seam Jiao Kou, and the bitumen crack-pouring equipment is non-interfering is fixed on the rotatable bottom
On seat, it is located at the other side opposite with the bitumen crack-pouring equipment, the Rotatable base can be worn and act on road surface；
The control device further includes：
Third controller is connected respectively to the Rotatable base and the master controller, connects for controlling Rotatable base
It is rotated every time with 180 ° together with the fixed bitumen crack-pouring equipment in top and patch seam device.
3. intelligence pavement seam filling equipment as described in claim 1, which is characterized in that first detection device includes that setting exists
GPRS positioning devices above the rack, by emit laser scanning itself to the distance of surrounding enviroment laser ranging system
And road surface laser detector；
The master controller can be according to environment detection interpretation of result build environment map, to plan rack rows according to environmental map
Into direction, and control second detection device when finding gap in environmental map and open.
4. intelligence pavement seam filling equipment as claimed in claim 2, which is characterized in that the relevant parameter in gap includes the length in gap
Degree, width, depth and be gap in the border circular areas of radius by the center of circle, length of the distalmost end of rack described in the distance in gap
The case where distribution.
5. intelligence pavement seam filling equipment as claimed in claim 4, which is characterized in that the master controller is used for border circular areas
The relevant parameter in interior gap is labeled as one kind no more than the gap of reference value, is more than ginseng to the relevant parameter in gap in border circular areas
The gap for examining value is labeled as two classes, and uses patch seam device processing to one kind by controlling third controller, to two classes using drip
Green cementation of fissures device processing.
6. intelligence pavement seam filling equipment as claimed in claim 2, which is characterized in that the bitumen crack-pouring equipment includes that fluting is set
Asphaltum heating pot that is standby and accommodating fluid sealant.
7. intelligence pavement seam filling equipment as described in claim 1, which is characterized in that first detection device include for pair
The humiture measurement device that the humiture of environment is measured, the environment detection result include the humiture of environment；
Intelligent pavement seam filling equipment further includes：
Road surface pre-heating device, the road surface pre-heating device control it according to the humiture situation of environment by the master controller and open
It closes.
8. intelligence pavement seam filling equipment as described in claim 1, which is characterized in that further include：
Cleaning equipment is fixed in the rack；
The control device further includes：
4th controller is connected to the master controller, for controlling cleaning equipment after opening second detection device
Start the cleaning to gap, and reselection uses cementation of fissures device after main controller controls cleaning.
9. a kind of cementation of fissures method of intelligent pavement seam filling equipment as described in claim 1, which is characterized in that including following step
Suddenly：
The road surface feelings of S1, the first detection device in the rack to the ambient enviroment of present position and including gap
Condition is detected to obtain environment detection result；
S2, master controller control the side of movement and the traveling of rack according to the environment detection result by first controller
To master controller whether there is gap according to the environment detection interpretation of result；
If S3, there are gap, master controller controls the rack by first controller to be stopped, and is then turned on described second
Detection device；
The relevant information in the gap that S4, master controller are measured according to second detection device after unlatching is detected with described first
The environment detection result binding analysis that device measures, obtains the relevant parameter in real-time gap, if the relevant parameter in gap is in
Start cementation of fissures device when the first preset range；
S5, when the relevant parameter in real-time gap is in the second preset range, the cementation of fissures device is closed, the then master control
Device processed controls the machine frame movement.
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| CN201810401363.4A CN108611955A (en) | 2018-04-28 | 2018-04-28 | Intelligent pavement seam filling equipment and cementation of fissures method |
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Application publication date: 20181002 |