CN111045049A - Intelligent asphalt pavement repairing vehicle and construction method - Google Patents
Intelligent asphalt pavement repairing vehicle and construction method Download PDFInfo
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- CN111045049A CN111045049A CN201911415866.8A CN201911415866A CN111045049A CN 111045049 A CN111045049 A CN 111045049A CN 201911415866 A CN201911415866 A CN 201911415866A CN 111045049 A CN111045049 A CN 111045049A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/05—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing aiding data
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
Abstract
The invention provides an intelligent asphalt pavement finishing vehicle and a construction method, wherein the intelligent asphalt pavement finishing vehicle comprises a walking vehicle body, wherein a lifting planing and milling device is arranged on the walking vehicle body; a coolant nozzle is arranged in front of the planing and milling device and connected with a coolant storage tank, and the coolant nozzle is used for ejecting coolant to cool the pavement of the pavement marker to be processed; the walking vehicle body is provided with a GPS positioning device and a gyroscope; at least the bottom of the walking vehicle body is provided with a camera device which faces the direction of the road surface. The scheme that the cold medium nozzle sprays low-temperature air flow to embrittle the pavement marker is adopted, so that the pavement marker is convenient to plane, mill and clear, cutter sticking in the construction process is avoided, and the clearing efficiency can be greatly improved due to the adoption of the multi-saw-blade roller structure. Through adopting the scheme of intelligent control location, can reduce operating personnel to the degree of difficulty of equipment control by a wide margin, improve efficiency of construction and security. The invention can be used for repairing the defects of the asphalt concrete pavement and removing the pavement marking lines.
Description
Technical Field
The invention relates to the field of asphalt concrete pavement construction, in particular to an intelligent asphalt pavement repairing vehicle and a construction method.
Background
Asphalt concrete pavement is a very widely used road pavement, which is usually provided with pavement marking lines, and the pavement marking lines are easy to wear after being used for a period of time, or have modification, and the marking lines are often required to be repaired or modified. The existing asphalt concrete pavement for municipal engineering is generally finished manually, firstly, a worker chisels out the damaged part of the asphalt pavement and the surrounding part together by using tools such as a rake, a chisel and the like and cleans the chiseled part, then, asphalt concrete is laid manually, asphalt is melted and leveled by using a hot-pressing device, and finally, the asphalt is dried; however, the above steps are performed manually, and many people are needed to cooperate with each other, which consumes much labor. And the existing repairing scheme needs to cut off the whole asphalt concrete block, so that the waste is large. For example, chinese patent document CN 109537424 a discloses an asphalt pavement patching device for municipal works. CN 110184876 a describes a method for repairing cracks on asphalt road pavement, which also adopts the method of repairing cracks after grooving. Chinese patent document CN 209508777U describes an integrated milling device of a road milling machine, which utilizes the rotation of the milling drum 3 to cut the road surface. However, the technical problem is also greater in the scheme, because the viscosity of asphalt in the asphalt concrete is higher, the cutter is easy to stick in the cutting process, the subsequent milling efficiency is affected, and particularly in the scheme of only cutting a small amount of asphalt concrete, the construction scheme needs to be stopped frequently to clean the cutter. There are also solutions that use grinding wheels for grinding, but this solution is less efficient. The existing construction devices or vehicles related to the asphalt concrete need to cultivate very skilled technical workers, and have the problem that due to the particularity of the asphalt concrete construction, the training of the technical workers for operating special equipment and familiar with the asphalt concrete construction is very difficult.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent asphalt pavement finishing vehicle and a construction method, which can reduce the construction difficulty of asphalt pavement finishing, avoid cutter sticking in the milling process and further reduce the difficulty of operator training.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: an intelligent asphalt pavement finishing vehicle comprises a walking vehicle body, wherein a lifting planing and milling device is arranged on the walking vehicle body;
a coolant nozzle is arranged in front of the planing and milling device and connected with a coolant storage tank, and the coolant nozzle is used for ejecting coolant to cool the pavement of the pavement marker to be processed;
the walking vehicle body is provided with a GPS positioning device and a gyroscope;
at least the bottom of the walking vehicle body is provided with a camera device which faces the direction of the road surface.
In the preferred scheme, a fan is also arranged on the walking vehicle body;
the refrigerant nozzle is a three-way nozzle, a straight-through inlet is communicated with an air outlet of the fan, a lateral inlet is communicated with an outlet of the refrigerant storage tank, and a pressure reducing valve is arranged at the outlet of the refrigerant storage tank;
the nozzle of the refrigerant nozzle faces the road surface and is a section of pipeline with gradually reduced through-flow section.
In a preferred embodiment, the planing and milling device has the following structure: one end of the swing frame is pivoted with the walking vehicle body, and the other end of the swing frame is provided with a planing and milling roller;
the milling driving motor is fixedly arranged on the swing frame and is connected with the milling roller through a transmission mechanism so as to drive the milling roller to rotate;
a swing frame lifting device is also arranged between the swing frame and the walking vehicle body.
In a preferred embodiment, the planing and milling device has the following structure: one end of the swing frame is pivoted with the walking vehicle body, and the other end of the swing frame is provided with a first saw blade roller;
one end of the second swing frame is pivoted with the walking vehicle body, and the other end of the second swing frame is provided with a second saw blade roller;
the swing frame is connected with the second swing frame through a connecting frame, and the walking vehicle body, the swing frame, the connecting frame and the second swing frame form a quadrilateral mechanism;
a planning and milling driving motor is also arranged on the swing frame or the second swing frame and is connected with the first saw blade roller or the second saw blade roller through a transmission mechanism,
the first saw blade roller is connected with the second saw blade roller through a second transmission mechanism;
to drive the first saw blade roller and the second saw blade roller to rotate;
a swing frame lifting device is also arranged between the swing frame or the second swing frame and the walking vehicle body.
In a preferred scheme, the first saw blade roller and the second saw blade roller are formed by installing a plurality of saw blades on a shaft, a gasket is arranged between the saw blades, and the saw blades on the first saw blade roller and the second saw blade roller are arranged in a staggered mode, namely, gaps between the saw blades on the second saw blade roller and the saw blades of the first saw blade roller are aligned.
In a preferred scheme, the structure of the swing frame lifting device is as follows: the second connecting rod is arranged on the walking vehicle body, the first connecting rod is arranged on the swing frame, and the rotating seat is sleeved with the second connecting rod and can rotate relatively;
the rotating seat is fixedly connected with the lifting motor, an output shaft of the lifting motor is fixedly connected with the screw rod, and the rotating threaded sleeve is sleeved with the first connecting rod and can rotate relatively;
the screw rod is in threaded connection with the threaded sleeve.
In the preferred scheme, a closed vertical curtain is arranged around the planing and milling device, and the area enclosed by the closed vertical curtain is connected with the residue collecting and separating device through a pipeline;
the residue collecting and separating device is internally provided with a negative pressure suction device and a gas-solid separating device so as to suck the planing and milling residues and separate the planing and milling residues from air.
In the preferred scheme, a plurality of travelling wheels are arranged at the bottom of the travelling vehicle body, and a hub motor is arranged in each travelling wheel;
the remote control device is also arranged, and the rotation of each hub motor, the operation of the planing and milling device and the lifting action of the swing frame lifting device are independently controlled in a wireless control mode through the remote control device.
A construction method adopting the intelligent asphalt pavement repairing vehicle comprises the following steps:
s1, positioning the walking vehicle body and the position to be repaired of the road surface, and aligning the planing and milling device with the position to be repaired of the road surface;
s2, starting the walking vehicle body to start walking, starting a refrigerant nozzle to blow and cool the position to be trimmed of the road surface, and locally cooling the position to be trimmed of the road surface to below 4 ℃;
s3, the planing and milling device passes through the position to be finished of the road surface to clear the position to be finished of the road surface, and the swing frame lifting device controls the clearing height of the planing and milling device;
s4, repairing the construction position by using an asphalt concrete repairing material or a hot-melt marking paint;
the intelligent asphalt pavement finishing construction is realized through the steps.
In a preferred embodiment, in step S1,
s11, positioning the road surface to be finished by combining a GPS positioning device and GIS information;
the bottom of the walking vehicle body is provided with a plurality of walking wheels, the walking wheels are internally provided with hub motors, and each walking wheel is enabled to output independent rotating speed by the hub motors, so that straight walking or turning walking is realized;
according to the guidance of the GPS positioning device, the navigation walking vehicle body runs to the position near the road surface to be finished;
s12, arranging a camera device in front of the walking vehicle body, and performing auxiliary positioning according to the road sign shot by the camera device and the position in the GIS information in the running process to eliminate the positioning error of the GPS positioning device;
after positioning, the gyroscope is used as the direction for guiding the walking vehicle body to walk;
and S13, identifying the road surface to be finished by the camera device positioned at the bottom of the walking vehicle body, and moving the walking vehicle body to the position above the road surface to be finished through path generation so as to align the planing and milling device on the walking vehicle body with the position of the road surface to be finished.
According to the intelligent asphalt pavement finishing vehicle and the construction method, the scheme that the pavement mark is embrittled by low-temperature air flow sprayed by the refrigerant nozzle is adopted, so that the pavement mark is convenient to plane, mill and clean, cutter sticking in the construction process is avoided, and the cleaning efficiency can be greatly improved by adopting the structure of the multi-saw-blade roller. Through adopting intelligent control's scheme, can reduce operating personnel to the degree of difficulty of equipment control by a wide margin, improve efficiency of construction and security. The invention can be used for repairing the defects of the asphalt concrete pavement, such as the removal and repair of bulges, indentations, cracks and other defects, and can also be used for removing pavement marking lines.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
fig. 1 is a schematic front view of the present invention.
Fig. 2 is a plan view of the running vehicle body of the present invention.
Fig. 3 is a schematic view of a part of the milling device according to the present invention.
Fig. 4 is a schematic top view of the milling device of the present invention.
Fig. 5 is a schematic structural view of another preferred structure of the planing and milling device according to the present invention.
Fig. 6 is a schematic top view of another preferred structure of the planing and milling device according to the present invention.
Fig. 7 is a schematic structural view of a refrigerant nozzle according to the present invention.
FIG. 8 is a schematic view of the construction process of the present invention.
In the figure: the device comprises a walking vehicle body 1, a hub type motor 101, a residue collecting and separating device 2, a power device 3, a generator 4, a refrigerant storage tank 5, a fan 6, a planning and milling device 7, a planning and milling driving motor 71, a swing frame 72, a transmission mechanism 73, a planning and milling roller 74, a second swing frame 75, a first saw blade roller 76, a second saw blade roller 77, a connecting frame 78, a second transmission mechanism 79, a swing frame lifting device 8, a rotating seat 81, a lifting motor 82, a screw 83, a rotating threaded sleeve 84, a first connecting rod 85, a second connecting rod 86, a refrigerant nozzle 9, a straight inlet 91, a lateral inlet 92, a nozzle 93, a front camera device 10, a gyroscope 11, a GPS positioning device 12, a remote control device 13, a road sign 14, a closed vertical curtain 15, a pressure reducing valve 16 and a camera device 17.
Detailed Description
Example 1:
an intelligent asphalt pavement repairing vehicle comprises a traveling vehicle body 1, wherein the traveling vehicle body 1 is a traveling device driven by a motor, a power device 3 is arranged on the traveling vehicle body 1, a diesel engine is preferably adopted as the power device 3, the power device 3 is connected with a generator 4 through a transmission mechanism, and the generator 4 is connected with a storage battery. The electric energy of the storage battery is used for driving the walking device to walk. Or to drive other mechanisms such as fans and planing and milling equipment.
A lifting planing and milling device 7 is arranged on the walking vehicle body 1;
a refrigerant nozzle 9 is arranged in front of the planing and milling device 7, the refrigerant nozzle 9 is connected with the refrigerant storage tank 5, and the refrigerant nozzle 9 is used for ejecting a refrigerant to cool the pavement of the pavement marker 14 to be processed; after the pavement to be repaired is cooled through the refrigerant nozzle 9, the pavement mark 14 is converted into a brittle material through a viscous elastic material, the cutting performance is greatly improved, a cutter cannot be stuck, the working time of the cutter without stopping the machine is greatly prolonged, the working efficiency is improved, the cutting thickness can be accurately controlled through the liftable scheme, materials required by a subsequent repairing process are reduced, and the workload is reduced. The refrigerant storage tank 5 adopts a liquid nitrogen or liquid carbon dioxide storage tank. Wherein the liquid nitrogen is usually at-120 ℃ and the liquid carbon dioxide is at-37 ℃, and the refrigerant nozzle 9 structure is adopted, so that the refrigerant consumption can be greatly saved.
The walking vehicle body 1 is provided with a GPS positioning device 17 and a gyroscope 18; the positioning and inertial navigation device can provide feedback for walking of the walking vehicle body 1, and intelligent control is achieved. So as to reduce the control difficulty of the whole equipment.
An imaging device 19 is provided at least at the bottom of the traveling vehicle body 1, and the imaging device 19 faces the direction of the road surface. The camera device 19 provided can further provide an auxiliary positioning for aligning the milling device 7 with the road surface to be finished.
In a preferred scheme, as shown in fig. 1, a fan 6 is further arranged on the walking vehicle body 1; in this case, a centrifugal fan is preferably used. To obtain a larger air volume.
The refrigerant nozzle 9 is a three-way nozzle, a straight-through inlet 91 is communicated with an air outlet of the fan 6, a lateral inlet 92 is communicated with an outlet of the refrigerant storage tank 5, and a pressure reducing valve 16 is arranged at the outlet of the refrigerant storage tank 5;
the nozzle 93 of the refrigerant nozzle 9 faces the road surface, and the nozzle 93 is a pipeline with gradually reduced through-flow section. In the refrigerant nozzle 9, natural wind and liquid nitrogen or liquid carbon dioxide of the refrigerant storage tank 5 are fully mixed, and in the jetting process, heat is absorbed, and airflow with the temperature of about 0 to-10 ℃ is jetted from the nozzle 93, so that the road surface is cooled and becomes brittle, the cutting is facilitated, and the cutter sticking is avoided. By adopting the structure of the three-way nozzle, the amount of the refrigerant can be greatly saved.
The preferable scheme is as shown in fig. 2-4, the planing and milling device 7 has the structure that: one end of the swing frame 72 is pivoted with the walking vehicle body 1, and the other end of the swing frame 72 is provided with a planing and milling roller 74;
the milling driving motor 71 is fixedly arranged on the swing frame 72, and the milling driving motor 71 is connected with the milling roller 74 through a transmission mechanism 73 so as to drive the milling roller 74 to rotate; the planing and milling driving motor 71 is preferably a variable frequency motor, and the transmission mechanism 73 is one of a belt transmission mechanism, a chain transmission mechanism or a gear transmission mechanism.
A swing frame lifting device 8 is also arranged between the swing frame 72 and the walking vehicle body 1. With this structure, the swing frame lifting device 8 adjusts the working height of the milling roller 74, and the milling driving motor 71 drives the milling roller 74 to rotate through the transmission mechanism 73, thereby realizing the operation of milling the pavement marker 14. The thickness of the pavement marker 14 is usually 1cm or less, and usually 3 to 8 mm. It is therefore desirable to control the elevation of the milling roller 74 with a high degree of precision so as not to damage the road surface. The thickness of the asphalt concrete pavement is about 10-20 CM, and different planing and milling heights are selected according to the types of the defects of the pavement, so that the construction workload is saved.
In another preferred embodiment, as shown in fig. 5 and 6, the milling device 7 has the following structure: one end of the swing frame 72 is pivoted with the walking vehicle body 1, and the other end of the swing frame 72 is provided with a first saw blade roller 76;
one end of the second swing frame 75 is pivoted with the walking vehicle body 1, and the other end of the second swing frame 75 is provided with a second saw blade roller 77;
the swing frame 72 is connected with the second swing frame 75 through a connecting frame 78, and the walking vehicle body 1, the swing frame 72, the connecting frame 78 and the second swing frame 75 form a quadrilateral mechanism;
a planning and milling driving motor 71 is further arranged on the swing frame 72 or the second swing frame 75, and the planning and milling driving motor 71 is connected with the first saw blade roller 76 or the second saw blade roller 77 through a transmission mechanism 73;
the first blade roller 76 is connected with the second blade roller 77 through a second transmission mechanism 79;
to drive the first blade roller 76 and the second blade roller 77 to rotate; in this embodiment, the first saw blade roller 76 and the second saw blade roller 77 are adopted to replace the previous planing and milling roller 74, and this structure can further improve the processing efficiency, and because the saw blades are mass-produced products, compared with the customized products of the planing and milling roller, the cost can be further reduced.
A swing frame lifting device 8 is further provided between the swing frame 72 or the second swing frame 75 and the traveling vehicle body 1.
In a preferred embodiment, as shown in fig. 6, the first blade roller 76 and the second blade roller 77 are composed of a plurality of blades mounted on a shaft, a spacer is disposed between the blades, and the blades on the first blade roller 76 and the second blade roller 77 are arranged in a staggered manner, i.e., the blades on the second blade roller 77 are aligned with the gaps between the blades of the first blade roller 76. With this structure, each saw blade cuts only a small range, so that the machining efficiency is improved.
In a preferred scheme as shown in fig. 2-5, the structure of the swing frame lifting device 8 is as follows: a second connecting rod 86 is arranged on the walking vehicle body 1, a first connecting rod 85 is arranged on the swing frame 72, and the rotating seat 81 is sleeved with the second connecting rod 86 and can rotate relatively;
the rotating seat 81 is fixedly connected with the lifting motor 82, the output shaft of the lifting motor 82 is fixedly connected with the screw 83, and the rotating threaded sleeve 84 is sleeved with the first connecting rod 85 and can rotate relatively;
the screw 83 is threadedly connected to a threaded sleeve 84. With the structure, the machining heights of the milling roller 74 or the first saw blade roller 76 and the second saw blade roller 77 can be conveniently controlled by controlling the rotating angle of the lifting motor 82, and the swing frame lifting device 8 can realize self-locking to maintain the current work or the storage height.
In a preferred scheme, as shown in fig. 1, a closed drapery 15 is further arranged around the planing and milling device 7, and the area enclosed by the closed drapery 15 is connected with the residue collecting and separating device 2 through a pipeline; the closing curtain 15 preferably consists of a plurality of rubber sheets, the individual rubber sheet holders overlapping one another to form a substantially closed cavity around the milling device 7. With this configuration, the efficiency of collecting the cutting residue is improved, and the surface to be processed can be kept clean.
The residue collecting and separating device 2 is internally provided with a negative pressure suction device and a gas-solid separating device so as to suck the planing and milling residue and separate the planing and milling residue from air. In the embodiment, a negative pressure fan is preferably adopted to be connected with the cyclone dust collector, a pipeline communicated with a cavity formed by the closed vertical curtain 15 is connected with a side tangential inlet of the cyclone dust collector, a top outlet of the cyclone dust collector is connected with an air inlet of the negative pressure fan, and a collecting box is arranged at the bottom of the cyclone dust collector. In another alternative scheme, a combination of a negative pressure fan and a bag-type dust collector can be used as the residue collecting and separating device 2.
In the preferred scheme, a plurality of travelling wheels are arranged at the bottom of the travelling vehicle body 1, and wheel hub motors are arranged in the travelling wheels; by the structure, the rotation of each walking wheel is independently controlled, for example, the scheme that the walking wheels on one side rotate positively and the walking wheels on the other side rotate negatively can realize the extremely small turning radius, and the mechanical structure of the walking vehicle body 1 is greatly reduced. And the control mode is very convenient. The walking vehicle body 1 is controlled by an independent walking control device, such as a single chip microcomputer, preferably an ARM series single chip microcomputer, and programming is convenient.
The remote control device 20 is further arranged, the walking control signals are sent to a main control device of the walking vehicle body 1 in a wireless control mode through the remote control device 20, the specific control mode is that the walking control signals are sent to the main control device of the walking vehicle body 1 in a near field communication mode such as Bluetooth, for example, the PLC controls the walking control device again, and the rotation of each hub motor, the operation of the planing and milling device 7 and the lifting action of the swing frame lifting device 8 are controlled independently. The communication between the remote control device 20 and the master device is conventional. The control between the master control and the milling drive motor 71 of the milling device 7 and the lifting motor 82 of the swing frame lifting device 8 is prior art.
Example 2:
as shown in fig. 8, a construction method using the above intelligent asphalt pavement finisher includes the following steps:
s1, positioning the walking vehicle body 1 and the position to be repaired of the road surface, and aligning the planing and milling device 7 with the position to be repaired of the road surface;
s2, starting the walking vehicle body 1 to start walking, starting the refrigerant nozzle 9 to blow and cool the position to be finished of the road surface, and locally cooling the position to be finished of the road surface to be lower than 4 ℃;
s3, the planing and milling device 7 passes through the position to be finished of the road surface to clear the position to be finished of the road surface, and the swing frame lifting device 8 controls the clearing height of the planing and milling device 7;
s4, repairing the construction position by using an asphalt concrete repairing material or a hot-melt marking paint; asphalt concrete repairs typically employ additional paving, milling and spraying equipment. When the finishing position is finished, the repair work is substantially the same as the normal paving and spraying process.
The intelligent asphalt pavement finishing construction is realized through the steps.
In a preferred embodiment, in step S1:
s11, positioning the road surface to be finished by combining the GPS positioning device 17 with GIS information; this step is consistent with the navigation function in the prior art.
The bottom of the walking vehicle body 1 is provided with a plurality of walking wheels, the walking wheels are internally provided with hub motors, and each walking wheel is enabled to output independent rotating speed by the hub motors, so that straight walking or turning walking is realized; a walking path is planned in a GIS digital map information system. The PLC of the walking vehicle body 1 controls the walking wheels to walk to a preset position. For example, there are locations where the surface to be treated is needed. According to the guidance of the GPS positioning device 17, the navigation walking vehicle body 1 runs to the position near the road surface to be finished;
s12, arranging a camera device 19 in front of the walking vehicle body 1, and in the running process, performing auxiliary positioning according to the road signs 14 shot by the camera device 19 and the position in the GIS information to eliminate the positioning error of the GPS positioning device 17; because the data of the GPS positioning device 17 needs to be corrected due to the accuracy of the GPS positioning technology, and the road surface markers 14 can be accurately positioned in the GIS digital map information, it is more reliable to correct the GPS positioning by the photographed road surface markers 14. For example, during the traveling of the traveling vehicle body 1, the acquired position of the road surface marker 14 is compared with the marker position in the GIS information. The obtained position of the road sign 14 adopts the self GPS positioning coordinate + the relative space position of the camera device 19 and the road sign 14 as the correction data to obtain the coordinate value to be corrected, the difference is obtained with the coordinate value in the sign position in the GIS information to obtain the correction value, and the correction value is used for calculating the self coordinate value to obtain the accurate position of the walking vehicle body 1.
After positioning, the gyroscope 18 is used as the direction for guiding the walking vehicle body 1 to walk; the inertial navigation device such as the gyroscope 18 obtains accurate positioning by means of continuous accumulation, and if the inertial navigation device walks for a long distance, the accumulation is easy to generate an increased error, in this example, because only a short moving distance is needed, for example, within a range of 30 meters, the guiding precision of the gyroscope 18 can be ignored. Thereby realizing accurate positioning of the walking vehicle body 1.
And S13, identifying the road surface to be finished by the camera device 19 positioned at the bottom of the walking vehicle body 1, specifically identifying the road surface to be finished by combining a black-and-white binary image mode with the attitude information given by the gyroscope 18, and generating a path in the GIS information to move the walking vehicle body 1 to the position above the road surface to be finished so as to align the planning and milling device 7 on the walking vehicle body 1 with the position to be finished of the road surface. The specific path generation mode is that the current position is set as an outer contour square, the target position is set as an outer contour square, a corresponding position, such as a point-to-point or edge-to-edge corresponding walking path, is generated between the two squares, and the walking path can be judged in GIS information to generate an operation path. The PLC of the walking vehicle body 1 controls the rotation of each walking wheel according to the running path, and matches with the gyroscope 18 to fit the running path, namely, the running path reaches the upper part of the road surface to be cleaned. According to further correction of the camera device 19 located at the bottom of the traveling vehicle body 1. The site operator can also further correct the position of the traveling vehicle body 1 by the remote control device 13. The remote control device 13 can also be used for starting and stopping the milling device 7, controlling the swing frame lifting device 8 to adjust the working height of the milling device 7, and controlling the starting and stopping of the fan 6 and the working of the residue collecting and separating device 2. Preferably, a display screen is provided on the remote control device 13, and an image captured by the imaging device 19 can be viewed through the display screen.
The above-described embodiments are merely preferred embodiments of the present invention, and should not be construed as limiting the present invention, and the technical features described in the present invention can be combined with each other without conflict. The protection scope of the present invention is defined by the claims, and includes equivalents of technical features of the claims. I.e., equivalent alterations and modifications within the scope hereof, are also intended to be within the scope of the invention.
Claims (10)
1. The utility model provides an intelligent bituminous paving repaiies car, includes walking automobile body (1), characterized by: a lifting planing and milling device (7) is arranged on the walking vehicle body (1);
a refrigerant nozzle (9) is arranged in front of the planing and milling device (7), the refrigerant nozzle (9) is connected with the refrigerant storage tank (5), and the refrigerant nozzle (9) is used for ejecting a refrigerant to cool the pavement of the pavement mark (14) to be processed;
a GPS positioning device (17) and a gyroscope (18) are arranged on the walking vehicle body (1);
at least the bottom of the traveling vehicle body (1) is provided with an imaging device (19), and the imaging device (19) faces the direction of the road surface.
2. The intelligent asphalt pavement finisher of claim 1, wherein: a fan (6) is also arranged on the walking vehicle body (1);
the refrigerant nozzle (9) is a three-way nozzle, a straight-through inlet (91) is communicated with an air outlet of the fan (6), a lateral inlet (92) is communicated with an outlet of the refrigerant storage tank (5), and a pressure reducing valve (16) is arranged at the outlet of the refrigerant storage tank (5);
the nozzle (93) of the refrigerant nozzle (9) faces the road surface, and the nozzle (93) is a pipeline with gradually reduced through-flow section.
3. The intelligent asphalt pavement finisher of claim 1, wherein: the planing and milling device (7) is structurally characterized in that: one end of the swing frame (72) is pivoted with the walking vehicle body (1), and the other end of the swing frame (72) is provided with a milling roller (74);
the milling driving motor (71) is fixedly arranged on the swing frame (72), and the milling driving motor (71) is connected with the milling roller (74) through a transmission mechanism (73) so as to drive the milling roller (74) to rotate;
a swing frame lifting device (8) is also arranged between the swing frame (72) and the walking vehicle body (1).
4. The intelligent asphalt pavement finisher of claim 1, wherein: the planing and milling device (7) is structurally characterized in that: one end of the swing frame (72) is pivoted with the walking vehicle body (1), and the other end of the swing frame (72) is provided with a first saw blade roller (76);
one end of the second swing frame (75) is pivoted with the walking vehicle body (1), and the other end of the second swing frame (75) is provided with a second saw blade roller (77);
the swing frame (72) is connected with the second swing frame (75) through a connecting frame (78), and the walking vehicle body (1), the swing frame (72), the connecting frame (78) and the second swing frame (75) form a quadrilateral mechanism;
a planning and milling driving motor (71) is also arranged on the swing frame (72) or the second swing frame (75), the planning and milling driving motor (71) is connected with the first saw blade roller (76) or the second saw blade roller (77) through a transmission mechanism (73),
the first saw blade roller (76) is connected with the second saw blade roller (77) through a second transmission mechanism (79);
to drive the first blade roller (76) and the second blade roller (77) to rotate;
a swing frame lifting device (8) is also arranged between the swing frame (72) or the second swing frame (75) and the walking vehicle body (1).
5. The intelligent asphalt pavement finisher of claim 4, wherein: the first saw blade roller (76) and the second saw blade roller (77) are formed by installing a plurality of saw blades on a shaft, gaskets are arranged between the saw blades, the saw blades on the first saw blade roller (76) and the second saw blade roller (77) are arranged in a staggered mode, namely, gaps between the saw blades on the second saw blade roller (77) and the saw blades of the first saw blade roller (76) are aligned.
6. An intelligent asphalt pavement finisher according to any one of claims 3 to 5, wherein: the structure of the swing frame lifting device (8) is as follows: a second connecting rod (86) is arranged on the walking vehicle body (1), a first connecting rod (85) is arranged on the swing frame (72), and the rotating seat (81) is sleeved with the second connecting rod (86) and can rotate relatively;
the rotating seat (81) is fixedly connected with the lifting motor (82), the output shaft of the lifting motor (82) is fixedly connected with the screw rod (83), and the rotating threaded sleeve (84) is sleeved with the first connecting rod (85) and can rotate relatively;
the screw rod (83) is in threaded connection with the threaded sleeve (84).
7. The intelligent asphalt pavement finisher of claim 1, wherein: a closed vertical curtain (15) is arranged around the planing and milling device (7), and the area enclosed by the closed vertical curtain (15) is connected with the residue collecting and separating device (2) through a pipeline;
a negative pressure suction device and a gas-solid separation device are arranged in the residue collection and separation device (2) to suck the planing and milling residues and separate the planing and milling residues from air.
8. The intelligent asphalt pavement finisher of claim 1, wherein: a plurality of travelling wheels are arranged at the bottom of the travelling vehicle body (1), and wheel hub motors are arranged in the travelling wheels;
the remote control device (20) is further arranged, and the rotation of each hub motor, the operation of the planing and milling device (7) and the lifting action of the swing frame lifting device (8) are independently controlled in a wireless control mode through the remote control device (20).
9. A construction method using the intelligent asphalt pavement finisher of any one of claims 1 to 8, comprising the steps of:
s1, positioning the walking vehicle body (1) and the position to be repaired of the road surface, and aligning the planing and milling device (7) with the position to be repaired of the road surface;
s2, starting the walking vehicle body (1) to start walking, starting a refrigerant nozzle (9) to blow and cool the position to be trimmed of the road surface, and locally cooling the position to be trimmed of the road surface to below 4 ℃;
s3, the planing and milling device (7) passes through the position to be finished of the road surface to clear the position to be finished of the road surface, and the swing frame lifting device (8) controls the clearing height of the planing and milling device (7);
s4, repairing the construction position by using an asphalt concrete repairing material or a hot-melt marking paint;
the intelligent asphalt pavement finishing construction is realized through the steps.
10. The intelligent asphalt pavement reconditioning vehicle of claim 9, wherein: in the step S1, in the step S,
s11, positioning the road surface to be finished by combining the GPS positioning device (17) with the GIS information;
the bottom of the walking vehicle body (1) is provided with a plurality of walking wheels, the walking wheels are internally provided with hub motors, and each walking wheel is enabled to output independent rotating speed by the hub motors, so that straight walking or turning walking is realized;
according to the guidance of the GPS positioning device (17), the navigation walking vehicle body (1) runs to the position near the road surface to be finished;
s12, arranging a camera device (19) in front of the walking vehicle body (1), and in the running process, performing auxiliary positioning according to the road surface signs (14) shot by the camera device (19) and the position in the GIS information so as to eliminate the positioning error of the GPS positioning device (17);
after positioning, the gyroscope (18) is used as the direction for guiding the walking vehicle body (1) to walk;
s13, identifying the road surface to be finished by the camera device (19) positioned at the bottom of the walking vehicle body (1), and moving the walking vehicle body (1) to the position above the road surface to be finished through path generation to align the planning and milling device (7) on the walking vehicle body (1) with the position of the road surface to be finished.
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| CN201911415866.8A CN111045049A (en) | 2019-12-31 | 2019-12-31 | Intelligent asphalt pavement repairing vehicle and construction method |
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