CN118390369B - Road maintenance device for municipal construction - Google Patents
Road maintenance device for municipal construction Download PDFInfo
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- CN118390369B CN118390369B CN202410840186.5A CN202410840186A CN118390369B CN 118390369 B CN118390369 B CN 118390369B CN 202410840186 A CN202410840186 A CN 202410840186A CN 118390369 B CN118390369 B CN 118390369B
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Abstract
The invention discloses a road maintenance device for municipal construction, which relates to the technical field of road maintenance and comprises a maintenance vehicle, a scanning module and a central control processor, wherein the scanning module is arranged on the front surface of the outer wall of the maintenance vehicle, the central control processor is arranged on the front surface of the inner wall of the maintenance vehicle, and the scanning module is connected to the central control processor through a data line; the scanning module includes: and the camera module and the ultrasonic radar. The invention realizes the real-time scanning and collecting function of road surface condition data by installing the scanning module, solves the problems of low manual inspection efficiency and poor accuracy, and improves the automatic scanning and collecting level of the road surface condition data.
Description
Technical Field
The invention relates to the technical field of road maintenance, in particular to a road maintenance device for municipal construction.
Background
With the acceleration of the urban process and the increase of traffic, road maintenance and management become important tasks in municipal engineering. The traditional road maintenance mode generally depends on manual inspection and repair, so that the efficiency is low, and the whole coverage and timely repair of a road are difficult to ensure. Various defects on the road surface, such as cracks, depressions and wear, not only affect traffic safety, but also cause damage to vehicles and traffic jams, thereby adversely affecting urban economic and social life.
To address these challenges, there is a need in the municipal construction and maintenance sector for an efficient, intelligent and automated road maintenance device. The device should be able to monitor road state in real time, accurately identify and locate defects, and automatically repair, thereby improving road maintenance efficiency and quality, reducing traffic interruption and maintenance cost, and guaranteeing urban traffic smoothness and safety.
Therefore, it is necessary to provide a road maintenance device for municipal construction to solve the problems in the background.
Patent document CN116556154B discloses a municipal road maintenance device, and the above-mentioned patent has realized guaranteeing that the road is restoreed the back and is fast normal traffic, and the installation is dismantled convenient simple, the structure is firm, but the above-mentioned patent can not realize the real-time scanning acquisition function to road surface situation data.
Patent document CN110306411B discloses an airport maintenance is with adopting laser positioning road paving device, the setting through baffle and movable pulley has been realized to above-mentioned patent, the movable pulley is along the inboard middle part symmetric distribution of baffle, and the inboard middle part of baffle is hollow form and distributes, when the drain bar flows from the baffle middle part, the movable pulley slides with the drain bar that prevents, prevent that the sharp-pointed department fish tail at baffle middle part from preventing the drain bar from appearing in use, also cause the card to stop the condition to appear simultaneously when also causing follow-up slip, but above-mentioned patent can not realize the recognition function to the road surface defect type.
Patent document CN108999069B discloses a municipal road asphalt paving maintenance device, the above-mentioned patent has realized the inside area of contact between new material and the road old material that increase asphalt was repaired to realize the restriction of upper and lower positions, utilize nearly horizontal extrusion force, better messenger's new material and old material extrusion laminating, improve the integrative effect of repairing, but the accurate locate function to the defect position on the road can not be realized to above-mentioned patent.
Patent document CN108221626B discloses an improved hand-push road maintenance construction device, and the above-mentioned patent has realized simple structure, convenient operation, can automatic control crushing work, improves crushing work efficiency, can accomplish dust absorption work voluntarily, reduces raise dust pollution environment, but the above-mentioned patent can not realize the hole marking restoration function to the road.
In summary, the above-mentioned patent cannot realize the functions of real-time scanning and collecting of road surface condition data, identifying of road surface defect types, accurate positioning of defect positions on roads and repairing of hollow marks on roads, which results in low efficiency of manual inspection and repair and difficulty in ensuring full coverage and timely repair of roads;
Therefore, the application provides the road maintenance device for municipal construction, which can realize the functions of real-time scanning and acquisition of road surface condition data, identification of road surface defect types, accurate positioning of defect positions on roads and repairing of hollow marked lines of roads.
Disclosure of Invention
The invention aims to provide a road maintenance device for municipal construction, which aims to solve the technical problems that the manual inspection and repair efficiency is low and the whole coverage and timely repair of a road are difficult to ensure because the real-time scanning acquisition function of road surface condition data, the identification function of road surface defect types, the accurate positioning function of defect positions on the road and the pit marking repair function of the road cannot be realized in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the road maintenance device for municipal construction comprises a maintenance vehicle, a scanning module and a central control processor, wherein the scanning module is arranged on the front surface of the outer wall of the maintenance vehicle, the central control processor is arranged on the front surface of the inner wall of the maintenance vehicle, and the scanning module is connected to the central control processor through a data line;
The scanning module includes: the camera module and the ultrasonic radar;
The first mounting frame is installed on the front of the outer wall of the maintenance vehicle, the camera module is installed at the bottom of the outer wall of the first mounting frame, the second mounting frame is installed at the bottom of the front of the outer wall of the maintenance vehicle, the ultrasonic radar is installed at the bottom of the outer wall of the second mounting frame, and the central control processor receives image data and ultrasonic data information transmitted by the scanning module through the data line and processes the data information and generates a control signal.
Preferably, the first storage silo is installed at maintenance car outer wall top, first charge door is installed at first storage silo outer wall top, the second storage silo is installed at maintenance car outer wall top, the second charge door is installed at second storage silo outer wall top, maintenance car outer wall back side mounting has the battery, and the battery is connected to the power consumption device in the maintenance device through the power cord, for maintaining the device and wholly carry out power supply, the drive wheelset is installed to maintenance car outer wall bottom, the drive wheelset is connected to battery drive walking through electric motor, the warning light is installed at maintenance car outer wall top, the warning light is connected to the battery through the power cord.
Preferably, a control bin is arranged at the top of the inner wall of the maintenance vehicle, a material distribution module is arranged in the control bin, and the material distribution module is used for repairing and spraying fillers according to road surface conditions;
the material distributing module comprises: the sliding way, the rack and the sealing plate;
The slide has been seted up to control feed bin inner wall side, the inside equal movable sleeve in slide both ends is equipped with the slider, sealing plate is all installed to both ends slider outer wall side, and sealing plate outer wall top forms the closing mouth with first storage silo and second storage silo outer wall bottom, the rack is installed to sealing plate outer wall bottom, control feed bin inner space passes through the division board partition, two unloading passageways are installed to control feed bin outer wall bottom, two pipelines are installed to unloading passageway outer wall bottom, pipeline outer wall cover is equipped with the repair box, and the repair box is installed in maintenance car inner wall bottom.
Preferably, the first motor is all installed to control feed bin inner wall both sides face, and first motor passes through the signal line to be connected to central control processor, and first pivot is installed to first motor outer wall side face, and first gear is installed to first pivot outer wall, and first gear and rack tooth external engagement.
Preferably, a leveling module is arranged on the side surface of the outer wall of the maintenance vehicle, the leveling module is connected to the central control processor through a signal wire, and the leveling module is used for leveling a road surface;
The leveling module includes: the hydraulic cylinder, the telescopic rod and the compacting plate;
a fixing seat is arranged on the side surface of the outer wall of the maintenance vehicle, a hydraulic cylinder is arranged at the bottom of the inner wall of the fixed seat, the telescopic link is installed to hydraulic cylinder outer wall bottom, and compacting plate is installed to telescopic link outer wall bottom.
Preferably, a repair module is installed at the bottom of the inner wall of the repair box, and is connected to the central control processor through a signal wire and used for correspondingly repairing the road defect problem;
the repair module includes: an annular contracting press, a leveling plate and a pressurizer;
an annular shrinkage press is installed at the bottom of the inner wall of the repair box, an annular sleeve is installed at the bottom of the outer wall of the annular shrinkage press, a leveling plate is installed at the bottom of the outer wall of the annular sleeve, a pipeline penetrates through the annular shrinkage press and the annular space inside the annular sleeve to extend out of the bottom of the outer wall of the maintenance vehicle, a hose is connected to the bottom of the outer wall of the pipeline, and an extrusion filling head is installed at the bottom of the outer wall of the hose;
the bottom of the inner wall of the repairing box is provided with a pressurizer, the bottom of the outer wall of the pipeline is communicated with the pressurizer, and the bottom of the outer wall of the pressurizer is provided with a spray nozzle.
Preferably, a pavement state recognition module is designed in the central control processor, and the pavement state recognition module recognizes the pavement state according to the pavement data transmitted by the scanning module, finds out the defect problem and classifies the pavement state;
the road surface state recognition module includes: an input data processing unit, a technology selection unit and an output result interpretation unit;
the input data processing unit performs denoising, image enhancement and size standardization preprocessing on the road surface data transmitted to the scanning module, and fuses the image and the laser data to form multi-mode data and inputs the multi-mode data to the technology selection unit;
The technology selection unit performs end-to-end learning on the image by using a convolutional neural network, automatically extracts and identifies road surface features, performs fine adjustment on a small sample data set based on a pre-trained CNN model, and adapts to the identification task of specific road environments and defect types;
The output result interpretation unit classifies the recognition result of the technology selection unit into different road state categories and gives an imaging display result of each state.
Preferably, the pavement state recognition module is connected with a defect positioning module through a data line, and the defect positioning module is used for accurately positioning and repairing the defect position;
the defect positioning module comprises: the system comprises a data combination unit, a positioning labeling unit and a signal response unit;
the data combination unit uses the result obtained by the road surface state recognition module as input and fuses the GPS positioning data with the recognition result;
the positioning and marking unit uses a target detection algorithm to position the defects in the identification result and marks the boundary frames, and uses a map matching algorithm to match the positioning result with the digital map so as to determine the geographic coordinates of the defect positions;
and the signal response unit generates corresponding driving signals to the electric motor and the driving wheel group according to the geographic coordinates determined by the positioning marking unit and the defect results identified by the pavement state identification module, and moves the driving signals to the corresponding positions to carry out defect repair operation.
Preferably, the scanning module scans the road surface in real time, and transmits the scanned road surface state data to the central control processor through the data signal line connection, the central control processor generates a repair response signal, and transmits the repair response signal to the corresponding repair mechanism through the data signal line connection, and the repair processing operation is started.
Preferably, the pavement state recognition module in the central control processor processes and recognizes the pavement data scanned and transmitted by the scanning module, recognizes the type of pavement defects, receives and fuses the pavement defect type data through the signal transmission interface, precisely positions the defect positions by combining map data, and drives the maintenance device to reach the designated defect positions through tree signal line connection according to precise coordinates.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, by installing the scanning module, the real-time scanning and collecting function of road surface condition data is realized, the problems of low manual inspection efficiency and poor accuracy are solved, and the automatic scanning and collecting level of the road surface condition data is improved;
2. According to the invention, the pavement state identification module is arranged, so that the identification function of pavement defect types is realized, the automatic identification level of pavement defects is improved, the accuracy of defect identification is improved, and the pavement corresponding repair treatment is facilitated;
3. According to the invention, by installing the defect positioning module, the accurate positioning function of the defect position on the road is realized, the problem that the defect position cannot be accurately repaired due to inaccurate manual visual positioning is solved, and the repair positioning precision and the automation degree are improved;
4. according to the invention, the repairing module is arranged, so that the repairing function of the hollow marking of the road is realized, the problem of damage of the hollow marking of the road is solved, the leveling and compacting function of the road surface is realized, the road surface is repaired and leveled, and no dirt overflows to the road surface.
Drawings
FIG. 1 is a schematic elevational view of the present invention;
FIG. 2 is a schematic view of the front part structure of the present invention;
FIG. 3 is a schematic view of a part of a material distributing module according to the present invention;
FIG. 4 is a schematic view of a portion of a flattening module of the present invention;
FIG. 5 is a schematic diagram of a repair module part according to the present invention;
FIG. 6 is a schematic diagram of a pavement condition recognition module according to the present invention;
FIG. 7 is a schematic diagram of a defect localization module according to the present invention;
fig. 8 is a schematic of the workflow of the present invention.
In the figure: 1. a maintenance vehicle; 2. a driving wheel group; 3. a first storage bin; 4. a warning light; 5. a first mounting frame; 6. a second mounting frame; 7. a fixing seat; 8. an ultrasonic radar; 9. a camera module; 10. a storage battery; 11. a first feed inlet; 12. a second feed inlet; 13. a second storage bin; 14. controlling a storage bin; 16. a central control processor; 17. sealing plate; 18. a slideway; 19. a slide block; 20. a blanking channel; 21. a pipe; 22. a hose; 23. a first motor; 24. a first rotating shaft; 25. a first gear; 26. a hydraulic cylinder; 27. a telescopic rod; 28. compacting the plate; 29. a repair box; 30. an annular shrink press; 32. extruding the filling head; 33. an annular sleeve; 34. leveling plates; 35. a pressurizer; 36. a spray nozzle; 37. a rack.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1
Referring to fig. 1, 2 and 8, an embodiment of the present invention provides: the road maintenance device for municipal construction comprises a maintenance vehicle 1, a scanning module and a central control processor 16, wherein the scanning module is arranged on the front surface of the outer wall of the maintenance vehicle 1, the central control processor 16 is arranged on the front surface of the inner wall of the maintenance vehicle, and the scanning module is connected to the central control processor 16 through a data line;
the scanning module includes: a camera module 9 and an ultrasonic radar 8;
The front of the outer wall of the maintenance vehicle 1 is provided with a first mounting frame 5, the bottom of the outer wall of the first mounting frame 5 is provided with a camera module 9, the bottom of the front of the outer wall of the maintenance vehicle 1 is provided with a second mounting frame 6, the bottom of the outer wall of the second mounting frame 6 is provided with an ultrasonic radar 8, and the central control processor 16 receives image data and ultrasonic data information transmitted by the scanning module through a data line, processes the data information and generates a control signal;
Further, the first mounting frame 5 plays the role of fixing the camera module 9, the second mounting frame 6 plays the role of fixing the ultrasonic radar 8, the camera module 9 shoots the road surface in front of the maintenance vehicle 1 in real time to collect the image data of the road surface, the ultrasonic radar 8 sends vertical ultrasonic waves to the road surface and receives ultrasonic reflection, the road surface flatness and the pothole condition are calculated in real time through the ultrasonic wave sending and receiving time difference, the camera module 9 and the ultrasonic radar 8 transmit the collected road surface condition data information into the central control processor 16 in real time to perform data processing analysis, corresponding maintenance repair processing signals are generated, the automatic real-time scanning function of the road surface condition is realized, corresponding repair response signals are generated according to the road surface condition, and the automatic road surface maintenance processing is performed.
Example 2
Referring to fig. 1,2 and 3, an embodiment of the present invention provides: the road maintenance device for municipal construction is characterized in that first motors 23 are arranged on two side surfaces of the inner wall of a control bin 14, the first motors 23 are connected to a central control processor 16 through signal wires, first rotating shafts 24 are arranged on the side surfaces of the outer walls of the first motors 23, first gears 25 are arranged on the outer walls of the first rotating shafts 24, the first gears 25 are externally meshed with racks 37, the control bin 14 is arranged at the top of the inner wall of the maintenance vehicle 1, a material distribution module is arranged in the control bin 14, and the material distribution module is used for repairing filler and spraying filler according to pavement condition selection;
The material distributing module comprises: slide 18, rack 37 and sealing plate 17;
the side surfaces of the inner wall of the control bin 14 are provided with slide ways 18, sliding blocks 19 are movably sleeved in the two ends of the slide ways 18, sealing plates 17 are arranged on the side surfaces of the outer walls of the sliding blocks 19 at the two ends, sealing plates 17 form sealing openings with the bottoms of the outer walls of the first storage bin 3 and the second storage bin 13, racks 37 are arranged at the bottoms of the outer walls of the sealing plates 17, the inner space of the control bin 14 is equally divided by partition plates, two blanking channels 20 are arranged at the bottoms of the outer walls of the control bin 14, two pipelines 21 are arranged at the bottoms of the outer walls of the blanking channels 20, a repairing box 29 is sleeved on the outer walls of the pipelines 21, and the repairing box 29 is arranged at the bottom of the inner wall of the maintenance vehicle 1;
Further, when the hole repairing and marking paint spraying are conducted on the road surface, the first motor 23 is started, the first motor 23 drives the first rotating shaft 24 to rotate, the first rotating shaft 24 drives the first gear 25 to rotate, the first gear 25 drives the rack 37 to move through meshing, and the rack 37 drives the sealing plate 17 and the sliders 19 at the two ends to move in the slide ways 18; when the sealing plate 17 moves towards the center of the control bin 14, gaps are formed at the bottoms of the sealing plate 17 and the first storage bin 3 and the second storage bin 13, repairing filler and spraying filler in the first storage bin 3 and the second storage bin 13 enter the repairing box 29 through the gaps and enter the repairing box 21, after repairing is finished, the first motor 23 is started to drive the sealing plate 17 to move towards the two sides of the control bin 14, the sealing plate 17 and the bottoms of the first storage bin 3 and the second storage bin 13 form a sealing state, discharging is stopped, two first motors 23 are controlled to start working respectively according to different repairing requirements, the material distributing function of repairing materials with different repairing requirements is achieved, the requirements of different repairing treatments on raw materials are met, and the automatic material distributing, material supplementing and repairing function in the repairing process is achieved.
Example 3
Referring to fig. 1 and 4, an embodiment of the present invention is provided: the utility model provides a road maintenance device for municipal construction, the maintenance car 1 outer wall side is installed and is leveled the module, and the module of leveling is connected to central control processor 16 through the signal line, and the module of leveling is used for carrying out the roughness processing to the road surface;
the leveling module includes: a hydraulic cylinder 26, a telescopic rod 27 and a compacting plate 28;
The side surface of the outer wall of the maintenance vehicle 1 is provided with a fixed seat 7, the bottom of the inner wall of the fixed seat 7 is provided with a hydraulic cylinder 26, the bottom of the outer wall of the hydraulic cylinder 26 is provided with a telescopic rod 27, and the bottom of the outer wall of the telescopic rod 27 is provided with a compacting plate 28;
Further, after the repair process is finished, the maintenance vehicle 1 runs back and forth in the repair area, at this time, after the leveling module receives the control signal of the central control processor 16, the hydraulic cylinder 26 is started to work, the hydraulic cylinder 26 drives the telescopic rod 27 to stretch back and forth, the telescopic rod 27 drives the compacting plate 28 to conduct high-frequency compaction treatment on the pavement, the repairing filler in the potholes is compacted, the repair thickness of the potholes and the pavement evenness are guaranteed, the leveling treatment on the pavement is achieved, the repair evenness of the potholes on the pavement is guaranteed on one hand, and on the other hand, the filler is guaranteed not to escape to the pavement to cause the dirt and skid problem of the pavement.
Example 4
Referring to fig. 1 and 5, an embodiment of the present invention is provided: the road maintenance device for municipal construction is characterized in that a repair module is installed at the bottom of the inner wall of a repair box 29, the repair module is connected to a central control processor 16 through a signal wire, and the repair module is used for correspondingly repairing the road defect problem;
the repair module includes: an annular contracting press 30, a flattening plate 34 and a presser 35;
The annular shrinkage press 30 is arranged at the bottom of the inner wall of the repair box 29, the annular sleeve 33 is arranged at the bottom of the outer wall of the annular shrinkage press 30, the leveling plate 34 is arranged at the bottom of the outer wall of the annular sleeve 33, the pipeline 21 penetrates through the annular shrinkage press 30 and the annular space inside the annular sleeve 33 to extend out of the bottom of the outer wall of the maintenance vehicle 1, the hose 22 is connected to the bottom of the outer wall of the pipeline 21, and the extrusion filling head 32 is arranged at the bottom of the outer wall of the hose 22;
The bottom of the inner wall of the repairing box 29 is provided with a pressurizer 35, the bottom of the outer wall of the pipeline 21 is communicated with the pressurizer 35, and the bottom of the outer wall of the pressurizer 35 is provided with a spray nozzle 36;
Further, when the hollow repairing is carried out, the hollow repairing filler enters the hose 22 and the extrusion filling head 32 from the pipeline 21, after the annular shrinkage press 30 receives a repairing signal of the central control processor 16, the annular shrinkage press 30 is started, the annular shrinkage press 30 drives the annular sleeve 33 and the leveling plate 34 to stretch up and down, the annular sleeve 33 accurately extrudes the hollow repairing filler in the hose 22 into the hollow through the extrusion filling head 32, and meanwhile, the leveling plate 34 performs impact compaction on the filler, so that the hollow is ensured to be filled with the filler, and the repairing effect is ensured; when the pavement marking is coated and repaired, the coating is injected into the pressurizer 35 through the pipeline 21, the pressurizer 35 pressurizes the coating in the pipeline 21, and then the coating is coated to the marking missing part through the spray nozzle 36; the repairing and marking coating functions of the pavement pits are realized, and the maintenance efficiency and effect are improved.
Example 5
Referring to fig. 6 and 8, an embodiment of the present invention is provided: the road maintenance device for municipal construction is characterized in that a road surface state identification module is designed in a central control processor 16, and the road surface state identification module identifies the road surface state according to the road surface data transmitted by a scanning module, finds out the defect problem and classifies the road surface state;
the road surface state recognition module includes: an input data processing unit, a technology selection unit and an output result interpretation unit;
the input data processing unit performs denoising, image enhancement and size standardization preprocessing on the road surface data transmitted to the scanning module, and fuses the image and the laser data to form multi-mode data and inputs the multi-mode data to the technology selection unit;
The technology selection unit performs end-to-end learning on the image by using a convolutional neural network, automatically extracts and identifies road surface features, performs fine adjustment on a small sample data set based on a pre-trained CNN model, and adapts to the identification task of specific road environments and defect types;
The output result interpretation unit divides the recognition result of the technology selection unit into different road state categories and gives out an imaging display result of each state;
Further, the road image is collected in real time from the camera module 9 mounted on the maintenance device, the collected image is subjected to denoising processing by using a gaussian filter to reduce noise interference, the contrast of the image is enhanced by histogram equalization to highlight road defect characteristics, the height information of the road surface is obtained by the ultrasonic radar 8, radar scan data and image data are aligned to ensure the consistency of the radar scan data and the image data in space, the aligned radar data and the image data are fused to form multi-mode input, the characteristics are extracted from the fused data by using a pretrained convolutional neural network CNN, the extracted characteristics are classified by a classification layer, different types of road defects are identified, the road state is classified into normal, crack, pothole and other types according to the classification result, the identification result is superimposed on the road image, and the result data is stored in the central control processor 16.
Example 6
Referring to fig. 7 and 8, an embodiment of the present invention is provided: the road maintenance device for municipal construction comprises a pavement state identification module, a defect positioning module and a data line, wherein the pavement state identification module is connected with the defect positioning module through the data line, and the defect positioning module is used for accurately positioning and repairing the defect position;
the defect positioning module comprises: the system comprises a data combination unit, a positioning labeling unit and a signal response unit;
the data combination unit uses the result obtained by the road surface state recognition module as input and fuses the GPS positioning data with the recognition result;
the positioning and marking unit uses a target detection algorithm to position the defects in the identification result and marks the boundary frames, and uses a map matching algorithm to match the positioning result with the digital map so as to determine the geographic coordinates of the defect positions;
The signal response unit generates a corresponding driving signal to the electric motor and the driving wheel set 2 according to the geographic coordinates determined by the positioning marking unit and the defect result identified by the pavement state identification module, and moves to a corresponding position to carry out defect repair operation;
Further, the identification result is obtained from the pavement state identification module and comprises a boundary frame and a type of the defect, the current position data is obtained from the GPS module on the device, the defect in the image is detected by using the YOLO algorithm, an accurate boundary frame is generated, the detected defect image is registered with the digital map, the geographic coordinates of the defect position are determined, the position of the defect is aligned with the digital map by using the map matching algorithm, the positioning precision is further improved, the specific position of each defect is marked on the map, the corresponding geographic coordinates are given, the positioning result is evaluated accurately, a confidence interval or an error range is provided, and the signal response unit generates a corresponding driving signal to the leveling module, the repairing module and the distributing module according to the geographic coordinates determined by the positioning marking unit and the defect result identified by the pavement state identification module to carry out defect repairing operation.
The working principle is that the device scans the road surface state through the scanning module and transmits the road surface state data to the central control processor 16 for preprocessing;
The preprocessed data are processed and analyzed by a pavement state identification module and a defect positioning module in the central control processor 16, the repair operation and the accurate coordinate position required by the pavement are determined, and a signal response unit in the central control processor 16 generates corresponding repair signals and distributes and transmits the repair signals to the leveling module, the repair module and the material distributing module;
The leveling module, the repairing module and the distributing module are mutually matched to repair potholes, repair marked lines and level the pavement, so that the pavement maintenance function of municipal road construction is realized, and the pavement repairing effect and the flatness are ensured.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (3)
1. The utility model provides a municipal construction is with road maintenance device which characterized in that: the device comprises a maintenance vehicle (1), a scanning module and a central control processor (16), wherein the scanning module is arranged on the front surface of the outer wall of the maintenance vehicle (1), the central control processor (16) is arranged on the front surface of the inner wall of the maintenance vehicle, and the scanning module is connected to the central control processor (16) through a data line;
The scanning module includes: a camera module (9) and an ultrasonic radar (8);
The front of the outer wall of the maintenance vehicle (1) is provided with a first mounting frame (5), the bottom of the outer wall of the first mounting frame (5) is provided with a camera module (9), the bottom of the front of the outer wall of the maintenance vehicle (1) is provided with a second mounting frame (6), the bottom of the outer wall of the second mounting frame (6) is provided with an ultrasonic radar (8), and the central control processor (16) receives image data and ultrasonic data information transmitted by the scanning module through a data line, processes the data information and generates a control signal;
The maintenance vehicle is characterized in that a first storage bin (3) is arranged at the top of the outer wall of the maintenance vehicle (1), a first feeding hole (11) is arranged at the top of the outer wall of the first storage bin (3), a second storage bin (13) is arranged at the top of the outer wall of the maintenance vehicle (1), a second feeding hole (12) is arranged at the top of the outer wall of the second storage bin (13), a storage battery (10) is arranged on the back of the outer wall of the maintenance vehicle (1), the storage battery (10) is connected to an electric device in the maintenance device through a power line, a driving wheel set (2) is arranged at the bottom of the outer wall of the maintenance vehicle (1), the driving wheel set (2) is connected to the storage battery (10) through an electric motor to drive and walk, a warning lamp (4) is arranged at the top of the outer wall of the maintenance vehicle (1), and the warning lamp (4) is connected to the storage battery (10) through the power line;
a control bin (14) is arranged at the top of the inner wall of the maintenance vehicle (1), a material distribution module is arranged in the control bin (14), and the material distribution module is used for selectively repairing and spraying fillers according to road surface conditions;
The material distributing module comprises: a slideway (18), a rack (37) and a sealing plate (17);
a slide way (18) is arranged on the side surface of the inner wall of the control bin (14), sliding blocks (19) are movably sleeved at the two ends of the slide way (18), sealing plates (17) are arranged on the side surfaces of the outer walls of the sliding blocks (19) at the two ends, sealing openings are formed in the top of the outer walls of the sealing plates (17) and the bottoms of the outer walls of the first storage bin (3) and the second storage bin (13), racks (37) are arranged at the bottoms of the outer walls of the sealing plates (17), the inner space of the control bin (14) is equally divided by partition plates, two blanking channels (20) are arranged at the bottoms of the outer walls of the control bin (14), two pipelines (21) are arranged at the bottoms of the outer walls of the blanking channels (20), repairing boxes (29) are sleeved on the outer walls of the pipelines (21), and the repairing boxes (29) are arranged at the bottoms of the inner walls of the maintenance vehicle (1).
The two side surfaces of the inner wall of the control bin (14) are provided with first motors (23), the first motors (23) are connected to the central control processor (16) through signal wires, the side surfaces of the outer wall of the first motors (23) are provided with first rotating shafts (24), the outer wall of each first rotating shaft (24) is provided with a first gear (25), and the first gears (25) are externally meshed with teeth of the racks (37);
the side surface of the outer wall of the maintenance vehicle (1) is provided with a leveling module which is connected to the central control processor (16) through a signal wire and is used for performing leveling treatment on a road surface;
The leveling module includes: a hydraulic cylinder (26), a telescopic rod (27) and a compacting plate (28);
A fixed seat (7) is arranged on the side surface of the outer wall of the maintenance vehicle (1), a hydraulic cylinder (26) is arranged at the bottom of the inner wall of the fixed seat (7), a telescopic rod (27) is arranged at the bottom of the outer wall of the hydraulic cylinder (26), and a compacting plate (28) is arranged at the bottom of the outer wall of the telescopic rod (27);
The bottom of the inner wall of the repair box (29) is provided with a repair module which is connected to the central control processor (16) through a signal wire and is used for correspondingly repairing the road defect problem;
The repair module includes: an annular contracting press (30), a flattening plate (34) and a presser (35);
An annular shrinkage press (30) is arranged at the bottom of the inner wall of the repair box (29), an annular sleeve (33) is arranged at the bottom of the outer wall of the annular shrinkage press (30), a leveling plate (34) is arranged at the bottom of the outer wall of the annular sleeve (33), a pipeline (21) penetrates through the annular shrinkage press (30) and the annular space inside the annular sleeve (33) to extend out of the bottom of the outer wall of the maintenance vehicle (1), a hose (22) is connected to the bottom of the outer wall of the pipeline (21), and an extrusion filling head (32) is arranged at the bottom of the outer wall of the hose (22);
The bottom of the inner wall of the repairing box (29) is provided with a pressurizer (35), the bottom of the outer wall of the pipeline (21) is communicated with the pressurizer (35), and the bottom of the outer wall of the pressurizer (35) is provided with a spray nozzle (36);
The central control processor (16) is internally provided with a pavement state identification module, and the pavement state identification module identifies pavement states according to pavement data transmitted by the scanning module, finds out defect problems and classifies the pavement states;
the road surface state recognition module includes: an input data processing unit, a technology selection unit and an output result interpretation unit;
the input data processing unit performs denoising, image enhancement and size standardization preprocessing on the road surface data transmitted to the scanning module, and fuses the image and the laser data to form multi-mode data and inputs the multi-mode data to the technology selection unit;
The technology selection unit performs end-to-end learning on the image by using a convolutional neural network, automatically extracts and identifies road surface features, performs fine adjustment on a small sample data set based on a pre-trained CNN model, and adapts to the identification task of specific road environments and defect types;
The output result interpretation unit divides the recognition result of the technology selection unit into different road state categories and gives out an imaging display result of each state;
The pavement state identification module is connected with a defect positioning module through a data line, and the defect positioning module is used for accurately positioning and repairing the defect position;
the defect positioning module comprises: the system comprises a data combination unit, a positioning labeling unit and a signal response unit;
the data combination unit uses the result obtained by the road surface state recognition module as input and fuses the GPS positioning data with the recognition result;
the positioning and marking unit uses a target detection algorithm to position the defects in the identification result and marks the boundary frames, and uses a map matching algorithm to match the positioning result with the digital map so as to determine the geographic coordinates of the defect positions;
And the signal response unit generates a corresponding driving signal to the electric motor and the driving wheel group (2) according to the geographic coordinates determined by the positioning marking unit and the defect result identified by the pavement state identification module so as to move to the corresponding position for performing defect repair operation.
2. The road maintenance device for municipal construction according to claim 1, wherein: the scanning module scans the road surface in real time, and transmits the scanned road surface state data to the central control processor (16) through the data signal line connection, the central control processor (16) generates a repair response signal, and the repair response signal is transmitted to the corresponding repair mechanism through the data signal line connection, so that the repair processing operation is started.
3. The road maintenance device for municipal construction according to claim 1, wherein: the road surface state recognition module in the central control processor (16) processes and recognizes the road surface data scanned and transmitted by the scanning module, recognizes the type of road surface defects, and the defect positioning module receives and fuses the road surface defect type data through the signal transmission interface, precisely positions the defect positions by combining map data, and drives the maintenance device to reach the designated defect positions through tree signal line connection according to precise coordinates.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111157996A (en) * | 2020-01-06 | 2020-05-15 | 珠海丽亭智能科技有限公司 | Parking robot driving safety detection method |
| CN113672009A (en) * | 2021-08-20 | 2021-11-19 | 浙江大学 | Intelligent dehumidification robot system and method for power distribution station room |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111157996A (en) * | 2020-01-06 | 2020-05-15 | 珠海丽亭智能科技有限公司 | Parking robot driving safety detection method |
| CN113672009A (en) * | 2021-08-20 | 2021-11-19 | 浙江大学 | Intelligent dehumidification robot system and method for power distribution station room |
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