FR3120375A1 - Pavement repair unit, method and computer program - Google Patents

Abstract

A road repair unit (1) has a spreading assembly (4) comprising an outward extending arm (5) and an arm (6) supporting a spreading head (7). output of gravel and binder, characterized by a system (110) with a camera (111, 112, 113) for taking pictures of the front or side zone (Z) of the roadway, means (20) for automatic detection of holes (T) of the pavement in the images, of which a computer automatically identifies and classifies, by a learning algorithm, regions of the acquired image in the hole presence class or in the hole absence class and generates the controls for the arms (5, 6), the head (7) and the spreading controls above a location located in the front or side zone (Z) and corresponding to a region of the acquired image, identified in the hole presence class. Figure for the abstract: figure 3

Description

Pavement repair unit, method and computer program

The invention relates to a mobile unit and a method for repairing a pavement.

This mobile unit can be equipment of the bi-spreader type intended to be installed on a road carrier, for example by being mounted on a wheeled chassis or the like, this chassis itself being automotive or also able to be towed.

One of the problems encountered with these mobile units is the quality of the repair of the pavement, when the latter is damaged by holes such as those commonly called potholes.

Indeed, potholes can be difficult to see by the person piloting the mobile unit.

Document FR-A-3 053 058 discloses a pavement repair unit, comprising a frame, on which are mounted a chippings storage container and a binder storage tank, a spreading assembly, allowing to spread gravel and binder in a targeted manner in an area of the roadway, located in front of the front side of the chassis. This spreading assembly comprises a first outward deployment member, movably mounted on the frame and capable of occupying a first extended position relative to the frame, in which a second end part of the first member is located at the -above said zone, a second support member serving to support an outlet head for the gravel and the binder, a conduit, means for conveying the gravel in the conduit to bring gravel from the storage container to the head, a pipe from the tank to the head and a device for bringing the binder into the pipeline from the tank to the head.

Document FR-A-3 053 058 provides that the spreading assembly comprises a system for moving at a predetermined constant speed the central point of the opening for the projection of the gravel and the binder of the head along a predetermined path of movement.

Document FR-A-3 053 058 also provides that the spreading assembly comprises a disengageable locking system between the second part of the first member and a third part of the second member, this system being capable of occupying an immobilization position of the third part with respect to the second part and a disengaged position, in which the third part is suspended from the second part and is free to be moved according to at least one degree of freedom deviating from the vertical at the within a specified range of motion.

Thus, the unit known from document FR-A-3 053 058 requires either that the user visually checks from the cabin the positioning of the head above the area to be treated, which can be tedious, or, when the system is in the disengaged position, that a user present on the road moves his head using a handlebar connected to it to position it precisely above the place to be repaired on the road, which can be dangerous for him.

Indeed, because the defects in the roadway to be repaired can be numerous, more or less deep and have very different shapes, it can be difficult for the user located in the cabin to precisely position the second end part of the first organ above each place to be treated.

The aim of the invention is to obtain a unit, a method and a computer program for repairing a road surface, which overcome the drawbacks mentioned above and which make it possible to repair holes in the roadway with greater reliability, greater precision, greater speed and greater quality.

To this end, a first object of the invention is a pavement repair unit, comprising a frame, on which are mounted a chippings storage container and a binder storage tank, a front side, a rear side and a spreading assembly, making it possible to spread gravel and binder in a targeted manner at least in a front zone of the roadway, located in front of the front side and/or in a lateral zone of the roadway, located laterally by relative to the front side and the back side,
the spreading assembly comprising at least a first outward deployment arm, movably mounted on the frame, and a second support arm, which serves to support a gravel and binder outlet head and which is connected to the first arm, the first outward extending arm, the second support arm and the head being able to be controlled by movement commands,
the spreading assembly comprising at least one duct and means for conveying gravel in the duct to bring gravel from the storage container to the head, capable of being controlled by spreading controls,
the spreading assembly further comprising at least one pipe going from the tank to the head and at least one device for bringing the binder into the pipe from the tank to the head, capable of being controlled by the spreading controls,
a control device for generating the movement commands for the first arm, the second arm and the head and the spreading commands for the spreading assembly,
characterized in that the unit comprises
a camera system, comprising at least one camera oriented towards the front or side zone of the roadway, to obtain acquired images of the front or side zone of the roadway,
the control device comprises means for automatically detecting holes in the roadway in the images of the front or side zone of the roadway, comprising at least one computer comprising a learning base, in which first parts of the image are prerecorded each representing at least one hole of another pavement zone and classified in at least a first hole presence class and second image portions representing the other pavement zone without a hole and classified in at least a second class of no hole,
the computer being programmed to automatically:
- identifying in each acquired image and classifying, by an automatic learning algorithm of the computer based on the first image parts and on the second image parts, regions of the acquired image in the first hole presence class or in the second class of no hole,
- generating the commands for moving the first arm, the second arm and the head and the commands for spreading the spreading assembly above a location located in the front or side zone and corresponding to at least one region of the acquired image, having been identified in the first class of hole presence.

Thanks to the invention, the unit makes it possible to automatically detect holes in the roadway and to fill them by automatically moving the arms and the head to above the detected hole and output of gravel and binder from the head towards the hole. The work is carried out by the driver of the unit in forward gear, the driver being installed safely on the unit, being able to concentrate on driving the unit with better ergonomics. The filling of pothole type holes guarantees the durability of the pavement, restoring the seal and the profile. The driver can control the movement of the arms and the head to bring them close to a hole to be filled in the road. The unit then identifies the hole to automatically generate motion commands that precisely bring the head over the detected hole. The unit is distinguished by its ability to follow a predefined pothole patching process, which guarantees objectivity, quality and repeatability of the pavement repairs carried out. From a productivity point of view, the autopilot that can be implemented on the unit allows the full range of arm movements to be exploited, which is very interesting for potholes extending in length or width. The automatic piloting that can be carried out on the unit also makes it possible to adjust the flow of gravel and binder leaving the head, in particular by sending a greater quantity of gravel and binder into the deep holes.

According to one embodiment of the invention, the control device comprises at least one interface operable by a user, comprising at least one validation member operable by a user and configured for, when the validation member has been actuated by the user, execute the movement commands by the first arm, the second arm and the head and the spreading commands by the spreading assembly to spread binder and gravel above the location of the front zone or lateral corresponding to the at least one region of the acquired image, having been identified in the first hole presence class.

According to one embodiment of the invention, the control device comprises at least one interface operable by a user, comprising at least one cancellation member operable by a user and configured for, except actuation of the cancellation member to cancel the movement commands of the first arm, the second arm and the head and the spreading commands of the spreading assembly by the user, have the movement commands executed by the first arm, the second arm and the head and the spreading controls by the spreading assembly for spreading binder and gravel above the location of the front or side zone corresponding to the at least one region of the acquired image, having been identified in the first hole presence class.

According to one embodiment of the invention, the unit comprises as camera at least a first camera, which is fixed to the front side of the chassis or under the level of a front windscreen of a cabin fixed to the front side of the chassis and which is oriented towards the front or side area of the roadway.

According to one embodiment of the invention, the unit comprises as camera at least a second camera mounted on the first outward deployment arm and oriented towards the front or side area of the roadway.

According to one embodiment of the invention, the unit comprises as camera at least a second camera mounted on the first outward deployment arm and oriented towards the front or side area of the roadway and a third camera, which is mounted on the first outward extension arm remote from the second camera and which faces the front or side area of the roadway, the second camera and the third camera being configured to provide a stereoscopic image of the front or side area side of the roadway.

According to one embodiment of the invention, the unit comprises a cockpit fixed to the front side of the chassis, the unit comprising as camera at least a fourth camera mounted on the cockpit and oriented towards the front or side area. of the pavement.

According to one embodiment of the invention, the unit comprises a cockpit fixed to the front side of the chassis, the unit comprising as camera at least a fourth camera mounted on the cockpit and oriented towards the front or side area. of the roadway and a fifth camera, which is mounted on the remote cockpit of the fourth camera and which is directed towards the front or side area of the roadway, the fourth camera and the fifth camera being configured to provide a stereoscopic image of the front or side area of the roadway.

According to one embodiment of the invention, the unit comprises as camera at least a first camera fixed to the front side of the chassis or under the level of a front windshield of a cabin fixed to the front side of the chassis, and at least one second camera mounted on the first outward extending arm and facing the front or side area of the roadway, the second camera being remote from the first camera.

According to one embodiment of the invention, the computer is programmed to automatically:
- thresholding the acquired image below or beyond a prescribed threshold of image colorimetry, extracting a contour from the thresholded image and comparing the extracted contour with prescribed contours of holes of the first image parts, in order to identify and classify the regions of the acquired image in the first class of presence of a hole or in the second class of absence of a hole.

According to one embodiment of the invention, the automatic detection means are provided for the detection, as holes, of potholes in the roadway and/or cracking of the roadway and/or subsidence of the edges of the roadway in the images of the front or side zone of the pavement, the learning base, comprising as first class of presence of hole a first class of presence of potholes of the pavement and/or a first class of presence of cracking of the pavement and/or a first class of presence of subsidence of the edges of the pavement.

According to one embodiment of the invention, the unit comprises on the rear side a gravel distribution ramp and a binder spreading ramp, which extend at least over a determined width including the rear side.

According to one embodiment of the invention, the images acquired of the front or side zone of the roadway are views of the front or side zone of the roadway according to a viewing angle of less than 90° with respect to the front or side zone. side of the road,
the first image parts and the second image parts are views of the front or side zone of the other roadway according to the angle of view less than 90° with respect to the front or side zone of the roadway.

According to one embodiment of the invention, the images acquired of the front or side zone of the roadway are views of the front or side zone of the roadway according to an angle of view perpendicular to the roadway,
the first image parts and the second image parts are views of the front or side zone of the other roadway according to a viewing angle perpendicular to the roadway.

According to one embodiment of the invention, the camera system or the computer is configured to obtain the acquired images of the front or side zone of the roadway from raw images from the camera by homographic rectification by passing the first coordinates of the pixels of the raw images of the camera taken according to a first angle of elevation less than 90° with respect to the front or side zone of the roadway at second coordinates of said pixels according to a second angle of view perpendicular to the front zone or side of the roadway, the second coordinates of said pixels being those of the acquired images.

According to one embodiment of the invention, the regions of the acquired image identified in the first class of hole presence are marked superimposed on the acquired image on at least one display screen of the unit.

According to one embodiment of the invention, the control device comprises at least one interface operable by a user, comprising at least one input member operable by a user to enter at least one other movement command for the first arm, the second arm and head and another spreading control of the spreading assembly above another location located in the front or side area,
the computer being programmed to cause the other displacement command to be executed by the first arm, the second arm and the head and the other spreading command to be executed by the spreading assembly for spreading binder and gravel above the other location located in the front or side area.

According to one embodiment of the invention, the chippings and binder outlet head comprises a chippings and binder projection opening having a predetermined two-dimensional extent in which there is a central point of the opening, the set of spreading comprising a system for moving at predetermined constant speed the central point of the opening for the projection of the gravel and the binder along a predetermined path of movement.

According to one embodiment of the invention, the control device comprises means for detecting a depth of filling of the holes by the gravel and the binder, the computer being programmed to automatically stop the spreading controls when the depth of gravel and binder filling of the holes, having been detected, corresponds to a repaired hole.

A second object of the invention is a method of repairing a roadway using a roadway repair unit, comprising a frame, on which are mounted a gravel storage container and a storage tank of binder, a front side, a rear side and a spreading assembly, making it possible to spread gravel and binder in a targeted manner at least in a front zone of the roadway, located in front of the front side and/or in a lateral zone of the roadway, located laterally with respect to the front side and the rear side,
the spreading assembly comprising at least a first outward deployment arm (5), movably mounted on the frame, and a second support arm, which serves to support a gravel and binder outlet head and which is connected to the first arm, the first arm extending outwards, the second support arm and the head being able to be controlled by movement commands,
the spreading assembly comprising at least one duct and means for conveying gravel in the duct to bring gravel from the storage container to the head, capable of being controlled by spreading controls,
the spreading assembly further comprising at least one pipe going from the tank to the head and at least one device for bringing the binder into the pipe from the tank to the head, capable of being controlled by the spreading controls,
a control device for generating the movement commands for the first arm, the second arm and the head and the spreading commands for the spreading assembly,
characterized in that

first portions of an image each representing at least one hole in another roadway zone and classified in at least a first class of presence of hole and second image parts representing the other pavement zone without a hole and classified in at least a second class of absence of a hole,
is obtained by a system for taking pictures of the unit, comprising at least one camera, oriented towards the front or side zone of the roadway located in front of the chassis, images acquired from the front or side zone of the roadway,
automatically identifying by the computer in each acquired image and classifying by an automatic learning algorithm of the computer based on the first image parts and on the second image parts, regions of the acquired image in the first class presence of a hole or in the second class of absence of a hole,
the computer generates the commands for moving the first arm, the second arm and the head and the commands for spreading the spreading assembly above a location of the front or side zone corresponding to at least a region of the acquired image, having been identified in the first hole presence class.

According to one embodiment of the invention, before the automatic identification step, a user controls an input member of an interface operable by the user, to carry out a movement control of the first arm, of the second arm and head into the area near the hole.

A third object of the invention is a computer program, comprising code instructions for the implementation of the road repair method as described above, when it is executed by a computer.

The invention will be better understood on reading the description which follows, given solely by way of non-limiting example with reference to the figures mentioned below of the appended drawings.

schematically shows in perspective a pavement repair unit according to one embodiment of the invention in a storage position.

schematically shows in perspective a pavement repair unit according to one embodiment of the invention in the storage position.

schematically shows in perspective a pavement repair unit according to one embodiment of the invention in an outward deployment position.

schematically shows from the side a road repair unit according to an embodiment of the invention in the outward deployment position.

schematically shows in perspective top view a chippings conveyor of the pavement repair unit according to one embodiment of the invention.

schematically shows in perspective view from below the chippings conveyor of the pavement repair unit according to one embodiment of the invention.

schematically represents in perspective top view the interior of part of the gravel conveyor of the pavement repair unit according to one embodiment of the invention.

is a modular block diagram of the pavement repair unit according to one embodiment of the invention.

schematically shows in perspective top view an arm joint of the pavement repair unit according to one embodiment of the invention.

schematically shows in perspective enlarged top view the arm joint of the pavement repair unit according to one embodiment of the invention.

schematically shows in top view optional rear gravel and binder distribution assemblies of the pavement repair unit according to one embodiment of the invention.

schematically shows in top view optional rear gravel and binder distribution assemblies of the pavement repair unit according to one embodiment of the invention.

schematically shows in side view optional rear gravel and binder distribution assemblies of the pavement repair unit according to one embodiment of the invention.

shows a flowchart of a pavement repair method using the pavement repair unit according to one embodiment of the invention.

schematically represents an example of an image acquired and processed by the pavement repair unit according to an embodiment of the invention.

schematically shows in perspective a system for rotating the opening of a gravel and binder distribution head of the pavement repair unit according to one embodiment of the invention.

schematically shows in perspective a system for rotating the opening of a gravel and binder distribution head of the pavement repair unit according to one embodiment of the invention.

schematically shows in bottom view a system for rotating the opening of a gravel and binder distribution head of the pavement repair unit according to one embodiment of the invention.

schematically shows in perspective a system for rotating the opening of a gravel and binder distribution head of the pavement repair unit according to one embodiment of the invention.

schematically shows in perspective a system for rotating the opening of a gravel and binder distribution head of the pavement repair unit according to one embodiment of the invention.

schematically shows in perspective a system for rotating the opening of a gravel and binder distribution head of the pavement repair unit according to one embodiment of the invention.

schematically shows in bottom view a system for rotating the opening of a gravel and binder distribution head of the pavement repair unit according to one embodiment of the invention.

schematically shows in perspective a system for rotating the opening of a gravel and binder distribution head of the pavement repair unit according to one embodiment of the invention.

In the figures, the pavement repair unit 1 comprises a frame 2, on which are mounted a gravel storage container 3 (which may include a gravel bucket 30 or hopper 30) and a binder storage tank 4a, which may be a binder tank (the binder may be an emulsion and water, or bitumen). Of course, any type of aggregate could be provided instead of gravel. Frame 2 has a front side 21 and a rear side 22.

According to an embodiment shown in Figures 1 and 2, the pavement repair unit 1 is mobile on this pavement, for example rolling with the aid of wheels 23 rolling on the pavement, which are rotatably mounted under the chassis 2. For example, as shown in , the unit 1 can be part of a carrier self-propelled machine 100, for example of the truck type, making it possible to bring the repair unit 1 close to the zone Z of the roadway to be treated. The chassis 2 is intended to be moved in a forward direction from the rear to the front on the roadway. Of course, the frame could be moved in the direction of advance or in the opposite direction. On the front side 21 of the chassis 2 is provided a control cabin 33 allowing the user Ut to control the advancement motor of the chassis 2 on the roadway, to pilot and steer the vehicle 100 comprising the chassis 2.

In the embodiment represented in FIGS. 1 to 4 and 11 to 13, the self-propelled machine 100 is for example a machine 100 of the bi-spreader or synchronous gravel spreader type. Mobile building and/or repair unit 1 is used to spread a road surface composed of a layer of binder and a layer of gravel on the roadway. In this case, the unit 1 comprises on the rear side 22 an assembly 31 or ramp 31 for distributing gravel and an assembly 32 or ramp 32 for spreading the binder, which extend at least over a width comprising the rear side 22 (the width being taken in the lateral direction T, horizontal and transverse to the longitudinal direction L going from the rear side 22 to the front side 21).

Possible embodiments of these rear assemblies 31 and 32 for distributing gravel and spreading the binder are described below.

In the embodiment shown in Figures 1 to 4 and 11 to 13, the gravel distribution ramp 31 and the binder spreading ramp 32 are configured to be able to distribute gravel and binder over one or more selected width ranges. spreading among several prescribed ranges P of width in a prescribed maximum range and for a selected time associated with each selected range, according to a localized spreading instruction. Each range P can have the same prescribed pitch width in the Y direction of the width, for example between 40 cm and 10 cm, for example equal to 20 cm. The minimum distribution pitch of gravel and binder in length may for example be between 1 cm and 20 cm, for example equal to 5 cm. According to one embodiment of the invention, each prescribed range P of width of the ramp 31 for distributing gravel is delimited by a hatch extending in this prescribed range P of width, a plurality of hatches being distributed in the direction L of the width and each being capable of being selectively opened to spread gravel downwards in the prescribed range P of width associated with this hatch and closed so as not to spread it in this prescribed range P of width, and this independently of the other hatches other prescribed spreading ranges P. The opening time of each hatch is determined according to the selected time and/or selected spreading length and the forward speed V. According to one embodiment of the invention, each prescribed range P of width of the boom 32 for spreading the binder is delimited by a downward binder distribution nozzle extending in this prescribed range P of width, a plurality nozzles being distributed in the direction L of the width and each being capable of being selectively opened to spread binder downwards in the prescribed range P of width associated with this nozzle and closed so as not to spread any in this prescribed range P of width, and this independently of the other nozzles of the other prescribed spreading ranges P. The opening time of each nozzle is determined according to the selected time and/or selected spreading length and the forward speed V.

According to one embodiment of the invention, the assembly 31 or ramp 31 for distributing gravel and the assembly 32 or ramp 32 for spreading the binder have a fixed gauge in width, included in the road gauge of the chassis 2 or of the vehicle 100, represented by right 230 and left 240 vertical planes on either side of the median plane 34 as for example shown in .

According to the embodiment of the invention, represented in FIGS. 12 and 13, the first set 31 of gravel distribution and the second set 32 of binder distribution are deformable transversely, that is to say in width, to have a variable gauge during the work of the unit 1, that is to say while the frame 2 is moved on the roadway longitudinally forwards. For example, the first assembly 31 for distributing gravel comprises two parts 71, 72 for distributing gravel towards the ground which are each movable in width, relative to the frame 2 and are arranged one behind the other. Each of the two parts 71, 72 has a width gauge substantially equal to or less than the road gauge of the chassis 2, represented by right 23 and left 24 vertical planes at the . The road gauge of the chassis 2 and of the bi-spreader vehicle 100 is usually equal to a standard gauge of 2.50 m, so that in the rest position of the sets 31, 32 of distribution, the vehicle can roll on the road network and be brought onto the roadway to be coated. In the example shown in Figures 12 and 13, each part 71, 72 of gravel distribution has a working width of approximately 2.40 m. Each part 71, 72 for distributing gravel has a rest position, in which its overall width is included in the template of the frame 2. Means, for example jacks, are provided to move each part 71, 72 in width distribution of gravel relative to the chassis 2. Each part 71, 72 of distribution of gravel is adapted to be moved between a first extreme position retracted in the road width of the chassis 2, and a second extreme position of maximum outward exit, in which it protrudes in width respectively from the right side and from the left side of the chassis 2 seen from the rear, the mobile part 71 for distributing gravel being active for example in its different positions to the right of the median vertical plane 34 of the chassis 2, while the left mobile part 72 for distributing gravel is active to the left of the median plane 34 in its different positions. Between these two extreme positions, each part 71, 72 for distributing gravel is capable of occupying several intermediate positions, in which it protrudes from the right side, respectively the left side of the frame 2. In the second extreme position of the parts 71, 72, their end interior, that is to say the left end 711 of the right part 71 and the right end 722 of the left part 72, does not exceed the median vertical longitudinal plane 34 of the chassis 2. For example, each part 71 , 72 is movable by a width of more than 20% of the frame gauge between the extreme positions, for example approximately 0.8 m. In the preceding numerical example, the template of the first set 31 of gravel distribution can therefore vary between a width of 2.40 m and 4 m. The gravel distribution parts 71, 72 each comprise a row of hatches 700 distributed in the direction X of the width, which can each be selectively controlled to send or not send gravel to the ground, as shown by filled and empty ovals respectively . The maximum working width of each moving part 71, 72, defined between the right 712, 722 and left 711, 721 ends, is that defined by their row of hatches 700.

According to the embodiment of the invention, represented in FIGS. 12 and 13, the second assembly 32 for distributing binder comprises a fixed central part 80 of gauge less than or substantially equal to the gauge of the frame 2, and two movable parts 81, 82 distribution of binder on the right, respectively on the left, each of which has a size smaller than that of the frame 2 and are provided in front of or as shown behind the fixed part 80. Each part 81, 82 of distribution of binder has a rest position, in which its size is located in that of the frame 2. Means, for example jacks, are provided to move each part 81, 82 for distributing binder widthwise with respect to the frame 2. Each part 81, 82 for distributing binder is adapted to be moved between a first retracted extreme position, corresponding for example to the rest position and a second extreme position in which it projects in width respectively on the right side oit and on the left side of chassis 2 seen from the rear. Between these two extreme positions, each part 81, 82 for distributing binder is capable of occupying several intermediate positions, in which it protrudes from the right side, respectively the left side of the frame 2. In the second extreme position of the parts 81, 82, their end interior, that is to say the left end 811 of the right part 81 and the right end 822 of the left part 82, does not exceed the right vertical longitudinal plane 23, respectively left 24 of the chassis 2 and is located for example below in the right, respectively left half thereof. The second extreme positions of the parts 81, 82 for distributing binder correspond to those of the parts 71, 72 for distributing gravel, the assemblies 31 and 32 for distributing gravel and binder having substantially the same maximum width gauge. The binder distribution parts 80, 81, 82 comprise a plurality of nozzles 800 for spraying binder towards the ground, which are distributed in width, which are connected by pipes to one or more binder pumps supplied by the tank or tanks. (s) and each of which can be selectively controlled to spray or not to spray binder. The maximum working width of each moving part 81, 82, defined between the right 812, 822 and left 811, 821 ends, is that defined by their row of nozzles 800.

Of course, the repair unit 1 may be part of a self-propelled machine 100 that is not of the dual-spreader type, nor of the synchronous chip-spreader type and may not include a set 31 or ramp 31 for distributing gravel and assembly 32 or ramp 32 for spreading the binder, The repair unit 1 can also be provided on a trailer to be towed by a self-propelled vehicle on the roadway.

The repair unit 1 comprises a spreading assembly 4 making it possible to treat a zone Z of the roadway, located in front of the front side and/or located laterally in the lateral direction Y with respect to the front side 21 and the rear side 22, that is to say laterally with respect to the longitudinal direction L going from the rear side 22 to the front side 21, and therefore to the right or to the left with respect to this longitudinal direction L. The spreading assembly 4 is arranged to spread gravel and binder in a targeted manner in the Z zone of the roadway. This zone Z of the pavement to be treated may for example be a hole T in the pavement or more generally localized wear defects T of the pavement. For example, localized holes T, called "potholes", may form over time on a roadway that has been made, due for example to the repeated passage of heavy goods vehicles or other vehicles. These holes T, of short length and width, can on the other hand have a rather great depth, being able to hinder the fluid circulation of passenger cars on the roadway. These holes T can have a depth of 2 to 10 cm, and have from 20 cm to 50 cm in width and/or length.

The spreading assembly 4 comprises at least a first outward deployment member or arm 5 and a second support member or arm 6 serving to support a head 7 for exiting the gravel and binder from the container 3 and of tank 4a. The second arm 6 is connected to the first arm 5. The first arm(s) 5 for outward deployment are movably mounted on the frame 2 and comprise a first end part 51 connected to the frame 2 and a second end part 52 remote from the first end part 51. The first outward deployment arm 5 is able to occupy a first forward and/or laterally extended position with respect to the chassis 2, in which the second end part 52 and the second bar 6 are located. above zone Z as shown in FIGS. 3 and 4, and a second position relative to the chassis, in which the second end part 52, the first arm 5 and the second arm 6 are stored on the chassis 2 as shown in Figures 1 and 2, for example to have a size in width and / or length less than the width and / or length of the frame 2. This second storage position can be a folded position of the first arm 5 deployment by relative to the frame 2.

To the , the first outward deployment arm 5, the second support arm 6 and the head 7 are capable of being controlled by displacement commands 200, which are generated by a control device 20, which controls the displacement actuators the arm 5, the arm 6 and the head 7. The control device 20 implements a system for identifying holes T in the roadway and controlling the automatic plugging of the holes T.

Embodiments of arm 5, arm 6, head 7 and displacement actuators are described below.

According to one embodiment, the second support arm 6 comprises a third end part 61 remote from a fourth end part 62 on which is mounted the head 7 for the output of the gravel and binder (or nozzle 7 for the output gravel and binder). The third end part 61 is connected to the second end part 52. The second support arm 6 can thus be in the form of a "trunk", that is to say an arm 6 extending vertically for the discharge of gravel and binder through the head 7 located at the bottom of the arm 6.

According to one embodiment of the invention, shown in Figures 1 to 4, the first arm 5 is movable in a horizontal plane, the second arm 6 is tiltable in a vertical plane relative to the first arm 5.

According to one embodiment of the invention, shown in Figures 1 to 4, the second arm 6 is telescopic to be movable in a vertical direction. It is thus possible to vary the height of the head 7 above the roadway.

According to one embodiment, the first arm 5 is for example articulated by an articulation 53 on the frame 2. The frame 2 may comprise a gantry 24 fixed to a base 25 of the frame 2 on which are mounted the tank 4a and the container 3 The gantry 24 comprises for example an upper end 241 which is connected to the first end part 51, for example by the hinge 53. The gantry 24 is for example arranged in front of the tank 4a and the container 3. For example, in the case where the repair unit 1 is integrated into a self-propelled machine having a front cabin 33, which can be a bi-spreader or synchronous gravel spreader, the gantry 24 comprises a lower part 242, for example vertical, fixed on the base 25 and fixed to an upper part 243, for example horizontal, comprising the upper end 241, the lower part 242 of the gantry 24 being for example located behind the cabin 33 and in front of the tank 4a, itself located in front of the r container 3. The upper part 243 of the gantry 24 and its upper end 241 connected to the first deployment arm 5 are for example located above the cabin 33 and forward relative to the tank 4a. This minimizes the size of the spreading assembly 4, when it is in the second folded position.

According to one embodiment, the first outward deployment arm 5 may be an arm 5 which is itself deformable and may itself comprise at least one second joint. For example, the first arm 5 for outward deployment is an arm 5 having a first section 55 comprising the first end part 51 connected to the frame 2 and a second section 56 comprising the second end part 52 remote from the first section 55, the second section 56 being articulated to the first section 55 by a second articulation 54. The articulation 53 is for example placed near the right or left side of the frame 2, having a length less than the width of the frame 2 according to the lateral direction T. In the second storage position, shown in Figures 1 and 2, the first section 55 of the deployment arm 5 is folded behind and above the front side 21 of the frame 2, as is the second section 56 The first section 55 extends in this storage position, for example parallel to the front side 21, while the second section 56 extends in this folded position parallel to the right or left side of the chassis 2.

The second arm 6 can be controlled by the spreading controls 201 to be moved according to one or more degrees of freedom with respect to the first arm 5. The degree of freedom can be with one or more rotations deviating from the vertical with respect to to the second part 52 of end. The degree(s) of freedom can be obtained by one or more joints. The third end part 61 can be connected to the second end part 52 by one or more axis(es) of rotation or by a connection of the ball or joint type.

In the embodiment shown in Figures 9 and 10, an intermediate piece 521 supporting the third upper end part 61 of the second arm is rotatably mounted on the second end part 52 of the arm 5 by a first axis 522 of rotation, for example substantially horizontal. The intermediate part 521 can for example surround the third end part 61 . The intermediate piece 521 may comprise two wings 521a and 521b articulated on the axis 522, the third end part 61 being located between the wings 521a and 521b and at a distance from the axis 522. The cylinder 59 is connected to the second end part 52 and to the intermediate part 521 at a distance from the axis of rotation 522.

According to one embodiment, the movement actuators are, for example, jack-operated, for example hydraulic, to move the first deployment arm 5 from the second storage position to the first outward extension position and/or to move the arm 6 with respect to the arm 5. For example, there is provided a first cylinder 57, 58 for maneuvering the first deployment arm 5 with respect to the frame 2, as for example, in the embodiment shown in , 3, 4 and 11, at least one first cylinder 57 connecting the first section 55 to the gantry 24 at a distance from the first articulation 53 and at least one second cylinder 58 connecting the first section 55 to the second section 56 at a distance from the second articulation 54, and/or a jack 59 to move arm 6 relative to arm 5, this or these jacks possibly being hydraulic. The first arm 5 of deployment is able to be moved so that the head 7 of the gravel and binder outlet can be placed in front of the front side 21 and/or on a right side and/or a left side of the chassis 2. For example , in the embodiment shown in Figures 1 to 4, because the joint 53 is placed close to the right side of the frame 2, the first section 55 can be moved into the first extended position in front of the front side and /or to the right thereof and the second section 56 can be moved in front of the front side 21 and/or to the right of frame 2 and/or to the left of frame 2.

The line L1 of FIG. 16 represents different first positions of extension of the second end part 52 of the arm 5 at the front (front region RA), on the right (right region RD) and on the left (region RG of left) with respect to chassis 2. In the event that, as shown in , the arm 5 has the sections 55 and 56 articulated together by the second articulation 54, the second end part 52 is movable in a region R (formed by the regions RD, RG and RA connected to each other) located in a horizontal plane between a first exterior line L1 and a second interior line L2 (the lines L1 and L2 being distant from the frame 2, with the line L2 located between the line L1 and the frame 3) with respect to the frame 2, by rotation of the end part 51 with respect to the frame 2 and by rotation of the section 56 with respect to the section 55 around the articulation 54. The outer line L1 corresponds to the position of extension of the second end part 52 for the length maximum of the arm 5 between the articulation 51 and the end part 52 connected to the support arm 6 of the head 7, in which the section 56 is in the extension substantially at 180° of the section 55. The interior line L2 corresponds to the extension position of the second p end part 52 for the minimum length of the arm 5 between the joint 51 and the end part 52 connected to the support arm 6 of the head 7, in which the section 56 is not in the extension substantially at 180 ° of the section 55 but makes a non-zero minimum acute angle with the section 55. The arm 5 allows the end part 52 to occupy any point of the region R and of the regions RA, RD and RG. The section 56 can for example turn to the right and to the left with respect to the section 55 around the articulation 54.

The spreading assembly 4 comprises at least one duct 8 for supplying the gravel from the container 3 to the head 7. The spreading assembly 4 further comprises conveying means 9 for causing the gravel to move in the duct 8 of the container 3 to the head 7. The means 9 for conveying gravel are capable of being controlled by spreading commands 201, generated by the control device 20.

According to one embodiment, the conduit 8 is for example made of a flexible material, for example elastomer, and is for example fixed to the first and second arms 5 and 6 and/or to the gantry 24 in one or more places of each of those -this.

Embodiments of the means 9 for conveying gravel are described below.

According to one embodiment, these conveying means 9 comprise for example a blower 90 to send a high flow of air (arrow F1 at the ) in the conduit 8 and a conveyor 91 to bring the gravel (arrow F2 in Figures 1 and 5) from the container 3 to a device 92 for injecting the gravel into the conduit 8. This injection device 92 may comprise a cylinder 93 allowing the injection of gravel coming out of the conveyor 91 into the flow of air sent by the blower 90, in the duct 8. The conveyor 91 may comprise, in FIGS. 5 to 7, an endless screw conveyor 911 set in rotation in a second pipe 912 going from the container 3 to a hopper 913 for dumping the gravel by gravity into the barrel 93. The screw 911 makes it possible to collect and dose the gravel, at a variable flow rate and controlled by a rotation speed control of the screw 911. The container 3 for storing the gravel can be formed, for example, by a bucket 30 containing gravel and which can be tilted backwards so that a lower opening for the discharge of gravel from the bucket 30 is located above ssus of an inlet opening of the conveyor 91, in order to pour the gravel therein by gravity. The upper wall 914 of the conveyor 91 has not been shown in Figures 5 and 7 to show the screw 911. The conveyor 91, the hopper 913 and the injection device 92 are fixed to the frame 2. The barrel 93 can be a rotary cylinder 931 comprising interior walls defining several compartments 930 open on the top under the hopper 913 to allow the passage of gravel and open on the bottom to allow the passage of air. The barrel 93 is rotated relative to the fixed casing 932 of the injection device 92 around a vertical axis to fill with gravel in turn its compartments 930 at a distance from the axis of rotation and so that each compartment 930 passes by rotation in turn between an air delivery pipe 901 and an air outlet pipe 902 of the blower 90, located at a distance from the axis of rotation. The air delivery pipe 901 opens under a lower part 9320 of the housing 932 of the injection device 92, located opposite the outlet pipe 902 opening onto an upper part 9321 of the housing 932, in order to push into the pipe 902 output by the flow of air gravel dumped in each compartment 930 passing over the pipe 901 sending air. The outlet pipe 902 is connected to the duct 8 to carry the gravel into the air flow in this duct 8 (arrow F3 at the ). The compartments 930 and the speed of rotation of the barrel make it possible to calibrate the quantity of gravel injected into the air flow, and avoid any clogging of the duct 8 conveying the gravel. The compartments 930 are for example all of the same horizontal extent under the hopper 913 and/or of the same height and/or of the same volume.

According to one embodiment, called depressurization, shown in Figures 9 and 10, a first section of conduit 8 arrives at an inlet 84 fixed to the third end part 61 and directed in a first inlet direction D1 forming an angle non-zero with the third end part 61 and/or the middle part 63 of the arm 6. This first entry direction D1 is non-vertical and can be substantially horizontal or oblique with respect to the vertical 74 in the first position d extension of the arm 5. This inlet 84 is for example located close to and outside the second part 52 of the end. This inlet 84 receives from the first section of the duct 8 the flow of blown air in which the gravel is found. This inlet 84 is directed to a device 86 for deflecting the gravel downwards and depressurizing the air flow. This device 86 comprises a depressurization pipe 85, for example facing upwards above the inlet 84, and serves to release the flow of air from the first section of the pipe 8 and sent by the blower 90. The device 86 comprises for example an abutment part 87 against which the gravel from the inlet 84 is sent in the direction D1, the depressurization pipe 85 being between the inlet 84 and the abutment part 87. The gravel, because they abut against the part 87 and are no longer driven by the air flow, fall downwards into a second section of the duct 8 extending downwards from this device 86, for example into the third end part 61 up to the head 7. For example, the second section of the duct 8 is inserted in the third end part 61 and in the middle part 63 of the arm 6 from where it protrudes up to the head 7.

Of course, this depressurization embodiment may not be present, or the depressurization pipe 85 may not be present, so as not to have depressurization of the air flow transporting the gravel, the pipe 8 being able to go in this case without interrupting the device 92 for injecting gravel into the head 7 via the parts 52 and 61.

The spreading assembly 4 comprises at least one pipe 10 (shown in phantom in Figures 1, 4 and 9) going from the tank 4a to the head 7 and at least one device 11 for bringing the binder into the pipe 10 from the tank 4a at the head 7. The device 11 for feeding the binder into the pipe 10 is capable of being controlled by spreading commands 201, generated by the control device 20. The device 11 for supplying the binder in the pipe 10 can be pump or pressure.

According to one embodiment, the head 7 comprises an opening 171 for the projection of gravel and binder, this opening 171 going downwards. According to one embodiment, the head 7 of the gravel and binder outlet is fixed to the lower end of the duct 8. The head 7 makes it possible to project a mixture of gravel and binder downwards onto the road. The opening 171 for throwing the gravel and binder from the head 7 has a predetermined two-dimensional extent in which there is a central point 172 of the opening 171.

According to one embodiment, the opening 171 of the head 7 is circular. The central point 172 can be located at the center of the circular opening 171. Of course, the opening 171 can have any other shape.

Parameters PAR of the unit 1 and/or of the vehicle 100, for example supplied by one or more measurement sensors installed thereon, are supplied to the interface 102 for display on the screen 101 and/or are supplied to the CAL computer. These parameters PAR can include the instantaneous and/or prescribed speed V of movement of the unit 1 and/or of the vehicle 100 on the roadway.

The device 20 for controlling the first arm 5, the second arm 6 and the head 7 according to the invention is more particularly described below with reference to the . The method for repairing a road surface composed of a layer of binder and a layer of gravel on the Z zone of the roadway, implemented by the unit 1 according to the invention is more particularly described below. with reference to the .

The unit 1 comprises a system 110 for taking pictures, comprising at least one camera 111, 112, 113, 114, 115 (or measurement sensor), oriented towards the front or side zone Z of the roadway, to obtain images acquired from the front or side Z zone of the roadway. The camera or cameras 111, 112, 113, 114, 115 can be digital or analog. Unit 1 can plug hole T under the control of first camera 111 and/or second camera 112 and/or third camera 113 and/or fourth camera 114 and/or fifth camera 115.

In the embodiments shown in , there is provided one (or more) first camera 111, which is fixed to the front side 21 of the chassis 2 or below the level of a front windscreen 35 of the cabin 33 and which is oriented towards the front or side zone Z of the pavement. The camera(s) 111 gives a grazing view of the roadway. The camera(s) 111 can be mounted on the bumper 37 of the unit 1, located on the front side 21. The camera(s) 111 makes it possible to automatically control in the spreading commands 201 generated the filling level of the hole T by the materials that the head 7 dumps there and the thickness of the materials dumped by the head 7 into the hole T during filling. The camera(s) 111 makes it possible to confirm that the quantity of gravel and binder poured by the head 7 into the hole T is sufficient.

In the embodiments shown in , there is provided one (or more) second camera 112, 113, which is mounted on the first outward deployment arm 5 and which is oriented towards the front or side zone Z of the roadway. The camera(s) 112 and 113 is oriented downwards and towards the head 7 and gives an aerial view of the roadway. The camera(s) 112 and 113 can be mounted at a greater distance from the third end part 61 than from the second joint 54. In this way, the second arm 6 does not conceal the hole T. The camera(s) 112 and 113 can be mounted near the second joint 54, for example on the second section 56 of the first arm 5, as shown in Figures 1 to 4. Of course, the camera or cameras 112 and 113 could be mounted, in other embodiments, on the first section 55, for example close to the second articulation 54.

In the embodiments shown in , a second camera 112 and a third camera 113 are provided, which are mounted on the first outward deployment arm 5 and which are oriented towards the front or side zone Z of the roadway. The second camera 112 and the third camera 113 are at a distance from each other and are configured to provide a stereoscopic image of the front or side zone Z of the roadway. In this case, the camera or cameras 112, 113 make it possible to automatically control in the spreading commands 201 generated the level of filling of the hole T by the materials that the head 7 pours therein and the thickness of the materials poured by the head 7 in the hole T during filling and confirms that the quantity of gravel and binder poured by the head 7 into the hole T is sufficient.

In the embodiments shown in , there is provided one (or more) fourth camera 114, 115, which is mounted on the cockpit 33 (for example on the roof 36 thereof, at the front thereof) and which is oriented towards the front or side zone Z of the roadway.

In the embodiments shown in , a fourth camera 114 and a fifth camera 115 are provided, which are mounted on the cockpit 33 (for example on the roof 36 of the latter, at the front of the latter) and which are oriented towards the front or side zone Z of the roadway. The fourth camera 114 and the fifth camera 115 are at a distance from each other and are configured to provide a stereoscopic image of the front or side zone Z of the roadway. In this case, the camera or cameras 114, 115 make it possible to automatically control in the spreading commands 201 generated the level of filling of the hole T by the materials that the head 7 pours therein and the thickness of the materials poured by the head 7 in the hole T during filling and confirms that the quantity of gravel and binder poured by the head 7 into the hole T is sufficient.

According to one embodiment of the invention, represented in FIGS. 1 to 4, the unit comprises a device 1110 for adjusting the orientation of the second camera 112 towards the roadway and/or a device 1120 for adjusting the orientation of the second camera 112 towards the roadway and/or a device 1130 for adjusting the orientation of the third camera 113 towards the roadway and/or a device 1140 for adjusting the orientation of the fourth camera 114 towards the roadway and/ or a device 1150 for adjusting the orientation of the fifth camera 115 towards the roadway and/or. Thus, this makes it possible to point the first camera 111 and/or the second camera 112 and/or the third camera 113 and/or the fourth camera 114 and/or the fifth camera 115 towards the lower end of the head 7 and towards the T hole.

According to one embodiment of the invention, the camera(s) 111, 112, 113, 114, 115 or the measurement sensor(s) of the imaging system 110 can provide images I in two-dimensional or three-dimensional or stereoscopic vision. These I images can provide information on the distance of the gravel from the sensor, the value and position of the pixels of the I image corresponding to this distance.

According to the invention, the control device 20 comprises an automatic detector of holes T in the roadway in the images I of the front or side zone Z of the roadway, having been obtained by the camera(s) 111 and/or 112 and/or or 113 and/or 114 and/or 115. The automatic detector of holes T in the roadway comprises at least one computer CAL comprising a learning base BA, in which are prerecorded (during a first step E1) first parts S1 of image of hole T', which each represent at least one hole T' of another zone Z' of roadway. The first image parts S1 are classified in a first hole presence class C1 and/or associated in advance with the first hole presence class C1 (or with a hole annotation C1). In the learning base BA are also pre-recorded second image sections S2 representing the other zone Z' of roadway without hole T'. The second image parts S2 are classified in a second hole absence class C2 and/or associated in advance with the second hole absence class C2 (or are not associated with the hole annotation C1 ). The learning base BA initially comprises for example at least 100 or at least 1000 first hole image parts S1 and at least 100 or at least 1000 second image parts S2. The proportion of first parts S1 of hole image in the base BA can be at the origin between 40% and 60%. The learning base BA can group together first and second parts S1, S2 of images taken under different outdoor lighting or meteorological conditions, sun facing the front zone Z and/or rear sun with respect to the zone before Z and/or sun to the right of the zone before Z and/or sun to the left of the zone before Z and/or clouds in front of the sun. The learning base BA may have been obtained by extracting images from the camera(s) 111 and/or 112 and/or 113 and/or 114 and/or 115 of the unit 1 moving over the other zone Z ' of the road. The parts S1, S2, the classes C1 and/or annotations C1 and the class C2 have been recorded in the database BA by one or more persons. The image parts S2 are representative of several shapes of holes T', of several thicknesses of holes T' and of several layouts of holes T'. For example, when several image parts S2 have been recorded, it is also possible to record as other image parts S2 the symmetry of these image parts S2 with respect to one or more prescribed directions, for example at least one parallel direction in the Y direction of the width, to enrich the base BA.

The automatic detection means 20 can be provided for the detection, as holes T, of potholes T of the roadway and/or of crazing T of the roadway and/or of subsidence T of the edges of the roadway in the images I of the front or side zone Z of the roadway. The learning base BA may comprise as first class C1 of presence of hole a first class C1 of presence of potholes of the roadway and/or a first class C1 of presence cracking of the roadway and/or a first class C1 presence of subsidence of the edges of the roadway.

Described below with reference to Figures 3, 4, 8, 14 and 15 are the means and the method for automatic detection of holes T in the front zone Z of the roadway by the unit 1.

The computer CAL is programmed or configured to automatically compare each image I acquired with the first image parts S1 and with the second image parts S2 (during a second step E2 after the first step E1). Thus, the computer program, comprising code instructions for the implementation of the process for making and/or repairing a road surface, is loaded on the computer CAL, the unit 1 and the vehicle 100 and is executed by the CAL calculator. The computer CAL can be any computer means, such as for example one or more computers or others.

The computer CAL is programmed or configured to automatically identify in each image I acquired and classify regions b _j of the image I acquired either in the first class C1 of hole presence, or in the second class C2 of absence of hole, and this by an automatic learning algorithm for recognition or object detection model, which is executed by the computer CAL to recognize the first image parts S1 and the second image parts S2 in the acquired image I ( during the second step E2 after the first step E1). The automatic learning algorithm can calculate for each region b _j a classification confidence score in the first class C1, which is determined by comparison with the parts S1 and/or S2, in order to classify in the first class C1 only the regions b _j whose confidence score is greater than a prescribed confidence threshold SC, and/or the automatic learning algorithm can only classify in the first class C1 a prescribed maximum number Nmax of regions b _j .

Step E2 may include, before this identification of the regions bj, a CPR command initiated by the user Ut on the interface 102 to perform the prepositioning of the arms 5, 6 and the head 7 to cause the head 7 to arrive in the zone Z close to hole 7. This command is performed to bring hole 7 into the field of camera 112 and/or 113 and/or 114 and/or 115, which user Ut can check on screen 101 visualizing the image I taken by the camera 112 and/or 113 and/or 114 and/or 115. This command therefore corresponds to a rough prepositioning, carried out by the user of the head 7 close to the hole T in the zone Z This CPR command can be initiated by the user activating the input device ENT of the interface 102 and can be a command 200′ as described below. Regions bj can be in the form of quadrilaterals or rectangles. There illustrates in a non-limiting manner an example of zone Z, of image I, of hole T of zone Z and of regions bj.

The shape and position of the regions b _j can be predetermined as being one of several prescribed region templates (for example in the shape of quadrilaterals or rectangles, called anchor boxes), the algorithm being designed to take as region b _j successively each template, move each template in the image I acquired and thus classify each region b _j either in the first class C1 of presence of a hole, or in the second class C2 of absence of a hole. This learning algorithm can use an object detection model applied to the parts S1, which can use a neural network implemented by the computer, such as for example the RetinaNet object detection model, applied to the parts S1.

According to one embodiment of the invention, represented in FIGS. 8 and 14, a prescribed image colorimetry threshold SPC is pre-recorded (during step E1) in the computer CAL.

According to one embodiment of the invention, represented in FIGS. 8 and 15, the computer CAL determines (during step E2) the presence of CONT contours in the images I acquired, for example by selecting the pixels of the image whose pixel values (gray level or luminance level or other) are greater than the prescribed image colorimetry SPC threshold, to threshold the image beyond this SPC threshold and obtain the CONT contour formed by these pixels selected. The computer CAL thus automatically extracts a CONT contour from the thresholded image. Thus, the unit can determine the CONT contour of a pothole T on the road. The camera(s) 112 and/or 113 and/or 114 and/or 115 oriented downwards and towards the head 7 makes it possible to give the contour CONT of the hole T.

According to another embodiment of the invention, represented in FIGS. 8 and 15, the computer CAL determines (during step E2) the presence of CONT contours in the images I acquired, for example by selecting the pixels of the image whose pixel values (gray level or luminance level or other) are lower than the prescribed SPC image colorimetry threshold, to threshold the image below this SPC threshold and obtain the CONT contour formed by these selected pixels. The computer CAL thus automatically extracts a CONT contour from the thresholded image.

According to one embodiment of the invention, represented in FIGS. 8 and 15, the computer CAL can automatically compare the contour CONT extracted from the image I with prescribed contours CONTS1 of holes of the first parts S1 of the image, in order to identify and classify the regions b _j (situated inside the extracted contour CONT) of the acquired image in the first class C1 of hole presence or in the second class C2 of absence of hole. The computer CAL can calculate boxes BOI encompassing those of the contours CONT, which have been identified as belonging to one of the first image parts S1.

According to one embodiment of the invention, represented in FIGS. 8 and 15, the computer CAL automatically extracts from the thresholded image a mask MAS formed by the interior of the contour CONT having been extracted from the image I. The computer can automatically compare the mask extracted from the image I with prescribed masks MAS1 of holes T' (part inside the contour of the holes T') of the first parts S1 of the image, in order to identify and classify the regions b _j (located at inside the extracted contour CONT) of the acquired image I in the first class C1 of presence of a hole or in the second class C2 of absence of a hole. The computer CAL can calculate boxes BOI encompassing those of the contours CONT or masks MAS, which have been identified as belonging to one of the first image parts S1.

According to one embodiment of the invention, the regions b _j classified in the first class C1 of hole presence in the acquired image I can be recorded as first parts S1 in the learning base BA in addition to the first parts S1 already present or in place of first parts S1 already present.

The computer CAL is programmed or configured to generate (step E3 after step E2 at the ) the commands 200 for moving the first arm 5, the second arm 6 and the head 7 to cause the head 7 to reach above a location ZT located in the front or side zone Z. This location ZT corresponds to at least one region bj of the acquired image, having been identified in the first class C1 of hole presence and having therefore detected a hole T in the front or side zone Z of the roadway. The computer CAL is programmed or configured to generate (step E3 after step E2 at the ) the spreading commands 201 which are sent to the spreading assembly 4, so that when the first arm 5, the second arm 6 and the head 7 have been automatically moved by the displacement actuators controlled by the commands 200 of movement sent by the computer 20, the head 7 spreads gravel and binder above the location ZT located in the front or side zone Z and corresponding to the at least one region bj of the acquired image, having been identified in the first hole presence class C1. These displacement commands 200 correspond to a fine displacement performed by the head 7 above the hole T in the zone Z.

Thus, the arms 5 and 6 and the head 7 are slaved in position to the detected location ZT of the hole T for automatic piloting. Unit 1 automatically detects and closes the hole T in the roadway.

Thus, once the hole T or pothole T has been identified, the control of the arms 5 and 6 and of the head 7 can switch to automatic mode. The sequencing of the spreading commands 201 can be optimized and successively include air blowing through the pipe 8 of the head 7 (by absence of sending gravel) above the hole T (for example to expel dust) , sending an emulsion bonding and sealing layer through pipe 10 of head 7, sending the binder into pipe 10 of head 7 and gravel into pipe 8 of the head 7 with one or two grain sizes, then sending gravel into pipe 8 of head 7 for finishing. The rate of these materials is automatically adjusted in the generated spreading commands 201 based on the size and depth of the pothole. The trajectory of arms 6 and 7 is also optimized to optimize treatment time and treatment quality. According to one embodiment of the invention, shown in , the control device 20 comprises at least one interface 102 operable by a user, for example fixed to the chassis 2, for example in the cabin 33 and forming part of a control station. The interface 102 can for example take the form of control buttons or a controller with control buttons of the joystick type, for example a handle with monodirectional or multidirectional movement relative to a base and/or a touch screen control 101 , and/or other, a computer keyboard or touch controls on the screen 101 or the like. This control station makes it possible to control the movements of the spreading assembly 4 between one and the other of the first extended position and the second storage position. The control station, when it is located in the cabin 33, allows the user who is there to control the movement of the arm 6 supporting the head 7 in direct vision.

According to one embodiment of the invention, the interface 102 may include an automatic plugging trigger member, operable by the user, to trigger the start-up of the computer CAL so that it generates the movement commands 200 and the spreading commands 201 above the detected hole T, according to the process described above.

According to one embodiment of the invention, represented in FIGS. 8 and 14, the control device 20 comprises one (or more) validation member VAL operable by a user in order to be able to validate the commands 200 for displacement of the first arm 5 of the second arm 6 and head 7 and the spreading controls 201 of the spreading assembly 4 above the location ZT located in the front or side zone Z and corresponding to the at least one region bj of the image acquired, having been identified in the first class C1 of hole presence. The commands 200 for moving the first arm 5 of the second arm 6 and the head 7 above the location ZT of the front or side zone Z corresponding to the at least one region bj of the acquired image, having been identified in the first class C1 of presence of a hole, are only executed (fifth step E5 of EX execution at the ) by the movement actuators and the spreading commands 201 above this location ZT located in the front or side zone Z, are only executed (fifth step E5 of execution at the ) by the spreading assembly 4 only when validation member VAL has been actuated by the user (affirmative YES at the fourth step E4 of the ) for these displacement commands 200 and these spreading commands 201 . In the case where the validation device VAL is not actuated by the user (negative NO at the fourth step E4 for determining the presence of the cancellation CANN command, after the third step E3), the commands 200 of displacement of the first arm 5 of the second arm 6 and of the head 7 above the location ZT located in the front or lateral zone Z and corresponding to the at least one region bj of the acquired image, having been identified in the first class C1 of hole presence, are not executed (sixth step E6 of non-execution N/EX after the fifth step E5) by the movement actuators and the spreading controls 201 above this location ZT located in the front or side zone Z are not executed by the spreading assembly 4 (sixth step E6 of non-execution N/EX of the ).

According to one embodiment of the invention, represented in FIGS. 8 and 14, the control device 20 comprises one (or more) CANN cancellation device operable by a user to enable him to cancel, for example for a predetermined duration depending on the forward speed V of the unit 1, the controls 200 for moving the first arm 5 of the second arm 6 and the head 7 above the location ZT located in the front or side zone Z and corresponding at least one region bj of the acquired image, having been identified in the first class C1 of hole presence and the spreading commands 201 above this location ZT located in the front or side zone Z. In the case where the cancellation CANN member is actuated by the user (affirmative YES at the seventh step E7 for determining the presence of the cancellation CANN command, after the fifth step E5), the commands 200 for moving the first arm 5 of the second arm 6 and of the head 7 above the location ZT located in the front or lateral zone Z and corresponding to the at least one region bj of the acquired image, having been identified in the first class C1 of presence of a hole, are not executed (eighth step E8 of non-execution N/EX subsequent to the seventh step E7) by the movement actuators and the spreading commands 201 above this location ZT located in the front or side zone Z are not executed by the spreading set 4 (eighth step E8 of non-execution N/EX of the ). In the case where the cancellation CANN member is not actuated by the user (negative NO at the seventh step E7 for determining the presence of the cancellation CANN command, after the fifth step E5), the commands 200 displacement of the first arm 5 of the second arm 6 and of the head 7 above the location ZT located in the front or lateral zone Z and corresponding to the at least one region bj of the acquired image, having been identified in the first class C1 of hole presence, are executed (ninth step E9 of execution EX after the seventh step E7) by the movement actuators and the spreading controls 201 above this location ZT located in the front zone or side Z are executed by the spreading assembly 4 (ninth step E9 of execution EX of the ).

Of course, in one embodiment, the validation unit VAL can be provided without the cancellation unit CANN and the steps E1, E2, E3, E4, E5 and E6 can be provided without the steps E7, E8 and E9.

Of course, in one embodiment, the cancellation unit CANN can be provided without the validation unit VAL and the steps E1, E2, E3, E7, E8 and E9 can be provided without the steps E4, E5 and E6.

Of course, in one embodiment, the validation unit VAL can be provided with the cancellation unit CANN and the steps E1, E2, E3, E4, E5 and E6 can be provided with the steps E7, E8 and E9. According to one embodiment of the invention, the control device 20 is located in the cabin 33 and comprises for example a screen 101 able to display the commands 200 for moving the first arm 5, the second arm 6 and the head 7 and/or the spreading controls 201 of the spreading assembly 4 at the corresponding locations on the image supplied by the camera or cameras 111, 112, 113, 114, 115. For example, the holes T detected in the images I acquired from the front or lateral zone Z are displayed superimposed on the image I on the screen 101. For example, the regions b _j and/or the CONT contours extracted from the images I and/or the MAS masks extracted from the images I and/or the BOI boxes extracted from the I images are displayed superimposed on the I image on the screen 101, for example for those of the CONT contours and/or of the MAS masks and/or of the BOI boxes and/or of the regions b _j which have been classified in the first class C1 for the presence of a hole and/or in the second class C2 for the absence of t rou, for example with a distinct color with respect to the other commands 200' and 201' and to the other location.

According to one embodiment of the invention, not mandatory, shown in , the interface 102 comprises one (or more) input device ENT which allows the user Ut to enter commands, and in particular allows himself to enter other commands 200' for movement of the first arm 5 , of the second arm 6 and of the head 7 and of other spreading controls 201' of the spreading assembly 4 above another location located in the front or lateral zone Z. The ENT member d input may, for example, be in the form of control buttons or a joystick-type control button controller, computer keyboard, or on-screen touch controls 101 or the like, to allow the user to for example draw on the image I displayed on the screen 101 the other location located in the front or side zone Z that he wishes. The computer CAL is programmed to cause the other movement command 200' to be executed by the first arm 5, the second arm 6 and the head 7 and to cause the other spreading command 201' to be executed by the assembly 4 of spreading to spread binder and gravel above the other location located in the front or side zone Z. Thus, the arms 5 and 6 and the head 7 can be controlled directly by the driver via the interface 102.

According to one embodiment of the invention, illustrated in , the acquired images I of the front or lateral zone Z of the roadway are views of the front or lateral zone Z of the roadway according to an angle of view less than 90° with respect to the front or lateral zone Z of the roadway, corresponding to an elevation angle relative to the front or side zone Z. The first image parts S1 and the second image parts S2 of the learning base BA can also be views of the front or side zone Z' of the other roadway following this angle of view less than 90° with respect to the front or side zone Z of the roadway. According to this angle of view, the acquired images I have coordinates n substantially in the direction Y of the width and m in a perpendicular direction in the plane of the acquired image I.

According to another embodiment of the invention, the images acquired of the front or lateral zone Z of the roadway are views of the front or lateral zone Z of the roadway according to an angle of view perpendicular to the roadway. The first image parts S1 and the second image parts S2 are views of the front or side zone Z' of the other roadway according to the viewing angle perpendicular to the roadway. The pixels of the acquired image I then have the second coordinates x, y perpendicular to each other.

For example, in the case where the camera 11 takes raw images I' according to the first elevation angle less than 90° with respect to the front or side zone Z of the roadway (as illustrated in ), the shooting system 110 or the computer CAL is configured to obtain the acquired images of the front or side zone of the roadway from these raw images I′ of the camera 11 by homographic rectification, which passes the first coordinates m, n of the pixels of the raw images I' of the camera 111 and/or 112 and/or 113 and/or 114 and/or 115 taken according to the viewing angle of the latter at the second coordinates x, y of said pixels according to the angle of view perpendicular to the front or side zone Z of the roadway. The homographic rectification to pass from the coordinates m, n to the coordinates x, y can be represented by a matrix of size 3 by 3, which can be obtained by a prior calibration procedure depending on the positioning and orientation of the camera 111 and/ or 112 and/or 113 and/or 114 and/or 115.

The acquired images can also be obtained by bilinear interpolation of the image obtained by homographic rectification. This fills in the gaps between pixels at the top of the image. This bilinear interpolation can be between 0.1 mm/pixel and 0.5 mm/pixel, for example at 0.2 mm/pixel, on image parts (for example P1, P3, P5 in FIGS. 6, 9 and 12) of size (n per m) between 0.2 meter by 0.4 meter and 0.5 meter by 1 meter.

According to one embodiment, the head 7 can be controlled to describe rectilinear trajectories, for example along the longitudinal direction L by inclination of the second arm 6 relative to the first arm 5. This makes it possible to use the full stroke of the arm 6 of so as to limit the number of advancements of the vehicle 1000. An arrow or a segment can also be displayed on the screen 101 to indicate to him whether he must advance the vehicle 100 to advance the vehicle 100.

According to one embodiment, the control device 20 comprises means 220 for detecting a depth of filling of the holes T by the gravel and the binder, the computer being programmed to automatically stop the spreading controls 201 when the depth of gravel filling and the binder of the holes T, having been detected, corresponds to a repaired hole T. The head 7 then stops sending binder and gravel through its opening 171 towards the roadway.

According to one embodiment, these means 220 for detecting the depth of filling of the holes T by the gravel and the binder can use, for example, the shooting system 110 and the image(s) I of the camera(s) 111, 112 , 113, 114, 115 mentioned above. These means 220 for detecting the depth of filling of the holes T by the gravel and the binder can use the region or regions b _j of the acquired image I having been classified in the first class C1 of the presence of a hole, for example the the CONT contour extracted from I frames and/or the MAS mask(s) extracted from I frames and/or the BOI box(es) extracted from I frames.

According to one embodiment, these depth detection means 220 make it possible to evaluate the depth of the hole T during its filling. According to one embodiment of the invention, the depth profile makes it possible to control the position of the arm 5 and/or 6. This makes it possible to fill in the hollowest zones of the hole T.

According to one embodiment, the means 220 for detecting a depth of filling of the holes T by the gravel and the binder comprise a sensor for measuring the level of the gravel and the binder or the overflow of the gravel and the binder in the hole T , for example by images I in two-dimensional or three-dimensional or stereoscopic vision. These I images can provide information on the distance of the gravel and binder from the sensor, the value and position of the pixels of the I image corresponding to this distance.

According to one embodiment, shown in Figures 16 to 23, the spreading assembly 4 comprises a system 13 for moving at a predetermined constant speed the central point 172 of the opening 171. The moving system 13 is arranged to move the central point 172 of the opening 171 for the projection of gravel and binder along a trajectory 73 of predetermined movement with respect to the fourth part 62 of the end of the second member 7. According to one embodiment, this trajectory 73 of predetermined movement is located at a distance from a vertical 74 taken with respect to the end part 62. This vertical 74 is for example taken relative to the center of the end part 62 and/or to the center of the end part 61. The trajectory 73 of displacement of the central point 172 can for example surround the vertical 74 and can for example be circular. Thus, the head 7 so gravel and binder automatically sweeps several different places located in the hole T to be treated, to pour gravel and binder. This thus makes it possible to ensure a uniform distribution and filling of the gravel and of the binder in the hole T to be treated. A drive actuator 99 for moving the central point 172 of the opening 171 for the projection of the gravel and binder along the predetermined trajectory 73 is provided and is controlled by the spreading commands 201 sent by the control device 20.

According to one embodiment, shown in Figures 16 to 21, the displacement system 13 comprises at least one shaft 76a, 76b, 76c which is rotatably mounted about at least one respective axis 77a, 77b, 77c of rotation on the fourth end part 62, this shaft 76a, 76b, 76c respectively comprising an eccentric pin 78a, 78b, 78c located at a distance from the axis 77a, 77b, 77c of rotation. The eccentric spindle 78a, 78b, 78c drives along the path 73 of predetermined movement, via connecting means 79a, 79b, 79c, a guide 75 for driving the head 7. An actuator 99 for driving the the shaft 76a, 76b, 76c around the axis 77a, 77b, 77c of rotation is provided in the system 13 of movement. The connecting means 79a, 79b, 79c connect the eccentric pin 78a, 78b, 78c to the guide 75 and may comprise at least one connecting rod 79a, 79b, 79c. For example, three shafts 76a, 76b, 76c can be provided, which are rotatably mounted about respectively three axes 77a, 77b, 77c of parallel rotation and arranged in a triangle on the fourth part 62 of the end. The three shafts 76a, 76b, 76c respectively comprise three eccentric pins 78a, 78b, 78c located at a distance from each respective axis 77a, 77b, 77c. The displacement system 13 also comprises three connection means 79a, 79b, 79c for connecting the eccentric pins 78a, 78b, 78c respectively to the guide 75.

According to one embodiment, shown in Figures 16 to 23, the guide 75 is applied against the outer surface of the duct 8 through which the gravel passes.

According to one embodiment, represented in FIGS. 16 to 21, the central point 172 of the opening 171 for the projection of the gravel and the binder corresponds substantially to the center of the guide 75 or to a reference point of the guide 75. Thus, in the case where the trajectory 73 is circular, the center of the guide 75 describes a circular trajectory.

According to one embodiment, shown in Figures 22 and 23, the displacement system 13 comprises a drive shaft 76' which is rotatably mounted on the fourth end part 62. On this shaft 76′ is fixed a pinion 77′ whose teeth 78′ mesh with the peripheral teeth 79′ of a crown 75′ for guiding the head along the trajectory 73 of predetermined movement. The head 7 crosses downwards an interior opening 80' of the crown 75'. The inner opening 80' is delimited by the inner edge 81', for example circular, of the crown 75' and is located against the outer surface of the duct 8 for passing the gravel from the head 7. A drive actuator 99 in rotation of the shaft 76' is provided in the system 13 of movement. The central point 172 of the opening 171 for the projection of the gravel and the binder of the head 7 is at a non-zero distance D from the center 175′ of rotation of the crown 75′. Thus, when the actuator 99 rotates the shaft 76', the pinion 77' rotates the crown 75' around the center 175', which rotates the central point 172 of the opening 171 for throwing the gravel and binder around this center 175' following the circular path 73. The 79' tines can be distributed circularly around the 175' center. Crown 75' may include means 83' for guiding in rotation with respect to fourth end part 62, to rotate around center 175' of rotation of crown 75'. These means 83' for guiding in rotation are for example lower projections 83' fixed under the crown 75' at the same distance from the center 175'. These lower projections 83' are guided in rotation in a groove of a lower support 84' fixed to the fourth end part 62, the groove being in the shape of a circle. Support 84' is located under crown 75' and has a central opening 85' through which conduit 8 passes.

According to one embodiment, shown in Figures 16 to 23, the conduit 8 is movably mounted in the guide 75 or the crown 75'. This allows, when the guide 75 or the crown 75′ is moved by the displacement system 13, that the guide 75 or the crown 75′ can slightly rotate around the duct 8 while moving the latter along the predetermined trajectory 73.

According to one embodiment, shown in , under the guide 75 can be a ring 83 fixed around the duct 8. This prevents the duct 8 from touching the frame 820 during its movement.

The displacement system 13 makes it possible to rotate the duct 8 along the path 73 without significant rotation between the guide 75 or the crown 75' and the duct 8. In addition, the displacement system 13 is robust with respect to pollution exterior (bitumen, dust).

According to one embodiment, shown in Figures 16 to 23, the movement system 13 is mounted on a frame 820 of the fourth end part 62, this frame 820 being located around the conduit 8 for the passage of gravel. The displacement system 13 guides the conduit 8 with respect to the framework 820, and therefore the central point 172 following the trajectory 73 of predetermined displacement with respect to the framework 820.

The second support member 6 comprises a middle part 63 connecting the third end part 61 to the fourth end part 62, this middle part extending for example vertically in length.

According to one embodiment, shown in Figures 16 to 23, the frame 820 comprises three uprights 82a, 82b, 82c which are spaced from each other, for example with a spacing increasing from top to bottom. Each upright 82a, 82b, 82c respectively comprises a fifth end part 821a, 821b, 821c of end, or upper, fixed to the middle part 63 of the second member 6 and a sixth part 822a, 822b, 822c of end or lower. The three sixth end portions 822a, 822b, 822c are arranged in a triangle and are interconnected by a frame 823 delimiting a gaping passage 825 through which the conduit 8 passes without touching the frame 823. The displacement system 13 is mounted on the frame 823 and/or on the sixth end portions 822a, 822b, 822c. The frame 823 makes it possible to ensure better guidance of the duct 8 by being able to bear on several points of support of the frame 820 surrounding the duct 8, as well as to a certain extent to provide protection between the outside and the conduit 8 carrying the head 7 of the gravel and binder outlet. Thus, the framework 820 prevents that, during the deployment of the first member 5 outwardly in the first extended position above the hole Z to be treated, the conduit 8 or the head 7 does not hit an obstacle, which avoids damaging the duct 8 and the head 7.

According to one embodiment, shown in Figures 16 to 21, the frame 823 may be of generally triangular shape, substantially horizontally in the first position of extension of the first member 5 of deployment. The frame 823 has three vertices 824a, 824b, 824c located respectively close to the three sixth end portions 822a, 822b, 822c of the uprights 82a, 82b, 82c. The three shafts 76a, 76b, 76c are rotatably mounted respectively on the three vertices 824a, 824b, 824c. The frame 823 can comprise or be formed from three crosspieces 823a, 823b, 823c fixed to one another and/or fixed to the three sixth end parts 822a, 822b, 822c.

According to one embodiment, shown in Figures 16 to 21, the guide 75 comprises a ring 751 surrounding the conduit 8 and three peripheral tabs 752a, 752b, 752c fixed to the ring 751 and connected to the connecting means 79a, 79b, 79c , namely for example respectively to the three connecting rods 79a, 79b, 79c via respectively three joints 753a, 753b, 753c. Connecting rods 79a, 79b, 79c are also connected to respective eccentric pins 78a, 78b, 78c by another joint 791a, 791b, 791c remote from joints 753a, 753b, 753c.

According to one embodiment, represented in FIGS. 16 to 23, the actuator 99 for driving in rotation the shaft(s) 76a, 76b, 76c or the shaft 76′ may comprise, for example, a motor 99 of drive, for example hydraulic, carried by the frame 820, for example carried by the frame 823. In the case of several shafts 76a, 76b, 76c, these can be driven in rotation by a chain 81 meshing with sprockets 80a , 80b, 80c, fixed on the shafts 76a, 76b, 76c. According to one embodiment, the drive actuator 99 or the motor 99 drives the shafts 76a, 76b, 76c or the shaft 76' at a constant speed of rotation around their respective axis 77a, 77b, 77c.

In the embodiment shown in Figures 19, 20 and 21, the drive motor 99 has a motor shaft 76d driven in rotation on which is fixed a fourth pinion 80d separate from the pinions 80a, 80b, 80c and meshing with the chain 81 The motor shaft 76d is driven in rotation with respect to its casing 97 fixed to the framework 820 (or to the frame 823) around an axis 77d substantially parallel to the other axes 77a, 77b, 77c. The chain 81 is guided around the sprockets 80a, 80b, 80c, 80d and for example against external studs 98a, 98b fixed to the framework 820 or to the frame 823. In another embodiment not shown, one of the shafts , for example the shaft 76a, is attached to the motor shaft of the drive motor 99.

The motor 99 rotates the shaft 76a or the shaft 76d around the axis 77a or 77d of rotation, which also rotates via the chain 81 the sprockets 80a, 80b and 80c, and therefore the eccentric pins 78a, 78b and 78c about their respective axes 77a, 77b, 77c. The driving of the sprockets 80a, 80b, 80c makes it possible to synchronize the eccentric spindles 78a, 78b, 78c. These rotations of the eccentric pins 78a, 78b, 78c move the connecting rods 79a, 79b, 79c, which then move the guide 75 pressing on the duct 8 to cause it to describe the predetermined path of movement 73. Trajectory 73 corresponds to the trajectory of guide 75.

According to one embodiment, represented in FIGS. 16 to 23, the constant speed of rotation of the shafts 76a, 76b, 76c or 76' around their respective axes of rotation 77a, 77b, 77c ensures that the central point 172 moves at a constant speed on path 73, thus ensuring an even distribution of gravel and binder in zone Z.

According to one embodiment, shown in , the head 7 comprises a flange 15 comprising one or more orifices used to inject binder downstream of the conduit 8, for example through internal injection holes distributed in the flange 15 around the flow of gravel sent by the conduit 8. The collar 15 comprises a mouth 150 for the arrival of binder, which communicates with the injection orifice(s) and which is also connected to the pipe 10 for sending binder. To this end, the pipe 10 can be connected to a box 16 fixed to the end part 62, for example to the framework 820 and in particular to the frame 823, as shown in , this housing 16 being itself connected by another pipe 14 (shown in ) to the flange 15, this other pipe 14 passing for example outside the end part 62 and outside the frame 820, in order to prevent the pipe 14 from being jammed by parts in movement of the system 13 of displacement. Of course, the embodiments, characteristics, possibilities and examples described above can be combined with each other or be selected independently of each other.

Claims (22)

Pavement repair unit (1), comprising a frame (2), on which are mounted a gravel storage container (3) and a binder storage tank (4a), a front side (21), a rear side (22) and a spreading assembly (4), making it possible to spread gravel and binder in a targeted manner at least in a front zone (Z) of the roadway, located in front of the front side (21) and/or in a lateral zone (Z) of the roadway, located laterally with respect to the front side (21) and the rear side (22),
the spreading assembly (4) comprising at least a first outward deployment arm (5), movably mounted on the frame (2), and a second support arm (6), which serves to support a head outlet (7) for the gravel and binder and which is connected to the first arm (5), the first arm (5) for outward deployment, the second support arm (6) and the head (7) being suitable to be controlled by movement commands (200),
the spreading assembly (4) comprising at least one duct (8) and means (9) for conveying gravel in the duct (8) to bring gravel from the storage container (3) to the head (7) , capable of being controlled by spreading controls (201),
the spreading assembly (4) further comprising at least one pipe (10) going from the tank (4a) to the head (7) and at least one device (11) for bringing the binder into the pipe (10) from the tank (4a) to the head (7), capable of being controlled by the spreading controls (201),
a control device (20) for generating the commands (200) for moving the first arm (5), the second arm (6) and the head (7) and the commands (201) for spreading the assembly ( 4) spreading,
characterized in that the unit comprises
a system (110) for taking pictures, comprising at least one camera (111, 112, 113, 114, 115), oriented towards the front or side zone (Z) of the roadway, to obtain acquired images (I) of the front or side zone (Z) of the roadway,
the control device (20) comprises means (20) for automatically detecting holes (T) in the roadway in the images (I) of the front or side zone (Z) of the roadway, comprising at least one computer (CAL ) comprising a learning base (BA), in which are pre-recorded first image parts (S1) each representing at least one hole (T') of another zone (Z') of roadway and classified in at least a first class (C1) of presence of a hole and second image parts (S2) representing the other zone (Z') of pavement without a hole and classified in at least a second class (C2) of absence of a hole,
the computer (CAL) being programmed to automatically:
- identifying in each image acquired and classifying, by an automatic learning algorithm of the computer based on the first parts (S1) of the image and on the second parts (S2) of the image, regions (b _j ) of the image acquired in the first class (C1) of presence of a hole or in the second class (C2) of absence of a hole,
- generate the commands (200) for moving the first arm (5), the second arm (6) and the head (7) and the commands (201) for spreading the spreading assembly (4) above above a location (ZT) situated in the front or lateral zone (Z) and corresponding to at least one region (b _j ) of the acquired image, having been identified in the first class (C1) of the presence of a hole. Unit according to Claim 1, characterized in that the control device (20) comprises at least one interface (102) operable by a user, comprising at least one validation member (VAL) operable by a user and configured for, when the validation device (VAL) has been actuated by the user, execute the movement commands (200) by the first arm (5), the second arm (6) and the head (7) and the commands (201) spreading by the spreading assembly (4) to spread binder and gravel above the location (ZT) of the front or side zone (Z) corresponding to the at least one region (b _j ) of the acquired image, having been identified in the first class (C1) of hole presence. Unit according to Claim 1 or 2, characterized in that the control device (20) comprises at least one user-operable interface (102), comprising at least one user-operable cancellation member (CANN) and configured to , except actuation of the cancellation member (CANN) to cancel the commands (200) for moving the first arm (5), the second arm (6) and the head (7) and the commands (201) to spreading of the spreading assembly (4) by the user, having the displacement commands (200) executed by the first arm (5), the second arm (6) and the head (7) and the commands (201 ) spreading by the spreading assembly (4) for spreading binder and gravel above the location (ZT) of the front or side zone (Z) corresponding to the at least one region (b _j ) of the acquired image, having been identified in the first class (C1) of hole presence. Unit according to any one of Claims 1 to 3, comprising as camera at least a first camera (111), which is fixed to the front side (21) of the chassis (2) or below the level of a front windscreen ( 35) of a cabin (33) fixed to the front side (21) of the chassis (2) and which is oriented towards the front or side zone (Z) of the roadway. Unit according to any one of the preceding claims, comprising as camera at least a second camera (112, 113) mounted on the first outward extending arm (5) and oriented towards the front or side area (Z) of the pavement. Unit according to any one of the preceding claims, comprising as camera at least a second camera (112) mounted on the first outward extending arm (5) and oriented towards the front or side zone (Z) of the roadway and a third camera (113), which is mounted on the first outward extension arm (5) at a distance from the second camera (112) and which is oriented towards the front or side zone (Z) of the roadway, the second camera (112) and the third camera (113) being configured to provide a stereoscopic image of the front or side zone (Z) of the roadway. Unit according to any one of the preceding claims, comprising a cockpit (33) fixed to the front side (21) of the frame (2), the unit comprising as camera at least a fourth camera (114, 115) mounted on the cockpit (33) and oriented towards the front or side zone (Z) of the roadway. Unit according to any one of the preceding claims, comprising a cockpit (33) fixed to the front side (21) of the frame (2), the unit comprising as camera at least a fourth camera (114) mounted on the cabin ( 33) piloting and oriented towards the front or side zone (Z) of the roadway and a fifth camera (115), which is mounted on the remote piloting cabin (33) of the fourth camera (114) and which is oriented towards the front or side zone (Z) of the roadway, the fourth camera (114) and the fifth camera (115) being configured to provide a stereoscopic image of the front or side zone (Z) of the roadway. Unit according to any one of Claims 1 to 3, comprising as camera at least a first camera (111) fixed to the front side (21) of the chassis (2) or below the level of a front windscreen (35) d a cabin (33) attached to the front side (21) of the chassis (2), and at least one second camera (112, 113) mounted on the first outward deployment arm (5) and oriented towards the front area or side (Z) of the roadway, the second camera (112, 113) being remote from the first camera (111). Unit according to any one of the preceding claims, characterized in that the computer (CAL) is programmed to automatically:
- thresholding the acquired image below or beyond a prescribed image colorimetry threshold, extracting a contour from the thresholded image and comparing the extracted contour with prescribed contours of holes of the first parts (S1) d image, in order to identify and classify the regions (b _j ) of the acquired image in the first class (C1) of hole presence or in the second class (C2) of absence of hole. Unit according to any one of the preceding claims, characterized in that the automatic detection means (20) are provided for the detection, as holes (T), of potholes (T) in the roadway and/or of cracks ( T) of the roadway and/or subsidence (T) of the edges of the roadway in the images of the front or side zone (Z) of the roadway, the learning base (BA), comprising as first class (C1 ) of hole presence a first class (C1) of presence of potholes of the pavement and/or a first class (C1) of presence of cracking of the pavement and/or a first class (C1) of presence of subsidence of road edges. Unit according to any one of the preceding claims, comprising on the rear side a ramp (31) for distributing gravel and a ramp (32) for spreading the binder, which extend at least over a determined width comprising the rear side ( 22). Unit according to any one of Claims 1 to 12, characterized in that the acquired images (I) of the front or lateral zone (Z) of the roadway are views of the front or lateral zone (Z) of the roadway a viewing angle of less than 90° with respect to the front or side zone (Z) of the roadway,
the first image parts (S1) and the second image parts (S2) are views of the front or side zone (Z') of the other roadway according to the angle of view less than 90° with respect to the front or side area (Z) of the roadway. Unit according to any one of Claims 1 to 12, characterized in that the images acquired of the front or lateral zone (Z) of the roadway are views of the front or lateral zone (Z) of the roadway according to an angle of view perpendicular to the roadway,
the first image parts (S1) and the second image parts (S2) are views of the front or side zone (Z') of the other roadway according to a viewing angle perpendicular to the roadway. Unit according to Claim 14, characterized in that the imaging system (110) or the computer (CAL) is configured to obtain the acquired images of the front or side zone (Z) of the roadway from raw images of the camera (111, 112, 113, 114, 115) by homographic rectification passing the first coordinates (m, n) of the pixels of the raw images of the camera (111, 112, 113, 114, 115) taken according to a first angle of elevation less than 90° with respect to the front or side zone (Z) of the roadway at second coordinates (x, y) of said pixels according to a second angle of view perpendicular to the front or side zone (Z) of the roadway, the second coordinates (x, y) of said pixels being those of the acquired images. Unit according to any one of the preceding claims, characterized in that the regions (b _j ) of the acquired image identified in the first class (C1) of hole presence are marked superimposed on the acquired image on at least one screen (101) for displaying the unit (1). Unit according to any one of the preceding claims, characterized in that the control device (20) comprises at least one interface (102) operable by a user, comprising at least one input member (ENT) operable by a user for enter at least one other command (200') for moving the first arm (5), the second arm (6) and the head (7) and another command (201') for spreading the assembly (4) spreading above another location located in the front or side zone (Z),
the computer (CAL) being programmed to cause the other movement command (200') to be executed by the first arm (5), the second arm (6) and the head (7) and the other command (201') d spreading by the spreading assembly (4) for spreading binder and gravel above the other location located in the front or side zone (Z). Unit according to any one of the preceding claims, characterized in that the chippings and binder outlet head (7) comprises a chippings and binder projection opening (171) having a predetermined two-dimensional extent in which there is a point (172) of the opening (171), the spreading assembly (4) comprising a system (13) for moving at predetermined constant speed the central point (172) of the opening (171) for throwing the gravel and binder along a predetermined travel path (173). Unit according to any one of the preceding claims, characterized in that the control device (20) comprises means (220) for detecting a depth of filling of the holes (T) by the gravel and the binder, the computer being programmed to automatically stop the spreading controls (201) when the gravel and binder filling depth of the holes (T), having been detected, corresponds to a repaired hole (T). A method of repairing a pavement using a pavement repair unit (1), comprising a frame (2), on which are mounted a container (3) for storing gravel and a tank (4a ) for storing binder, a front side (21), a rear side (22) and a spreading assembly (4), making it possible to spread gravel and binder in a targeted manner at least in a front zone ( Z) of the roadway, located in front of the front side (21) and/or in a side zone (Z) of the roadway, located laterally with respect to the front side (21) and the rear side (22),
the spreading assembly (4) comprising at least a first outward deployment arm (5), movably mounted on the frame (2), and a second support arm (6), which serves to support a head outlet (7) for the gravel and binder and which is connected to the first arm (5), the first arm (5) for outward deployment, the second support arm (6) and the head (7) being suitable to be controlled by movement commands (200),
the spreading assembly (4) comprising at least one duct (8) and means (9) for conveying gravel in the duct (8) to bring gravel from the storage container (3) to the head (7) , capable of being controlled by spreading controls (201),
the spreading assembly (4) further comprising at least one pipe (10) going from the tank (4a) to the head (7) and at least one device (11) for bringing the binder into the pipe (10) from the tank (4a) to the head (7), capable of being controlled by the spreading controls (201),
a control device (20) for generating the commands (200) for moving the first arm (5), the second arm (6) and the head (7) and the commands (201) for spreading the assembly ( 4) spreading,
characterized in that
prerecording (E1), in a learning base (BA) of at least one computer (CAL) of the control device (20), first image parts (S1) each representing at least one hole (T' ) of another zone (Z') of pavement and classified in at least a first class (C1) of presence of a hole and second image parts (S2) representing the other zone (Z') of pavement without a hole and classified in at least a second class (C2) of absence of hole,
is obtained by a system (110) for taking pictures of the unit (1), comprising at least one camera (111, 112, 113, 114, 115), oriented towards the front or side zone (Z) of the roadway located in front of the chassis (2), images acquired of the front or side zone (Z) of the roadway,
identifying (E2) automatically by the computer (CAL) in each acquired image and classifying by an automatic learning algorithm of the computer (CAL) based on the first image parts (S1) and on the second parts (S2) image, regions (b _j ) of the image acquired in the first class (C1) of presence of a hole or in the second class (C2) of absence of a hole,
the computer (CAL) generates the commands (200) for moving the first arm (5), the second arm (6) and the head (7) and the commands (201) for spreading the assembly (4 ) of spreading above a location of the front or side zone (Z) corresponding to at least one region (b _j ) of the acquired image, having been identified in the first class (C1) of hole presence . Method for repairing a roadway according to Claim 20, characterized in that before the automatic identification step, a user (Ut) controls an input device (ENT) of an interface (102) operable by the 'user, to perform a command (CPR, 200') to move the first arm (5), the second arm (6) and the head (7) in the zone (Z) close to the hole (T). Computer program comprising code instructions for carrying out the pavement repair method according to claim 20 or 21, when executed by a computer (CAL).