KR20130001948A - Automated crack sealer for pavement - Google Patents

Abstract

PURPOSE: A crack sealing device for a road surface is provided to enable the precise control of a manipulator and to flexibly treat construction conditions. CONSTITUTION: A crack sealing device(100) for a road surface comprises a main body unit(110), an image acquisition unit(120), a manipulator(130), a support wheel unit(140), a terminal device(150), and a sealant supply unit. The main body unit has first wheels(111). The image acquisition unit is connected to the rear of the main body unit and acquires the images of a road surface in real-time. The manipulator is coupled to the main body unit to be movable forward and backward. The support wheel unit is coupled to the end of the manipulator and supports the manipulator. The terminal device is installed in the manipulator to be movable in the extension direction of the manipulator and spreads sealant on cracks. The sealant supply unit comprises a sealant melter(160) and supplies melted sealant to the terminal device.

Description

Automated Crack Sealer for Pavement

The present invention relates to a crack sealing apparatus, and more particularly, to a road surface crack sealing apparatus for automatically sealing cracks generated in the drawings.

In general, the maintenance of road surface is divided into the way of repaving after road breakage and the preventive maintenance way of partial repairing before breakage.

The preventive maintenance methods include crack sealing, chip sealing, sofa repair and overlay, and the analysis of maintenance cost per unit length shows that crack sealing is the most economical repair. Methodology was investigated (Pavement Maintenance Manual, 2005). In addition, the road surface crack sealing method effectively repairs cracks generated on the road surface at an early stage, thereby preventing freezing damage by preventing subsequent cracks and protecting the road substructure.

However, the conventional road crack sealing method is difficult to secure the safety of working laborers because most of the work is performed in large cities or highways with heavy traffic due to the nature of the work, and the productivity and quality of work are deteriorated due to lack of skilled workers. have.

In order to solve the above problems, automation equipments such as Tethered Mobile Router Robot (TMRR), The Transfer Tank longitudinal Sealer (TTLS), and Operator Controlled Crack Sealing Machine (OCCSM) have been researched and developed overseas. Automated Pavement Crack Sealer (APCS), a cotton cracking automation equipment, was developed, and field test of the prototype of the development automation equipment was carried out in 2004. However, the manipulator structure of road surface crack sealing automation equipment, which has been researched and developed domestically and internationally, has been used for actual road surface maintenance work due to difficulties in precision control, limited work, blind spots, and sealant peeling. It is not widely used.

The present invention was created in order to solve the above problems, it is possible to precise control, to flexibly cope with the poor working conditions of the site, to solve the peeling phenomenon of the sealant road surface crack sealing to improve the work quality The purpose is to provide a device.

According to the present invention, the body portion including a first wheel movable; An image acquisition unit connected to the rear from the main unit to acquire an image of a road surface in real time; A manipulator that is movable in a rearward or forward direction at the rear of the main body and extends in a direction perpendicular to the moving direction; A support wheel part installed to be movable by a second wheel and coupled to an end of the manipulator to support the manipulator so that it does not sag; An end device installed on the manipulator so as to be movable in an extension direction of the manipulator to apply a sealant to a crack portion; And a sealant supply unit for supplying a molten sealant to the end device.

Here, the manipulator is coupled to the main body portion, the telescopic arm movable to the rear or front from the rear end of the main body portion, and the guide rail is installed in the direction perpendicular to the direction of movement of the telescopic arm below the end of the telescopic arm. And an extension frame mounted on the guide rail and expandable in a direction perpendicular to a moving direction of the telescopic arm, first transfer means for moving the telescopic arm, second transfer means for expanding and moving the extension frame, and the distal end. It may comprise a conveying portion including a third conveying means for moving the device in the expansion direction of the expansion frame.

The first conveying means, the second conveying means and the third conveying means may include: a ball screw for moving the telescopic arm, the expansion frame, and the end device forward and backward, respectively, by rotation, an electric motor for rotating the ball screw; It may include a reducer for decelerating the rotation of the electric motor.

The support wheel unit may further include a support member fixedly coupled to an end of the telescopic arm, an expansion member coupled to the support member to be movable relative to the support member so as to extend in an extension direction of the extension frame, and an end of the extension member. It may include a connecting member that is installed perpendicular to the road surface to connect the second wheel.

The image acquisition unit may include a camera, a connecting rod having one end fixed to the camera and the other end extending toward the main body, and a fixing frame fixed to the main body and fixedly supporting the connecting rod at a plurality of points. Road surface cracking device.

In addition, the end device, the injection nozzle for injecting the molten sealant to the crack portion of the road surface, and the mobile coupling coupled to the expansion frame so that one end is coupled to the injection nozzle and the other end is movable in the extension direction of the expansion frame And a squeezer connected to the movable coupling part and scraping the sealant injected from the injection nozzle to the crack site and pushing the sealant into the crack.

The road surface crack sealing apparatus may further include a control box provided on the main body to control the main body, the image acquisition unit, the manipulator, the support wheel and the end device.

According to the road crack sealing apparatus of the present invention as described above, since the manipulator can be really controlled and a work area can be secured, work productivity can be improved.

In addition, it is possible to improve the sealing quality by preventing the manipulator from sagging by the support wheels and by extending the wheel supporting the manipulator to prevent peeling of the sealant.

Moreover, even in the absence of skilled workers, labor cost savings and quality can be ensured and laborers' safety problems can be solved.

1 is a perspective view showing a road surface crack sealing apparatus according to an embodiment of the present invention,
FIG. 2 is a perspective view illustrating an extended state of a wheel supporting a manipulator in the road surface crack sealing apparatus shown in FIG. 1;
3 is a perspective view illustrating a state in which an image of a road surface is acquired in real time in the road surface crack sealing apparatus shown in FIG. 2;
4 is a partial perspective view showing a state in which the telescopic arm of the manipulator is fully extended in the road surface crack sealing apparatus shown in FIG. 2;
FIG. 5 is a partial perspective view illustrating a state in which a sealant is applied to a crack portion of a road surface while the terminal device freely moves a work area by moving an extension frame and a guide rail in the road surface crack sealing device shown in FIG. 2;
6 is a flowchart illustrating a crack sealing process by the road surface crack sealing apparatus shown in FIG. 1.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view showing a road surface crack sealing apparatus according to an embodiment of the present invention, Figure 2 is a perspective view showing an extended state of the wheel supporting the manipulator in the road surface crack sealing apparatus shown in Figure 1, Figure 3 In the road surface cracking apparatus shown in FIG. 2, a perspective view showing a state of acquiring an image of the road surface in real time, and FIG. 4 shows a state in which the telescopic arm of the manipulator is maximized in the road surface cracking apparatus shown in FIG. 5 is a partial perspective view illustrating a state in which a sealant is applied to a crack portion of a road surface while the terminal device freely moves a work area by moving an extension frame and a guide rail in the road surface crack sealing device shown in FIG. 2. .

1 to 4, the road surface crack sealing apparatus 100 (hereinafter, referred to as a “crack sealing apparatus”) according to an embodiment of the present invention may include a main body 110, an image acquisition unit 120, The manipulator 130, the support wheel part 140, the end device 150, and the sealant supply part are provided.

As shown in FIG. 1, the main body 110 may include a first wheel 111 and may easily move to a work area. The main body 110, the image acquisition unit 120, the manipulator 130, the support wheel unit 140, the end device 150 and the sealant supply unit is arranged to be directly mounted or connected through an intermediate connection medium do.

The image acquisition unit 120 is connected to the rear (X direction) from the main body 110, as shown in Figure 3 to obtain an image of the road surface in real time. To this end, the image acquisition unit 120 includes a camera 121 for capturing an image of a road surface in real time. As the camera 121, a charge-coupled device (CCD) camera may be used. The camera 121 may be positioned to be perpendicular to the ground by the connecting table 122. In addition, one end of the connecting table 122 is fixed to the camera 121 and the other end extends in the direction of the main body 110 to be fixed by the fixing frame 123. In addition, in order to attenuate vibration generated in the camera 121 in order to secure the quality of the captured image, the fixing frame 123 fixed to the main body 110 by connecting the connection table 122 connected to the camera 121. It can be supported to be fixed at a plurality of points using. Here, the road surface image photographed by the camera 121 is transmitted to, for example, a monitor (not shown) mounted in the driver's seat, and the driver visually checks the crack existing in the image to determine whether the crack sealing operation is necessary. You can judge.

As shown in FIGS. 4 and 5, the manipulator 130 is coupled to the main body 110 and is movable rearward or forward (X direction) at the rear of the main body 110. To this end, the manipulator 130 may include a telescopic arm 131 which is movable from the rear of the main body 110 to the rear or front side (X direction). A first transfer means may be provided to move the telescopic arm 131. Although not shown, a ball screw for moving the telescopic arm 131 by rotation as the first transfer means, It may include an electric motor for rotating the ball screw, and a speed reducer for regulating the rotation of the electric motor. The exact position of the telescopic arm 131 can be controlled by adjusting the rotational speed of the ball screw. More specifically, the speed and extension distance of the telescopic arm 131 can be precisely adjusted by attaching a speed reducer to the electric motor. . Here, since the configuration and operation of each of the ball screw, the electric motor, and the reducer are well-known techniques, detailed descriptions thereof will be omitted.

The manipulator 130 may include a guide rail 133 installed below the end 132 of the telescopic arm 131 in a direction (Y direction) perpendicular to a moving direction (X direction) of the telescopic arm 131. It may include an expansion frame 135 mounted on the guide rail 133 and extendable in a direction perpendicular to the moving direction of the telescopic arm 131 (Y direction). Although not shown here, a second transfer means (not shown) is provided to expand and move the expansion frame 135. Similar to the first transfer means, the second transfer means may accurately adjust the expansion speed and the extension distance of the expansion frame 135, including a ball screw, an electric motor, and a reduction gear.

As shown in FIGS. 4 and 5, the end device 150 is installed in the manipulator 130 to move in the expansion direction (Y direction) of the manipulator 130 to provide a sealant at a crack. Apply. To this end, the end device 150, the injection nozzle 151 for injecting the molten sealant to the crack portion of the road surface, one end is coupled to the injection nozzle 151 and the other end is the expansion of the expansion frame 135 A movable coupling part 152 coupled to the expansion frame 135 so as to be movable in a direction (Y direction), and a sealant connected to the movable coupling part 152 and injected into the crack site from the injection nozzle 151. It may include a squeezer 153 to push the scrapes into the cracks. Here, the end device 150 may be moved in the expansion direction (Y direction) of the expansion frame 135 by a third transfer means (not shown). Similar to the first and second transfer means, the third transfer means may accurately adjust the expansion speed and the extension distance of the end device 150 including a ball screw, an electric motor and a reduction gear.

As shown in FIGS. 2 to 5, the support wheel unit 140 is movably installed by the second wheel 141 and is coupled to an end of the manipulator 130 so that the manipulator 130 is disposed. Support not to be supported. To this end, the support wheel part 140 is a support member 142 fixedly coupled to the end of the telescopic arm 131, and the support member to extend in the expansion direction (Y direction) of the expansion frame 135 And an expansion member 143 coupled to the 142 so as to be movable relative thereto, and a connection member 144 installed perpendicular to the road surface to connect the end of the expansion member 143 to the second wheel 141. . Here, the second wheel 141 coupled to the end of the connection member 144 by the expansion member 143 immediately before the crack sealing operation is extended in the expansion direction (Y direction) of the expansion member 143. . The reason why the second wheel 141 is extended out of the work area is to prevent the peeling phenomenon that may occur when the second wheel 141 steps on the sealant which is not solidified after the sealant is applied.

The sealant supply unit includes a sealant melter 160 in which the sealant is melted and stored. Although not shown in the accompanying drawings, the sealant supply unit may include a sealant conveying tube for supplying the molten sealant to the injection nozzle 151 of the end device 150, and a sealant conveying tube for conveying the sealant.

On the other hand, the crack sealing apparatus 100 according to an embodiment of the present invention, although not shown, having a control box on the main body 110, the main body 110, the image acquisition unit 120, the manipulator ( 130, the support wheel 140 and the end device 150 may be controlled.

Hereinafter, a process of sealing cracks in a road surface by using the road surface crack sealing apparatus 100 according to an exemplary embodiment of the present invention will be described with reference to the accompanying drawings.

6 is a flowchart illustrating a crack sealing process by the road surface crack sealing apparatus shown in FIG. 1.

First, referring to FIGS. 1 and 6, the crack sealing apparatus 100 is moved into a work zone (S10). Here, when the crack sealing apparatus 100 moves, the telescopic arm 131 may be mounted inside the frame 112 provided in the main body 111 to increase mobility.

Next, as shown in FIG. 2, when the crack sealing apparatus 100 arrives at the work section, the second wheel 141 provided in the vehicle, that is, the support wheel unit 140 mounted at the rear of the main body unit 110, may be disposed. By expanding to both sides, the second wheel 141 does not step on the sealing surface after the completion of the crack sealing (S20).

Next, as shown in FIG. 3, the crack sealing apparatus 100 that is ready for crack sealing work obtains a real-time image of a road surface through a camera 121 mounted at the rear of the vehicle (S30). Transfer to a monitor (not shown) located in the driver's seat. The driver visually observes the cracks present in the image to determine the location of the cracks.

On the other hand, since the time taken for the acquired image to recognize the crack takes about 4 seconds, while recognizing the crack, the telescopic arm 131 of the manipulator 130 is enlarged to the maximum length as shown in FIG. By expanding the 135, the end device 150 attached to the expansion frame 135 to move along the crack surface (S40).

Then, the end device 150 performs the operation of crack sealing while moving along the crack surface as shown in Figs. 4 and 5 (S50).

Then, the crack sealing device 100 after the crack sealing work is moved to another region (S60). Here, before the crack sealing apparatus 100 moves, the expanded second wheel 141 expanded as shown in FIG. 1 is reduced to its original state to increase the mobility of the equipment.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100: crack sealing apparatus 110: main body
111: first wheel 120: image acquisition unit
121: camera 122: connecting rod
123: fixed frame 130: manipulator
131: telescopic arm 133: guide rail
135: expansion frame 140: support wheel portion
141: second wheel 142: support member
143: expansion member 144: connecting member
150: end device 151: injection nozzle
152: mobile coupling portion 153: squeezer
160: sealant melter

Claims (7)

A main body part 110 including a first wheel 111 and movable;
An image acquisition unit 120 connected rearward from the main body unit 110 to obtain an image of a road surface in real time;
A manipulator 130 which is movable from the rear of the main body 110 to the rear or front side (X direction) and expandable in the direction perpendicular to the movement direction (X direction) (Y direction);
A support wheel unit 140 installed to be movable by a second wheel 141 and coupled to an end of the manipulator 130 to support the manipulator 130 not to sag;
An end device (150) installed on the manipulator (130) to apply a sealant to a crack part so as to be movable in an extension direction (Y direction) of the manipulator (130); And
Road crack cracking device comprising a sealant supply unit for supplying the molten sealant to the end device (150).
The method according to claim 1,
The manipulator 130,
A telescopic arm 131 coupled to the main body 110 and movable from the rear of the main body 110 to the rear or front side (X direction),
A guide rail 133 installed below the end portion 132 of the telescopic arm 131 in a direction perpendicular to a moving direction (X direction) of the telescopic arm 131 (Y direction);
An expansion frame 135 mounted on the guide rail 133 and extending in a direction perpendicular to a moving direction of the telescopic arm 131 (Y direction);
A first transfer means for moving the telescopic arm 131, a second transfer means for expanding and moving the extension frame 135, and an end device 150 in an extension direction (Y direction) of the extension frame 135; Road surface crack sealing apparatus comprising a conveying portion including a third conveying means for moving to.
The method according to claim 2,
The first transfer means, the second transfer means and the third transfer means,
A ball screw for moving the telescopic arm 131, the expansion frame 135 and the end device 150 forward and backward by rotation;
An electric motor for rotating the ball screw;
Road crack cracking device comprising a reducer for reducing the rotation of the electric motor, respectively.
The method according to claim 2,
The support wheel unit 140,
A support member 142 fixedly coupled to an end of the telescopic arm 131,
An expansion member 143 coupled to the support member 142 so as to be movable relative to the expansion frame 135 in an extension direction (Y direction);
Road cracking device comprising a connecting member (144) installed perpendicular to the road surface to connect the end of the expansion member (143) and the second wheel (141).
The method according to claim 1,
The image acquisition unit 120,
Camera 121,
One end is fixed to the camera 121 and the other end is connected to the body 122 extending in the main body 110 direction;
The road surface crack sealing apparatus is fixed to the main body portion 110, and comprises a fixing frame (123) for fixing and supporting the connecting table (122) at a plurality of points.
The method according to claim 1,
The terminal device 150,
An injection nozzle 151 for injecting the molten sealant into cracks on the road surface;
A mobile coupling part 152 having one end coupled to the injection nozzle 151 and the other end coupled to the expansion frame 135 so as to be movable in an extension direction (Y direction) of the expansion frame 135;
Road crack cracking device is connected to the mobile coupling portion 152, including a squeezer (153) for scraping the sealant sprayed on the crack portion from the injection nozzle 151 and pushes it into the crack.
The method according to any one of claims 1 to 6,
A road provided on the main body 110 further includes a control box for controlling the main body 110, the image acquisition unit 120, the manipulator 130, the support wheel 140, and the end device 150. Cotton crack sealing device.

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