CN-117385711-B - Intelligent integrated repairing device and repairing method for cracks and pits of asphalt pavement

CN117385711BCN 117385711 BCN117385711 BCN 117385711BCN-117385711-B

Abstract

The invention provides an intelligent repair integrated device and a repair method for cracks and pits of an asphalt pavement, and relates to the technical field of identification and repair devices for defects of asphalt pavement, comprising a repair vehicle body and a control center, wherein the repair vehicle body comprises an upper plate and a middle plate, and a crack repair mechanism and a pit repair mechanism are arranged on the upper plate; the vibration compaction mechanism comprises a connecting rod and a rolling shaft, wherein the connecting rod and the rolling shaft are positioned at the bottom of the repairing vehicle body, the rolling shaft is connected with the repairing vehicle body through the connecting rod, and the rolling shaft is controlled to move back and forth so as to realize vibration compaction of a repairing area. The method realizes omnibearing and high-precision repair of asphalt pavement cracks and pit defects.

Inventors

DONG DAOWEI
ZHANG JIZHE
ZHU NAN
Fan Xiuze
TONG LUJUN
YAO ZHANYONG

Assignees

济南城建动能转换开发建设集团有限公司
山东大学

Dates

Publication Date: 20260512
Application Date: 20231114

Claims (10)

1. The intelligent repairing integrated device for the asphalt pavement cracks and the pits is characterized by comprising a repairing vehicle body and a control center, wherein the repairing vehicle body comprises an upper plate and a middle plate, and a crack repairing mechanism and a pit repairing mechanism are arranged on the upper plate; the crack repairing mechanism and the pit repairing mechanism are respectively arranged at two ends of an upper plate of the repairing vehicle body, the vibration compacting mechanism is arranged at the front end of the bottom of the repairing vehicle body and comprises a connecting rod and a rolling shaft, the connecting rod and the rolling shaft are positioned at the bottom of the repairing vehicle body, the rolling shaft is connected with the repairing vehicle body through the connecting rod, and the rolling shaft is controlled to move forwards and backwards so as to realize vibration compaction of a repairing area; The pit repairing mechanism comprises a second mechanical arm big arm, a second mechanical arm small arm, a second repairing gun, a second material box and a strickle, wherein a second asphalt nozzle is arranged on the second repairing gun, and the strickle is arranged on the second asphalt nozzle; The interior of the second material box is divided into two containers with the same volume and different volumes, one part of the containers is filled with bonding materials at the pit and the other part of the containers is filled with repairing materials at the pit.
2. The intelligent repair integrated device for cracks and pits on an asphalt pavement according to claim 1, wherein the crack repair mechanism comprises a first mechanical arm big arm, a first mechanical arm small arm, a first repair gun and a first material box, one end of the first mechanical arm big arm is connected with one end of the first mechanical arm small arm, the other end of the first mechanical arm big arm is connected with a first base, and the first base is arranged on a repair vehicle body.
3. The intelligent repair integrated device for cracks and pits on asphalt pavement according to claim 2, wherein the other end of the first mechanical arm small arm is connected with a first repair gun, the first repair gun can rotate by 90 degrees, and the first mechanical arm large arm and the first mechanical arm small arm can rotate by 180 degrees respectively.
4. The intelligent repair integrated device for cracks and pits on the asphalt pavement according to claim 2, wherein the first material box is connected with the first repair gun through a first material conveying pipe, the first repair gun is provided with a first asphalt nozzle, and the repair direction of the first asphalt nozzle is controlled by the joint movement of a first mechanical arm big arm, a first mechanical arm small arm and the first repair gun.
5. The intelligent repair integrated device for cracks and pits on an asphalt pavement according to claim 1, wherein one end of the large arm of the second mechanical arm is connected with one end of the small arm of the second mechanical arm, the other end of the large arm of the second mechanical arm is connected with a second base, and the second base is arranged on a repair vehicle body.
6. The intelligent repair integrated device for cracks and pits of the asphalt pavement according to claim 1, wherein the other end of the small arm of the second mechanical arm is connected with a second repair gun, the second repair gun can rotate by 90 degrees, the large arm of the second mechanical arm and the small arm of the second mechanical arm can rotate by 180 degrees respectively, and the second material box is connected with the second repair gun through a second material conveying pipe.
7. The intelligent repair integrated device for cracks and pits on the asphalt pavement according to claim 1, wherein the control center is arranged on a middle plate of a repair vehicle body and is connected with a disease detection mechanism, and the disease detection mechanism comprises a three-dimensional laser scanner, a GPS (global positioning system) positioner, a linear array CCD (charge coupled device) camera and a laser level meter.
8. The intelligent repair integrated device for cracks and pits on asphalt pavement according to claim 7, wherein the three-dimensional laser scanner is positioned at the front side of the repair vehicle body, the GPS positioner is positioned on the upper plate of the repair vehicle body, the two linear array CCD cameras are positioned at the front side of the repair vehicle body, and the laser level is positioned at the front side of the repair vehicle body.
9. The intelligent repairing integrated device for cracks and pits on asphalt pavement according to claim 4, wherein the bottom of the repairing vehicle body is provided with a crawler belt, the first material box and the second material box are positioned at the top of the upper plate of the repairing vehicle body and are arranged as heating heat-preserving barrels, and heat-preserving sleeves are arranged outside the first material conveying pipe and the second material conveying pipe.
10. The repairing method based on the intelligent repairing integrated device for the cracks and pits of the asphalt pavement according to any one of claims 1 to 9 is characterized by comprising the following steps: setting a repairing vehicle body driving route, and controlling the first material box and the second material box to heat and preserve heat when the repairing vehicle body driving route reaches a target area so as to enable the repairing material to be in a molten state; the three-dimensional laser scanner and the linear array CCD camera start to work, three-dimensional point cloud data are obtained by scanning and shooting a disease area in front, the position of the disease area is positioned by a GPS positioning device, and then the data are uploaded to a control center; the control center receives the three-dimensional coordinates of the disease area, realizes the rapid and accurate identification of the machine to the asphalt pavement pit and crack diseases through a three-dimensional reconstruction mechanism of the disease area and a convolutional neural network, and performs disease repair path planning; If the crack is formed, the control center controls the mechanical rotating mechanism to rotate the crack repairing mechanism to the front, and simultaneously controls the first mechanical arm big arm, the first mechanical arm small arm, the first repairing gun and the first material box in the crack repairing mechanism to start working and to repair and move according to a set planning path; If the mechanical rotary mechanism is a pit, the control center controls the mechanical rotary mechanism to rotate the pit repairing mechanism to the front, and simultaneously controls the second mechanical arm large arm, the second mechanical arm small arm, the second repairing gun and the second material box in the pit repairing mechanism to start working and to repair and move according to a set planning path.

Description

Intelligent integrated repairing device and repairing method for cracks and pits of asphalt pavement Technical Field The disclosure relates to the technical field of asphalt pavement disease recognition and repair devices, in particular to an intelligent repair integrated device and a repair method for asphalt pavement cracks and pits. Background The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art. With the development of traffic construction, highway construction coverage is spread over urban road infrastructure networks, and national economy development and national soil safety guarantee are supported strongly. Because most of the lines are built earlier, most of the lines enter a large-scale maintenance period, and higher requirements are put on the technical level of highway maintenance. According to investigation, the expressway which needs maintenance in certain areas reaches thousands of kilometers, is mainly influenced by various factors such as long-term traffic load, environmental water damage and the like, so that asphalt pavement cracks and pits are caused, the pavement service performance is reduced by 40% within 75% of the service life, if pavement diseases cannot be treated effectively, the roadbed structure is further damaged, and the subsequent performance is reduced by 40% again within 12% of the service life, so that the maintenance cost is increased by 3-10 times. Meanwhile, due to the fact that labor cost is increased, and factors such as large labor intensity, uneven technical level and low construction efficiency of constructors are added, the mode of repairing by manpower needs to be changed urgently. The traditional pavement maintenance mode has high personnel requirement, low construction efficiency and difficult maintenance effect guarantee. Therefore, the technology prospect in the field of highway maintenance is enhanced, intelligent disease detection and repair equipment based on a non-excavation concept is developed and applied, intelligent construction in the process of highway maintenance and repair is realized, the development of innovation and development of highway maintenance is promoted, and the development of the highway maintenance is also a necessary way for changing labor intensity into technical intensity, relieving the contradiction of highway maintenance fund shortage and ecological environment. The intelligent repairing device for asphalt pavement diseases at present basically realizes automatic operation, reduces the number of workers on site and effectively improves the repairing efficiency, but the inventor discovers that the following problems still exist in the prior art: 1) At present, the intelligent repairing device for asphalt pavement diseases is single or is split, and most of the intelligent repairing devices are special repairing equipment, so that the integrated simultaneous repairing of asphalt pavement cracks and pit defects cannot be realized. 2) The existing repairing equipment is large and heavy, the transportation and the scheduling are difficult, the one-time investment cost is high, and the construction process needs long-time traffic control, so that the traffic jam is caused in a large range, and the traffic accident is extremely easy to cause. 3) The pavement defect recognition accuracy is low, the accuracy is poor, and the repair quality is difficult to ensure after repair. 4) When repairing the pit slot of asphalt pavement, the stone on the wall surface and the bottom surface of the pit slot lack of bonding materials, so that the oil stone ratio at the joint of the repairing materials and the original pavement materials is lower, and the adhesion between the new materials and the old materials is not strong. Disclosure of Invention In order to solve the problems, the intelligent repair integrated device and repair method for the asphalt pavement cracks and pits are provided, the crack repair and pit repair are realized in the integrated device, pavement diseases identified based on a three-dimensional reconstruction mechanism and a convolutional neural network are repaired in a targeted manner, compaction treatment is carried out on the damaged areas, the close fit of repair materials and the damaged areas is ensured, the repair quality is effectively improved, and the device is small and convenient and is convenient to transport and repair on site. According to some embodiments, the present disclosure employs the following technical solutions: an intelligent repairing integrated device for cracks and pits of asphalt pavement, The repairing vehicle comprises a repairing vehicle body and a control center, wherein the repairing vehicle body comprises an upper plate and a middle plate, and a crack repairing mechanism and a pit repairing mechanism are arranged on the upper plate; the crack repairing mechanism and the pit repairing mechanism are