CN116716781A - Intelligent pavement disease repairing device and method based on 3D printing - Google Patents
Intelligent pavement disease repairing device and method based on 3D printing Download PDFInfo
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- G06V20/10—Terrestrial scenes
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
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- E—FIXED CONSTRUCTIONS
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- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/09—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges
- E01C23/096—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges for forming, opening-out, cleaning, drying or heating and filling
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- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
- E01F9/658—Upright bodies, e.g. marker posts or bollards; Supports for road signs characterised by means for fixing
- E01F9/662—Upright bodies, e.g. marker posts or bollards; Supports for road signs characterised by means for fixing mounted on vehicles, e.g. service vehicles; Warning vehicles travelling along with road-maintenance, e.g. remotely controlled
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- G—PHYSICS
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- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
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Abstract
The disclosure provides an intelligent repairing device and method for road surface diseases based on 3D printing, which relate to the technical field of road surface image recognition and comprise the steps of obtaining road surface front road image information, road surface disease three-dimensional data and road surface disease positioning information; judging the type of the disease as a crack or a pit; if the crack is formed, mapping the crack into the point cloud through coordinate system conversion, establishing a mapping relation between the image and the point cloud, and further finding a specific position of the crack in the point cloud; if the three-dimensional point cloud data is a pit, simplifying the three-dimensional point cloud data of the disease area to obtain smooth point cloud data; processing the obtained point cloud data of the cracks or pits, performing three-dimensional visualization by connecting cloud points, and creating a disease area three-dimensional computer model by utilizing a 3D printing planning path result; and controlling the traction vehicle body and the repairing vehicle body to carry out 3D printing and repairing according to the path planning result, so as to improve the repairing efficiency, precision and consistency of the pavement diseases.
Description
Technical Field
The disclosure relates to the technical field of pavement image recognition, in particular to an intelligent pavement disease repairing device and method based on 3D printing.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The asphalt pavement is cracked, under the scouring action of vehicle load and rainwater, the crack is developed downwards, and as time goes on, the pavement is easy to form pits, and even the pavement is damaged in a large area, so that the normal operation of the expressway is influenced. The small-sized repair of the early damage of the expressway is necessary, particularly the repair of cracks and pits can slow down the occurrence of expressway diseases, prolong the service life of the expressway, and has great effects on social and economic benefits.
Cracks are the most predominant damage to asphalt pavement, and are mainly caused by the lack of sufficient compactness of the subgrade, the lack of good construction quality, and the overload use of asphalt pavement. The reason for generating pit slots on the asphalt pavement is that the surface layer is cracked and cracked due to net, if maintenance is not carried out in time, the asphalt mixture on the pavement falls off under the action of wheel load and rain wash to gradually form pit slots, the technology of repairing the asphalt pavement crack comprises the technologies of direct crack pouring, crack tape treatment and thermal regeneration, and the technology of repairing the pit slots comprises the technologies of filling type pit slot repairing, digging type pit slot repairing, hot baking type pit slot repairing and jet type pit slot repairing. At present, the early disease repair of asphalt pavement requires a large number of workers to perform the current operation, and the traffic control on the road is required. Automatic intelligent repair equipment for early diseases of asphalt pavement is urgently needed.
The 3D printing technique refers to a technique of generating a three-dimensional entity by adding materials layer by layer through successive physical layer superposition. Which is different from conventional material processing techniques and is therefore also referred to as additive manufacturing techniques. In recent years, 3D printing technology is mature and applied in civil engineering, and the 3D printing technology is utilized to print the repairing material, so that cracks and pits of the asphalt pavement can be repaired; the existing intelligent repairing of road surface diseases exists, but the inventor finds that the following problems still exist in the prior art:
1) Although intelligent repair equipment is utilized, a great deal of manpower is still needed for assistance, which clearly increases labor cost pressure and cannot realize efficient utilization of repair materials.
2) In the repairing process, sundries and drying cannot be effectively removed from cracks or pits, so that the repairing position cannot be stably bonded, the bonding force is insufficient, and the hidden danger of cracks can occur again in the later stage.
3) The signal indicating vehicle with single purpose or the special road sign is required to be additionally arranged for warning, so that the cost of road maintenance is increased.
4) The three-dimensional laser scanner is used for collecting pavement cracks, the elevation of point cloud data of a crack area is often found to be lower than that of a non-crack area, and the point cloud data of the crack often has a large-area defect phenomenon, so that the three-dimensional laser scanner is not suitable for collecting pavement crack data.
Disclosure of Invention
In order to solve the problems, the intelligent repairing device and the intelligent repairing method for the pavement diseases based on 3D printing are provided, a 3D printing planning path formed by an asphalt pavement image is obtained, cracks or pits of the asphalt pavement are accurately repaired, the uniform stability and strength of repairing parts are enhanced, and the repairing efficiency, precision and consistency of the pavement diseases are improved.
According to some embodiments, the present disclosure employs the following technical solutions:
the intelligent pavement disease repairing method based on 3D printing comprises the following steps:
acquiring road image information in front of a road surface, three-dimensional data of road surface diseases and positioning information of the road surface diseases;
preprocessing the image information, highlighting the characteristics of the pavement damage area, calculating the geometric characteristics of the pavement damage area, and judging the type of the damage as cracks or pits;
if the crack is formed, mapping the crack into the point cloud through coordinate system conversion, establishing a mapping relation between the image and the point cloud, and further finding a specific position of the crack in the point cloud;
if the three-dimensional point cloud data is a pit, simplifying the three-dimensional point cloud data of the disease area to obtain smooth point cloud data; processing the obtained point cloud data of the cracks or pits, performing three-dimensional visualization by connecting cloud points, and creating a disease area three-dimensional computer model by utilizing a 3D printing planning path result;
and controlling the traction vehicle body and the repair vehicle body to carry out 3D printing repair according to the path planning result.
According to some embodiments, the present disclosure employs the following technical solutions:
the intelligent pavement damage repairing device based on 3D printing comprises a traction vehicle body, a repairing vehicle body, a mechanical arm, a crack cleaning and blowing mechanism, a pavement damage identifying mechanism and a discharging mechanism; the pavement defect recognition mechanism is used for recognizing the type of pavement defects, positioning the positions of the defects and planning a repair path; the mechanical arm base of the mechanical arm is fixed at the top of the repairing vehicle body, and the mechanical arm connecting end at the other end is connected with the discharging mechanism and is used for driving the discharging mechanism to move to repair road surface diseases;
the crack cleaning mechanism comprises a crack blowing machine base, the crack blowing machine base is installed at the bottom of a traction vehicle body and can rotate by 360 degrees, a crack blowing machine rotating head is installed on the crack blowing machine base and can rotate by 180 degrees in the vertical direction, a hot air spray gun is arranged on one side of the crack blowing machine rotating head, an air compressor is arranged on the hot air spray gun, the hot air spray gun can heat air exhausted by the air compressor, and sundries accumulated in cracks or pits can be cleaned cleanly and the positions of diseases can be dried and preheated.
Further, the pavement disease recognition mechanism comprises a linear array CCD camera, two three-dimensional laser scanners, a GPS (global positioning system) positioning instrument and a control center, wherein the linear array CCD camera is arranged at the top of the traction vehicle body and is used for acquiring pavement disease images; the three-dimensional laser scanners are arranged on two sides of the front end of the bottom of the traction vehicle body and used for acquiring three-dimensional coordinate data of the identified road surface disease type, and the GPS positioning instrument is positioned on the rear side of the top of the traction vehicle body and used for acquiring the position information of the road surface disease.
Further, the mechanical arm comprises a mechanical arm base, a mechanical arm big arm, a mechanical arm small arm and a mechanical arm connecting end, wherein the mechanical arm base is fixed at the top of the repairing vehicle body, one end of the mechanical arm big arm is connected with the mechanical arm base, the other end of the mechanical arm big arm is connected with one end of the mechanical arm small arm, and the other end of the mechanical arm small arm is connected with the mechanical arm connecting end.
Further, the mechanical arm base can rotate 360 degrees, the mechanical arm large arm can rotate 90 degrees in the vertical direction, the mechanical arm small arm can rotate 180 degrees in the vertical direction, and the mechanical arm connecting end can rotate 180 degrees in the horizontal direction.
Further, discharge mechanism includes shell, screw push rod, nozzle, heat conduction inner tube, electrical heating shell, unloading funnel, radiator fan and step motor, the arm link is connected to discharge mechanism's shell.
Further, the step motor is arranged inside the shell, the cooling fans are arranged on two sides of the step motor, the lower portion of the shell is opened and is provided with an electric heating shell, a heat conducting inner pipe is arranged inside the electric heating shell, a plurality of grooves for installing heating resistors are formed in the electric heating shell, and the temperature in the cavity is increased through the action of the heat conducting inner pipe.
Further, a spiral push rod is arranged in the heat conduction inner pipe, the top of the spiral push rod is connected with a stepping motor, and a corresponding arc-shaped notch is formed in the same side of the electric heating shell and the heat conduction inner pipe and used for installing a discharging funnel; the bottom of the heat conduction inner tube is connected with a nozzle.
Furthermore, the hot melting box is further arranged at the top of the repairing vehicle body, a pump is arranged on one side of the hot melting box, the pump is connected with the blanking funnel through a conveying pipe, and the conveying pipe is a telescopic pipe.
Compared with the prior art, the beneficial effects of the present disclosure are:
the intelligent pavement disease repairing device based on 3D printing does not need to be manually participated in repairing operation, not only can relieve the increasing labor cost pressure, but also can realize the efficient utilization of repairing materials, effectively reduces the maintenance cost, and enables the road maintenance to be changed from labor intensity type to technology intensity type.
Compared with the traditional asphalt pavement repairing method, the 3D printing technology is utilized to repair cracks or pits of the asphalt pavement, the maintenance work of 7D can be shortened to 1-2 h, the time of traffic control is greatly reduced, traffic accidents and economic losses caused by pavement repairing are reduced, traffic jam is relieved, the uniform stability and strength of the repairing part can meet the requirements, and the pavement disease repairing efficiency, precision and consistency are improved.
The utility model discloses a adopt the crack of traction vehicle body below to blow the mechanism and clear the crack and dry to crack or pit groove before the crack filling. Sundries in cracks or pits can be effectively cleared, and good conditions are created for subsequent work; and the repairing position can be heated to remove moisture in cracks or pits to form a thermal effect, so that the joint filling material is ensured to be stably bonded with the joint wall and the joint bottom.
The method adopts the road surface disease detection based on the point cloud and the image, adopts three-dimensional laser point cloud identification aiming at the road surface pit slot, and intuitively reflects the concave-convex condition of the road surface through the elevation information of the pit slot point cloud. Aiming at the problem that the three-dimensional laser scanner is inaccurate in recognizing the pavement crack, the method comprises the steps of firstly shooting an image through a linear array CCD camera, preprocessing the image, and establishing a mapping relation between the image and the point cloud through coordinate system conversion to establish the crack three-dimensional point cloud. The two methods can be effectively matched to realize accurate identification of road surface diseases, and a high-precision three-dimensional digital coordinate model of the disease area can be established.
The utility model discloses a set up stroboscopic warning light in traction vehicle body both sides, stroboscopic warning light has low price, power consumption is few, the durability is good, advantage such as good in the visibility of remote department, and the device's setting has saved single-purpose signal indication car and special road sign, can remind the driver to take measures early, has improved repair efficiency and safety guarantee effectively.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate and explain the exemplary embodiments of the disclosure and together with the description serve to explain the disclosure, and do not constitute an undue limitation on the disclosure.
FIG. 1 is a schematic view of the overall structure of an apparatus according to an embodiment of the present disclosure;
FIG. 2 is a schematic illustration of a repaired body construction of an apparatus according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of a discharging mechanism of an apparatus according to an embodiment of the disclosure;
FIG. 4 is a schematic cross-sectional view of a discharge mechanism of an apparatus according to an embodiment of the disclosure;
fig. 5 is a schematic view of an alternative nozzle configuration of the apparatus of the embodiments of the present disclosure.
1, a linear array CCD camera; 2. an air compressor; 3. a base of a seam blowing machine; 4. rotating head of the seam blowing machine; 5. a hot gas lance; 6. a pump; 7. a hot melt tank; 8. a material conveying pipe; 9. a mechanical arm base; 10. a robotic arm boom; 11. a robotic arm forearm; 12. the mechanical arm connecting end; 13. a three-dimensional laser scanner; 14. a heat radiation fan; 15. a stepping motor; 16. a blanking funnel 17 and an electric heating shell; 18. a heat conducting inner tube; 19. a nozzle; 20. a screw push rod; 21. a housing; 22. a towing vehicle body; 23. repairing the vehicle body; 24. a stroboscopic warning lamp; 25. a GPS locator; 26. an infrared temperature sensor.
Detailed Description
The disclosure is further described below with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments in accordance with the present disclosure. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Example 1
An embodiment of the present disclosure provides an intelligent repair method for a pavement disease based on 3D printing, including:
step one: acquiring road image information in front of a road surface, three-dimensional data of road surface diseases and positioning information of the road surface diseases;
step two: preprocessing the image information, highlighting the characteristics of the pavement damage area, calculating the geometric characteristics of the pavement damage area, and judging the type of the damage as cracks or pits;
if the crack is formed, mapping the crack into the point cloud through coordinate system conversion, establishing a mapping relation between the image and the point cloud, and further finding a specific position of the crack in the point cloud;
if the three-dimensional point cloud data is a pit, simplifying the three-dimensional point cloud data of the disease area to obtain smooth point cloud data; processing the obtained point cloud data of the cracks or pits, performing three-dimensional visualization by connecting cloud points, and creating a disease area three-dimensional computer model by utilizing a 3D printing planning path result;
step three: and controlling the traction vehicle body and the repair vehicle body to carry out 3D printing repair according to the path planning result.
Firstly, a pavement defect recognition mechanism carries out data processing on a pavement defect image acquired by a linear CCD camera, so that effective removal of image noise is realized, the image of a pavement defect area is enhanced, the damage condition of the pavement defect area is obtained, and whether the type of the defect is a crack or a pit is further recognized.
If the crack is generated, the pavement disease recognition mechanism further processes the image, maps the image into the point cloud through coordinate system conversion, establishes a mapping relation between the image and the point cloud, and further finds a specific position of the crack in the point cloud.
And if the point cloud data is the pit, the road surface disease identification mechanism firstly performs simplification treatment on the obtained pit point cloud data, removes outliers generated by the influence of factors such as equipment or external environment, and the like, and obtains smooth point cloud data.
Specifically, the method uses the point cloud simplifying method of the space sampling of the normal line, the normal vector can reflect the change degree of the curved surface formed by the point cloud, the method is very important geometric characteristics, the sampling is carried out in the normal vector space, the result shows that the point cloud characteristics at the pavement defect position have more residual points at the place with large change and few residual points at the place with small change, and the ground feature characteristics can be effectively maintained.
Removing outliers, namely, points which are separated from the point cloud collected by the laser scanner and bring great influence to subsequent point cloud processing if the outliers are not removed, detecting the outliers by adopting a statistical distribution method, wherein the outliers are in a loose characteristic in spatial distribution, the more concentrated the point cloud in a certain area is, the larger the partial information quantity is, and the outliers are invalid information;
therefore, according to the outlier characteristics, a certain point cloud can be defined to be smaller than a certain density, so that the point cloud becomes an incorrect point cloud, and the average distance between each point and k nearest neighbor points of the point cloud can be calculated.
And assuming that the distances of all points in the point cloud data meet Gaussian distribution, setting a peak threshold value by calculating the average value and standard deviation of the adjacent distances of the point cloud, marking the points with the average distances exceeding the threshold value as peaks, and deleting the points from the point cloud space to obtain smooth and smooth point cloud data.
And processing the obtained point cloud data of the cracks or pits, carrying out three-dimensional visualization on the processed data by connecting cloud points, creating a disease area three-dimensional computer model, importing the three-dimensional computer model into 3D slicing software, controlling a mechanical arm to carry out 3D movement according to the slicing software and a planning path result, controlling a traction vehicle body to move, enabling the repair vehicle body to reach a disease repair area, and feeding to realize 3D printing repair.
Example 2
In one embodiment of the disclosure, an intelligent repairing device for pavement diseases based on 3D printing is provided, as shown in fig. 1, and comprises a traction vehicle body 22, a repairing vehicle body 23, a mechanical arm, a crack cleaning and blowing mechanism, a pavement disease recognition mechanism and a discharging mechanism; the pavement defect recognition mechanism is used for recognizing the type of pavement defects, positioning the positions of the defects and planning a repair path; the mechanical arm base 9 of the mechanical arm is fixed at the top of the repairing vehicle body 23, and the mechanical arm connecting end 12 at the other end is connected with the discharging mechanism and is used for driving the discharging mechanism to move to repair road surface diseases;
the crack cleaning mechanism comprises a crack blowing machine base 3, the crack blowing machine base 3 is arranged at the bottom of a traction vehicle body 22 and can rotate by 360 degrees, a crack blowing machine rotating head 4 is arranged on the crack blowing machine base 3 and can rotate by 180 degrees in the vertical direction, and the distance between a spray head and a crack can be adjusted according to the condition of a road surface, so that construction is lighter, safer and more efficient.
The utility model discloses a crack machine, including blow-sewing machine, blow-sewing machine rotor 4 one side sets up hot gas spray gun 5, be provided with air compressor 2 on the hot gas spray gun 5, hot gas spray gun 5 can heat air compressor 2 exhaust wind, can clear away the debris of piling up in crack or pit inslot clean and dry and preheat disease position. The air compressor has smaller volume and weight, and achieves the purposes of compact overall structure, rated pressure of 0.6Mpa and rated exhaust capacity of 0.4. The air discharged from the hot air spray gun 5 is heated by the electric heating wire at the air outlet and changed into hot air to be sent out so as to remove the moisture in cracks or pits and ensure that the coking of the pavement asphalt is not caused. After the crack cleaning and blowing mechanism is started, sundries accumulated in cracks or pit grooves can be cleaned, and the positions of the defects are dried and preheated, so that stable adhesion of crack filling materials, crack walls and crack bottoms is ensured.
As an embodiment, as shown in fig. 1 and 2, the pavement disease recognition mechanism includes a linear array CCD camera 1, two three-dimensional laser scanners 13 and a GPS positioning device 25, and further includes a control center, the linear array CCD camera 1 is located at the top of the towing vehicle body, the GPS positioning device 25 is located at the rear side of the top of the towing vehicle body 22, and the two three-dimensional laser scanners 13 are located at two sides of the bottom of the towing vehicle body 22. The model of the linear array CCD camera 1 is as follows: basler racer L100, resolution 2k, pixel size: the camera has good acquisition performance in the motion process, can control certain parameters when detecting bump, speed change and direction change of a vehicle to run, and can improve the accuracy of the camera in the process of acquiring data. The three-dimensional laser scanner 13 records three-dimensional information of the disease in space by performing complete three-dimensional coordinate data measurement on the disease position of the pavement pit, thereby obtaining dense and continuous point data of the disease, which is called point cloud data. The point cloud data can truly describe the structural form of the lesion, and the complete original shape and the vectorization data structure of the target are approximated by scanning and measuring the outer skin woven by the point cloud, so that the three-dimensional reconstruction of the lesion of the pit of the target is completed. The control center is connected with the linear array CCD camera 1 and the two three-dimensional laser scanners 13 and the GPS positioning instrument 25.
Specifically, the control center firstly carries out data processing on an image obtained by the linear array CCD camera 1, obtains a clear image through image gray correction, image shadow removal, gaussian-median filtering denoising and image enhancement, further judges whether the type of the disease is a crack or a pit slot, if the type of the disease is a crack, the pavement disease identification mechanism further processes the image, maps the image into a point cloud through coordinate system conversion, firstly converts pixel coordinates through image coordinates, secondly converts image coordinates through camera coordinates, finally converts camera coordinates through world coordinates, and then obtains the corresponding relation between the image crack and the point cloud data, and further finds the specific position of the crack in the point cloud. If the disease type is pit, the control center controls the three-dimensional laser scanner to start working, three-dimensional scanning is performed on the pit position, after the scanning is finished, the pit point cloud data obtained by the three-dimensional laser scanner 13 is firstly subjected to simplifying treatment, a point cloud simplifying method of normal line space sampling is used, the normal vector can reflect the change degree of a curved surface formed by the point cloud, and the method is an important geometrical feature. And the second part removes outliers, wherein the outliers are points which are separated from the point cloud collected by the laser scanner, and bring great influence to subsequent point cloud processing if the outliers are not removed, the outliers are detected by adopting a statistical distribution method, the outliers are in a spatial distribution mode and are in a loose characteristic, the more concentrated point clouds in a certain area are, the larger the partial information quantity is, and the outliers are invalid information, so that according to the outlier characteristics, a certain point cloud can be defined to be smaller than a certain density to become an incorrect point cloud, and the average distance between each point and k nearest neighbor points of each point can be calculated. Assuming that the distances of all points in the point cloud data meet the Gaussian distribution, then setting a peak threshold value by calculating the average value and standard deviation of the adjacent distances of the point cloud, marking the points with average distances exceeding the threshold value as peaks, and deleting the points from the point cloud space. And obtaining smooth point cloud data. The last mentioned GPS locator 25 transmits the positions of the cracks and pits to the control center.
Specifically, the control center processes point cloud data of cracks or pits obtained by the pavement disease recognition mechanism, performs three-dimensional visualization on the processed data by connecting cloud points, creates a disease area three-dimensional computer model, introduces the disease area three-dimensional computer model into 3D slicing software, and controls the mechanical arm to perform 3D movement according to the slicing software and a planning path result. The control center continuously controls the traction vehicle body to move, so that the repairing vehicle body reaches the disease repairing area, and the discharging mechanism is controlled to feed to realize 3D printing repairing.
Specifically, as shown in fig. 1, the mechanical arm comprises a mechanical arm base 9, a mechanical arm big arm 10, a mechanical arm small arm 11 and a mechanical arm connecting end 12, wherein the mechanical arm base 9 is fixed at the top of a repairing vehicle body 23, one end of the mechanical arm big arm 10 is connected with the mechanical arm base 9, the other end is connected with one end of the mechanical arm small arm 11, and the other end of the mechanical arm small arm 11 is connected with the mechanical arm connecting end 12.
The mechanical arm base 9 can rotate 360 degrees, the mechanical arm big arm 10 can rotate 90 degrees in the vertical direction, the mechanical arm small arm 11 can rotate 180 degrees in the vertical direction, and the mechanical arm connecting end 12 can rotate 180 degrees in the horizontal direction.
As an embodiment, as shown in fig. 3 and 4, the discharging mechanism comprises a shell 21, a spiral push rod 20, a nozzle 19, a heat conducting inner tube 18, an electric heating shell 17, a discharging funnel 16, a cooling fan 14 and a stepping motor 15, wherein the shell 21 of the discharging mechanism is connected with a connecting end of a mechanical arm; the mechanical arm can drive the discharging mechanism to carry out 3D movement.
The step motor 15 is arranged inside a shell 21 of a discharging mechanism, the cooling fans 14 are arranged on two sides of the step motor 15, an opening is formed below the shell 21 of the discharging mechanism, an electric heating shell 17 is connected, a heat conducting inner pipe 18 is arranged inside the electric heating shell 17, a plurality of grooves for installing heating resistors are formed in the electric heating shell 17, and the temperature in a cavity is increased through the action of the heat conducting inner pipe.
A spiral push rod 20 is arranged in the heat conduction inner tube 18, the top of the spiral push rod 20 is connected with a stepping motor 15, and a corresponding arc-shaped notch is arranged on the same side of the electric heating shell 17 and the heat conduction inner tube 18 and used for installing a discharging funnel 16; the bottom of the heat conducting inner tube 18 is connected with a nozzle 19. As shown in FIG. 5, the nozzle is a detachable nozzle, and the detachable nozzle is connected through threads, so that the repairing device has the advantages of simple structure, reliable connection, convenience in assembly and disassembly and the like, and different nozzles are adopted for different cracks or pits, so that the repairing efficiency is improved.
As shown in fig. 1 and 3, the top of the repairing vehicle body 23 is further provided with a hot melting box 7, one side of the hot melting box 7 is provided with a pump 6, the pump 6 is connected with a blanking funnel 16 through a conveying pipe 8, the conveying pipe 8 is a telescopic pipe and can freely stretch and retract, a mechanical arm is convenient to drive an asphalt extrusion device to carry out 3D movement, and molten asphalt can smoothly enter the blanking funnel. The stepping motor 15 drives the spiral push rod 20 to rotate to push the molten asphalt in the working cavity, so that the molten asphalt becomes uniform, and the discharging stability is ensured. The cooling fans 14 on the two sides are connected with the stepping motor 15, and the stepping motor 15 drives the cooling fans to rotate at the same time, so that the stepping motor 15 can be cooled in time.
Specifically, the hot melt tank 7 is located above the repairing vehicle body 23, and is close to the mechanical arm base 9, and the pump 6 on the side surface of the hot melt tank 7 is connected with the blanking funnel 16 of the asphalt extrusion device through the conveying pipe 8, so that molten asphalt is conveyed.
As shown in fig. 1, strobe warning lamps 24 are provided on both sides of the traction vehicle body 22 for warning the construction ahead, and reminding the driver of the safe driving. The traction vehicle body 22 is connected with the repair vehicle body 23 through a Y-shaped frame, and the mechanical arm, the crack cleaning and blowing mechanism, the pavement detection mechanism and the discharging mechanism are all connected with the control center. When the equipment starts to work, the stroboscopic warning lamp 24 is turned on to emit yellow light to remind a driver to take avoidance measures early, so that the repair efficiency and the safety guarantee are effectively improved.
Analyzing the pavement defect image, identifying the type and the position of pavement defect, and controlling the whole vehicle body to slowly move to the defect area and controlling the crack cleaning and blowing mechanism to clean, dry and preheat cracks or pits;
according to the 3D printing planning path, the control mechanical arm drives the discharging mechanism to start moving, when the discharging mechanism reaches a printing initial place, the pump at the side edge of the hot melting box conveys molten asphalt to the discharging hopper through the conveying pipe, the molten asphalt smoothly enters the heat conducting inner pipe through the discharging hopper, the stepping motor 15 and the electric heating shell start working simultaneously, the stepping motor 15 drives the spiral push rod and the cooling fan to start rotating, and the push rod pushes the molten asphalt in the working cavity to be sprayed out from the nozzle, so that the layer-by-layer printing repair of a disease area is realized.
As an embodiment, a repairing method of an intelligent repairing device for pavement diseases based on 3D printing is specifically implemented as follows:
step one: presetting a repairing route in a control center, and controlling the traction vehicle body 22 to drive the repairing vehicle body 23 to go to the pavement disease position;
step two: the synchronous process of the linear array CCD camera 1 is triggered to take a picture by a distance sensor, and the obtained image is transmitted to a pavement disease recognition mechanism;
step three: and carrying out data processing on the crack image, identifying the pavement defect type to obtain the damage condition of the pavement, and judging whether the pavement defect type is a crack or a pit. If the pavement defect is a crack, the pavement defect identification mechanism further processes the image, maps the image into the point cloud through coordinate system conversion, establishes a mapping relation between the image and the point cloud, and further finds a specific position of the crack in the point cloud; if the road surface disease is a pit, the control center controls the three-dimensional laser scanner to start working to perform three-dimensional scanning on the pit, preprocesses three-dimensional point clouds of the pit, enables the obtained three-dimensional point clouds of the pit to be smooth and continuous, and simultaneously starts the GPS positioning instrument 25 to position a specific damage position, so that the accurate range repair of the disease is facilitated;
step four: according to the position of the damaged pavement positioned by the GPS positioning instrument 25, the control center controls the crack cleaning and blowing system to clean and preheat the damaged position, so as to ensure that the crack filling material is stably bonded with the crack wall, the crack bottom or the groove wall and the groove bottom;
step five: after the cleaning and preheating are carried out for a preset time, the traction vehicle body 22 drives the repairing vehicle body 23 to continue moving according to a preset route, so that the repairing vehicle body 23 reaches the position above the disease position;
step six: processing the obtained point cloud data of the cracks or pits, creating a disease area three-dimensional computer model through connecting points of the clouds, importing the three-dimensional computer model into 3D slicing software, and determining an optimal 3D printing route according to slicing and path planning results;
step seven: the control center controls the hot melting box 7 to start heating, and after the temperature reaches the preset temperature, the pump 6 transmits the molten asphalt to the blanking funnel 16 of the asphalt extrusion device through the conveying pipe 8;
step eight: the control center controls the mechanical arm to start 3D movement according to the optimal planning path;
step nine: the control center controls the stepping motor 15 to start working and pushes molten asphalt in the working cavity to extrude from the nozzle 19, and at the moment, the cooling fans 14 at the two sides of the stepping motor 15 cool the stepping motor 15;
step ten: after the repair is completed, the control center controls the traction vehicle body 22 to go to the next disease position and controls the pump 6, the stepping motor 15 stops working, and the mechanical arm is restored to the pre-working position state.
Preferably, the fourth step further comprises:
the infrared temperature sensor 26 starts to work simultaneously when the crack cleaning and blowing system works, detects the temperature of pavement diseases in real time, and transmits the real-time temperature to the control center:
the control center judges whether the temperature of the pavement lesion is greater than or less than a preset temperature range;
if the temperature is higher than the preset temperature range, the control center controls the electric heating wire to reduce the temperature;
if the temperature is lower than the preset temperature range, the control center controls the electric heating wire to raise the temperature.
In particular, asphalt pavement repair has higher environmental requirements, and in order to overcome the defect that when a crack or pit groove is repaired, the adhesion between a new material and a crack wall, a crack bottom or pit groove wall is not good enough, and a defect is excessively wet or frozen, the crack cleaning and blowing system is additionally arranged. When the temperature of the pavement damage monitored by the ground infrared temperature sensor 26 is higher than the preset temperature, the control center reduces the temperature of the electric heating wire in the hot air spray gun 5, and the original pavement form is prevented from being damaged due to the fact that the temperature is too high. When the temperature of the road surface diseases is lower than the preset temperature, the control center can raise the temperature of the electric heating wires in the hot air spray gun 5, preheat the road surface diseases and soften the road surface diseases, so that the new materials and the diseases can be well combined.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the specific embodiments of the present disclosure have been described above with reference to the drawings, it should be understood that the present disclosure is not limited to the embodiments, and that various modifications and changes can be made by one skilled in the art without inventive effort on the basis of the technical solutions of the present disclosure while remaining within the scope of the present disclosure.
Claims (10)
1. The intelligent pavement disease repairing method based on 3D printing is characterized by comprising the following steps of:
acquiring road image information in front of a road surface, three-dimensional data of road surface diseases and positioning information of the road surface diseases;
preprocessing the image information, highlighting the characteristics of the pavement damage area, calculating the geometric characteristics of the pavement damage area, and judging the type of the damage as cracks or pits;
if the crack is formed, mapping the crack into the point cloud through coordinate system conversion, establishing a mapping relation between the image and the point cloud, and further finding a specific position of the crack in the point cloud;
if the three-dimensional point cloud data is a pit, simplifying the three-dimensional point cloud data of the disease area to obtain smooth point cloud data; processing the obtained point cloud data of the cracks or pits, performing three-dimensional visualization by connecting cloud points, and creating a disease area three-dimensional computer model by utilizing a 3D printing planning path result;
and controlling the traction vehicle body and the repair vehicle body to carry out 3D printing repair according to the path planning result.
2. The intelligent pavement damage repair method based on 3D printing as set forth in claim 1, wherein the method for simplifying three-dimensional point cloud data of the damaged area if the damaged area is a pit slot comprises the following steps: the method comprises the steps of removing outliers by using a point cloud simplifying method of normal line space sampling, defining a certain point cloud to be smaller than a certain density according to outlier characteristics to form an incorrect point cloud, calculating the average distance between each point and k nearest adjacent points, setting a peak threshold value by calculating the average value and standard deviation of the adjacent distances of the point cloud, marking the points with the average distances exceeding the threshold value as the peaks, and deleting the points from the point cloud space to obtain smooth and smooth point cloud data.
3. The intelligent pavement damage repairing device based on 3D printing is characterized by comprising a traction vehicle body, a repairing vehicle body, a mechanical arm, a crack cleaning and blowing mechanism, a pavement damage identifying mechanism and a discharging mechanism; the pavement defect recognition mechanism is used for recognizing the type of pavement defects, positioning the positions of the defects and planning a repair path; the mechanical arm base of the mechanical arm is fixed at the top of the repairing vehicle body, and the mechanical arm connecting end at the other end is connected with the discharging mechanism and is used for driving the discharging mechanism to move to repair road surface diseases;
the crack cleaning mechanism comprises a crack blowing machine base, the crack blowing machine base is arranged at the bottom of a traction vehicle body and can rotate by 360 degrees, a crack blowing machine rotating head is arranged on the crack blowing machine base and can rotate by 180 degrees in the vertical direction, a hot air spray gun is arranged on one side of the crack blowing machine rotating head, an air compressor is arranged on the hot air spray gun, the hot air spray gun can heat air exhausted by the air compressor, and sundries accumulated in cracks or pits can be cleaned completely and the positions of the defects can be dried and preheated.
4. The intelligent pavement damage repair device based on 3D printing as set forth in claim 3, wherein the pavement damage recognition mechanism comprises a linear array CCD camera, two three-dimensional laser scanners and a GPS positioning instrument, wherein the linear array CCD camera is arranged at the top of a traction vehicle body and is used for obtaining pavement damage images; the three-dimensional laser scanners are arranged on two sides of the front end of the bottom of the traction vehicle body and used for acquiring three-dimensional coordinate data of the identified road surface disease type, and the GPS positioning instrument is positioned on the rear side of the top of the traction vehicle body and used for acquiring the position information of the road surface disease.
5. The intelligent pavement damage repair device based on 3D printing of claim 3, wherein the mechanical arm comprises a mechanical arm base, a mechanical arm big arm, a mechanical arm small arm and a mechanical arm connecting end, wherein the mechanical arm base is fixed at the top of the repair car body, one end of the mechanical arm big arm is connected with the mechanical arm base, the other end is connected with one end of the mechanical arm small arm, and the other end of the mechanical arm small arm is connected with the mechanical arm connecting end.
6. The intelligent pavement damage repair device based on 3D printing of claim 3, wherein the mechanical arm base can rotate 360 degrees, the mechanical arm large arm can rotate 90 degrees in the vertical direction, the mechanical arm small arm can rotate 180 degrees in the vertical direction, and the mechanical arm connecting end can rotate 180 degrees in the horizontal direction.
7. The intelligent pavement damage repair device based on 3D printing of claim 3, wherein the discharging mechanism comprises a shell, a spiral push rod, a nozzle, a heat conducting inner tube, an electric heating shell, a discharging funnel, a cooling fan and a stepping motor, and the shell of the discharging mechanism is connected with a connecting end of a mechanical arm.
8. The intelligent pavement damage repairing device based on 3D printing according to claim 5, wherein the stepping motor is arranged inside a shell, the cooling fans are arranged on two sides of the stepping motor, the lower part of the shell is provided with an opening, the opening is connected with an electric heating shell, a heat conducting inner tube is arranged inside the electric heating shell, and a plurality of grooves for installing heating resistors are formed in the electric heating shell, so that the temperature in the cavity is increased under the action of the heat conducting inner tube.
9. The intelligent pavement damage repairing device based on 3D printing according to claim 6, wherein a spiral push rod is arranged in the heat conducting inner pipe, the top of the spiral push rod is connected with a stepping motor, and a corresponding arc-shaped notch is arranged on the same side of the electric heating shell and the heat conducting inner pipe and used for installing a discharging funnel; the bottom of the heat conduction inner tube is connected with a nozzle.
10. The intelligent repairing device for pavement diseases based on 3D printing according to claim 1, wherein a hot melting box is further installed at the top of the repairing vehicle body, a pump is installed on one side of the hot melting box, the pump is connected with a blanking funnel through a conveying pipe, and the conveying pipe is a telescopic pipe.
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