CN106514607A - Four-wheel drive road face repairing robot system and road face repairing method - Google Patents
Four-wheel drive road face repairing robot system and road face repairing method Download PDFInfo
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- CN106514607A CN106514607A CN201611253574.5A CN201611253574A CN106514607A CN 106514607 A CN106514607 A CN 106514607A CN 201611253574 A CN201611253574 A CN 201611253574A CN 106514607 A CN106514607 A CN 106514607A
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- mechanical arm
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- road surface
- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1643—Programme controls characterised by the control loop redundant control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Road Repair (AREA)
Abstract
The invention discloses a four-wheel drive road face repairing robot system. The four-wheel drive road face repairing robot system comprises a robot body with a power system. A mechanical arm is installed on the robot body, and a road face repairing device is installed on the mechanical arm. The robot body is further provided with a control system used for controlling the mechanical arm. The control system is provided with a wireless signal receiving device, and the control system is electrically connected with the mechanical arm. Specifically, the road face repairing device comprises a grouting device and/or a percussion bit and/or a slotting device. The invention further discloses a road face repairing method. The robot system can achieve intelligent repairing, and due to the fact that only artificial long-distance intervention is needed, safety during repairing is improved to a certain degree. The modular mechanical arm is integrated, the mechanical arm can be dismounted, mounted and combined according to the actual situation, the repairing tools at the tail end can be replaced, and the use efficiency of the modular mechanical arm is improved.
Description
Technical field
The present invention relates to a kind of four-wheel drive road face repair robot system and road surface repair method, belong to road rehabilitation skill
Art field.
Background technology
After highway builds up, in order to ensure current security and efficiency, periodic inspection is needed to conserve.With Chinese high
The rapid growth of fast mileage in highway open to traffic, the increase of the road service time limit, highway have been enter into build with maintenance lay equal stress on when
Phase, more than the 10000 kilometers of highway for building up in the past for 2000 have entered overhaul time comprehensively, more than 50,000 built up before the end of the year 2008
The normal maintenance curing period that kilometer highway is also generally entered after defects liability period, maintenance industry entirety staff size, increase fast
Speed.Highway Maintenance include roadbed maintenance, maintenance of surface, bridges and culverts maintenance, passage maintenance, tunnel maintenance, identifier marking maintenance,
House maintenance, electromechanical facility maintenance etc., wherein maintenance of surface is the important content of Highway Maintenance.The premise of maintenance of surface
It is the detection and assessment of road pavement situation.
At present, pavement behavior detection and the main mode for manually coordinating with equipment of reparation, but, which is in work effect
There is certain defect in the aspects such as rate, personal safety, reparation speed.With the development of science and technology, occur in that some road surfaces are repaired successively
Equipment, but the general automaticity of the said equipment is relatively low, or volume is larger, is not suitable for modern accurately road surface and repairs demand,
And, also easily cause the unnecessary loss of manpower and materials.
The content of the invention
It is an object of the present invention to provide a kind of four-wheel drive road face repair robot system, using setting for automation formula
Meter theory, can effectively improve reparation speed and remediation efficiency.
To solve above-mentioned technical problem, the present invention is adopted the following technical scheme that：
A kind of four-wheel drive road face repair robot system, including the robot body with dynamical system, robot sheet
Mechanical arm is installed on body, road surface prosthetic device is installed on mechanical arm and is formed a set of Dao Mian robots repair system；Robot
Be additionally provided with the control system for control machinery arm on body, control system has a wireless signal receiver, control system and
Mechanical arm is electrically connected.Specifically, the road surface prosthetic device includes provisions for grouting and/or drill hammer and/or slotting device.Machine
Tool arm can select electrically driven (operated), and motor machine arm is mainly made up of motor, decelerator, driver etc. in terms of driving, motor
Start under the control of driver or stop, by the startup of controlled motor, stop machine of the Jing decelerators reaction in mechanical arm
In tool activity.Mechanical arm can also select hydraulic/pneumatic formula mechanical arm, hydraulic/pneumatic formula mechanical arm in terms of driving it is main by
Hydraulic/pneumatic pump, hydraulic/pneumatic cylinder, overflow valve, choke valve, reversal valve, sequence valve etc. are constituted, so as to drive manipulator motion.
Used as one of which embodiment, the mechanical arm is made up of some connecting rods being hinged successively, adjacent
It is connected by drive mechanism between connecting rod；The quantity of the drive mechanism is more than or equal to 4, and is less than or equal to 7,
The drive mechanism adopts hydraulic pressure, air pressure or electronic as drive form, completes the repair of a series of road face, needs machinery
Arm has at least 4 frees degree, and the free degree of mechanical arm is realized by drive mechanism, for example：Drive mechanism adopts motor, then
Rotated by motor drivening rod, a drive mechanism can increase one degree of freedom, so the quantity of drive mechanism is extremely
It is 4 less.It should be noted that under non-working condition, modular mechanical arm is in dead-center position, modular mechanical arm is received
Contracting, so as to reduce robot center of gravity so that operation is more steady, also reduces overall taking up room, it is to avoid may go out
Existing brought damage of colliding with；Modular mechanical arm launches in a state of use, by the work carried on modular mechanical arm
The auxiliary equipments such as industry camera are positioned to area to be repaired, restoring area are carried out clearly followed by the drill hammer of end
Reason, after the completion of cleaning, using grouting equipment to the regional perfusion concrete, after condensation, using pavement detection equipment to repairing effect
Fruit is tested.
Used as a kind of type of drive of robot body, the dynamical system of the robot body includes Athey wheel, slows down
Mechanism, actuating unit and supply unit, supply unit and actuating unit electrical connection, actuating unit are connected with reducing gear, slow down
Mechanism is connected with Athey wheel.Using Athey wheel driven machine human body so that robot body possesses all-around mobile and one
Fixed obstacle climbing ability.
In a kind of repair robot system of aforesaid four-wheel drive road face, the control system include global positioning system,
Gyroscope, encoder and avoidance laser radar, the system also include the remote monitoring for robot body described in remotely control
Accessory system, remote monitoring accessory system and robot body wireless telecommunications connection.Remote monitoring accessory system is used for control machine
The movement of device human body, and on robot body testing equipment, prosthetic device and mechanical arm operation.Robot body is led
Boat adopts the navigation scheme based on global positioning system, gyroscope, encoder and avoidance laser radar Multi-Sensor Data Fusion,
Realize high accuracy navigation and the location position of detection data of outdoor Centimeter Level；In modular mechanical arm control aspect, adopt
Modular mechanical arm calibration method based on spinor theory, the method can preferably make up DH parametric techniques because of model error
Caused precision problem.
In a kind of repair robot system of aforesaid four-wheel drive road face, the dynamical system includes four driving wheels, often
Individual driving wheel is respectively provided with independent driving means.The mobility of robot body is improve using four motorized wheels, is improve
Corresponding speed, meanwhile, compared to two wheel guide robot mode, reduce radius of turn during low speed so that control is more light；And
And, using four In-wheel motor drivings and with reference to electronic, electrification feedback and the multi-functional wheel hub motor technology of electromagnetic braking is had concurrently, can
So that robot body realizes the recovery to kinetic energy energy under the road conditions such as descending, with energy-conservation and raising endurance.Robot
Body can also adopt Mecanum wheel, and Mecanum wheel is more a little, is capable of achieving straight trip, 45 degree of diagonals, row, pirouette
To grade omnibearing movable, system flexibility is substantially improved, also, has more preferable lifting capacity.
In a kind of repair robot system of aforesaid four-wheel drive road face, as the another embodiment of mechanical arm, institute
Stating mechanical arm includes mounting seat, and bracing frame is fixed with mounting seat, and first connecting rod, bracing frame connection are hinged with bracing frame
The middle part of first connecting rod, the end of first connecting rod and second connecting rod are hinged；Also include the first retractor device and the second retractor device,
First retractor device one end connects bracing frame, other end connection first connecting rod；Second retractor device one end connection bracing frame is another
End connection second connecting rod, the end of second connecting rod are provided with for installing the instrument installation position of road surface prosthetic device.This kind of form
Mechanical arm configuration is compacter, and cost is lower.
In a kind of repair robot system of aforesaid four-wheel drive road face, binocular phase is installed on the robot body
Machine, binocular camera and control system electrical connection；Binocular camera is used to collect pavement image information and be transferred to control system,
Control system is filtered to the pavement image information for receiving, edge detection process, crack image binaryzation, classification of rifts,
Morphological method measurement flaw size, restoring area are demarcated and map match, optimal route selection, then control system control machine
Tool arm and road surface prosthetic device road pavement carry out repair.
The invention also discloses a kind of road surface repair method, including following methods：Control robot body is moved to face
The position specified；The artificial crucial point coordinates for determining area to be repaired；The restoring area and restorative procedure in artificial setting road face,
Robot body detects path according to area to be repaired position planning road face；Control robot body detects path along the road face
Area to be repaired is moved to, drill hammer or provisions for grouting or slotting device are navigated to by specified location by mechanical arm, according to
The road surface repair method of artificial setting is drilled to road face and/or is in the milk and/or is cracked；Road surface information number after collection reparation
According to carrying out monitor in real time analysis to road surface information data or delay analysis, determine repairing effect.
Mechanical arm determines the position of maintenance by the coordinate information for pre-entering, and area to be repaired is entered using drill hammer
Row bore operation, then using grouting equipment by the mixture injection hole such as concrete region.
In aforesaid road surface repair method, the loose pavement disease of road pavement basic unit carries out the reparation that drills, is in the milk；The brill
Hole, grouting reparation include following methods：Drill in road surface to be repaired, so as to obtain grout hole, then by oxidized asphalt or
Cement mortar injects grout hole with space under fill concrete plate, rebuilds the uniform bulk strength of road deck.Adopt this method and repair
The loose road surface of complex radical layer, it is possible to increase the quality on road surface, improves its bearing capacity, the problems such as preventing deformation, subside.
In aforesaid road surface repair method, the crack disease on road surface is repaired by cracking, being in the milk；It is described to crack, be in the milk and repair
Include following methods again：Crack, according to the fluting size of design, be pre-adjusted groove depth, then carried out fluting operation；Clearly
Seam：The dust in the range of the disintegrating slag in groove and crack both sides at least 10cm is cleaned up with blowing apparatus；The cementation of fissures：Set with grouting
It is standby fluid sealant equably to be poured in groove.
Compared with prior art, 1, the road face robot for overhauling system of the present invention, employs high-precision outdoor navigation system
System, modular mechanical arm system and detachable tool head, it is possible to achieve the autonomous reparation of road pavement, remediation efficiency, economy
Type and security are increased dramatically, and overall system performance is preferable；
2nd, control mode of the present invention using " macroscopical remote control, microcosmic are autonomous, remote monitoring ", can contexture by self reach to be repaired
Fu Qu paths, enforcement repair；After robot body moves to specified location, using the industrial camera etc. of modular mechanical arm
Equipment, positions to restoring area, and ground is completed to repair using instruments such as drill hammer, grouting equipments, can be by certainly
Dynamic, semiautomatic fashion is switched over to fix tool, realizes intelligent reparation, due to less need for manual intervention, improve
The security of repair process；
3rd, the present invention is using the navigation side based on GPS, gyroscope, encoder and laser radar Multi-Sensor Data Fusion
Case, realizes the high accuracy navigation of outdoor Centimeter Level, drastically increases the accuracy of positioning；
4th, integrated modular mechanical arm of the present invention, the modular mechanical arm can enter the line translation difference free degree as needed,
And end-equipment is replaced by the instruments such as drill hammer, grouting equipment, it is thereby achieved that an arm is multiplex, module is improve
Change the utilization ratio of mechanical arm；
5th, reparation position of the invention and method by artificial formulation, and can be entered to reparation situation using industrial camera
Row confirms, improves the accuracy of reparation, and ensure repairing effect；
6th, travel mechanism of the mobile platform of the present invention using four-wheel drive, based on the travel mechanism that Mecanum takes turns, can be with
All-around mobile is realized, also, possesses certain obstacle climbing ability, can more flexibly set the walking road of robot body
Line, and then it is more efficiently completed repair；Based on the travel mechanism of tire, quick motion can be realized, can be with shorter
Time completes all standing operation to detecting road surface, improves detection efficiency.
7th, repair robot system in four-wheel drive road of the present invention face can also cooperate with work with multiple similar humanoid robots
Operation mode, can further lift remediation efficiency.
Description of the drawings
Fig. 1 is a kind of running status structural representation of embodiment of robot body；
Fig. 2 is a kind of structural representation of embodiment of mechanical arm；
Fig. 3 is the embodiment schematic diagram that modular mechanical arm uses drill hammer；
Fig. 4 is the partial electric annexation schematic diagram of dynamical system；
Fig. 5 is a kind of structural representation of embodiment of four-wheel dynamical system；
Fig. 6 is the structural representation of another kind of embodiment of mechanical arm；
Fig. 7 is the structural representation of robot body non-operating state；
Fig. 8 is the embodiment schematic diagram that modular mechanical arm uses slotting device；
Fig. 9 is embodiment schematic diagram of the robot body using Mecanum wheel；
Figure 10 is embodiment schematic diagram of the robot body using four-wheel drive；
Figure 11 is the robot system overall schematic of the configuration diagram of accessory system containing remote monitoring；
Figure 12 is robot body mode of operation schematic diagram.
Reference：1- dynamical systems, 2- robot bodies, 3- mechanical arms, 4- road surfaces prosthetic device, 5- connecting rods, 6- are driven
Motivation structure, 7- Athey wheels, 8- reducing gears, 9- actuating units, 10- supply units, 11- driving wheels, 12- driving means, 13- ten thousand
To wheel, 14- bracing frames, the first retractor devices of 15-, 16- first connecting rods, the second retractor devices of 17-, 18- installation positions, 19- second
Connecting rod, 20- mounting seats, 21- operating desks, 22- monitoring screens, 23- refitted cars, 24- supply units, 25- control racks.
The present invention is further illustrated with reference to the accompanying drawings and detailed description.
Specific embodiment
Embodiments of the invention 1：A kind of four-wheel drive road face repair robot system, including the machine with dynamical system 1
Device human body 2, is provided with mechanical arm 3 on robot body 2, be provided with road surface prosthetic device 4 and form a set of road face on mechanical arm 3
Robot repair system；The control system for control machinery arm 3 is additionally provided with robot body 2, control system has wireless
Signal receiving device, control system and mechanical arm 3 are electrically connected.Specifically, the road surface prosthetic device 4 includes provisions for grouting.Fill
Sizing device is made up of mounting seat, connector, flexible pipe, cylinder etc., by the forms such as air pressure, hydraulic pressure inject the mixture into crack or
Repairing area.In the present embodiment, the mechanical arm 3 is made up of some connecting rods 5 being hinged successively, between adjacent connecting rod 5
It is connected by drive mechanism 6；The drive mechanism 6 is equal to 4, and the drive mechanism 6 is using hydraulic pressure, air pressure or electronic as drive
Dynamic form, is assembled into more low degree-of-freedom mechanical arm system according to user's request, its end can install additional drill hammer, provisions for grouting,
Slotting device etc..
The dynamical system 1 of the robot body 2 includes Athey wheel 7, reducing gear 8, actuating unit 9 and supply unit
10, supply unit 10 and actuating unit 9 are electrically connected, and actuating unit 9 is connected with reducing gear 8,7 phase of reducing gear 8 and Athey wheel
Even.The control system includes global positioning system, gyroscope, encoder and avoidance laser radar, the system also include for
The remote monitoring accessory system of robot body 2 described in remotely control, 2 channel radio of remote monitoring accessory system and robot body
News connection.Remote monitoring accessory system includes operating desk 21, monitoring screen 22 and control rack 25, operating desk 21 and monitoring screen
22 electrically connect with control rack 25；Pass through wireless telecommunications side between robot body 1, mechanical arm 3 and remote monitoring accessory system
Formula is received and sent messages.
Binocular camera, binocular camera and control system electrical connection are installed on the robot body 2；Binocular camera
For collecting pavement image information and being transferred to control system, control system is filtered to the pavement image information for receiving,
Edge detection process, crack image binaryzation, classification of rifts, morphological method measurement flaw size, restoring area are demarcated and ground
Figure matching, optimal route selection, then control system control machinery arm 3 and 4 road pavement of road surface prosthetic device carry out repair.
Embodiment 2：A kind of four-wheel drive road face repair robot system, including the robot body with dynamical system 1
2, mechanical arm 3 is installed on robot body 2, road surface prosthetic device 4 is installed on mechanical arm 3 is formed a set of Dao Mian robots and repair
Complex system；The control system for control machinery arm 3 is additionally provided with robot body 2, control system has reception of wireless signals
Device, control system and mechanical arm 3 are electrically connected.The road surface prosthetic device 4 includes drill hammer.Drill hammer is mainly by big work(
Rate motor, radiator fan, top-type impact module, drilling attachment and drill bit composition, and be impact by way of electrical connection
Drill bit provides the energy.
The mechanical arm 3 is made up of some connecting rods 5 being hinged successively, passes through drive mechanism 6 between adjacent connecting rod 5
It is connected；The drive mechanism 6 is equal to 7, and the drive mechanism 6 adopts hydraulic pressure, air pressure or electronic as drive form.The control
System processed includes global positioning system, gyroscope, encoder and avoidance laser radar, and the system is also included for remotely control institute
State the remote monitoring accessory system of robot body 2, remote monitoring accessory system and 2 wireless telecommunications of robot body connection.Machine
Device human body 1 gathers road face and the geological information below road surface, and the information for collecting is sent to remote monitoring auxiliary then
System, remote monitoring accessory system can be the forms (as shown in figure 11) of refitted car, repacking in-car be provided with supply unit 24,
Control rack 25, operating desk 14 and monitoring screen 22, monitoring screen 22 are Multi-screen display system, and supply unit 24 is remote monitoring
Accessory system is powered, and the geological information for detecting is first sent to control rack 25, is then shown by monitoring screen 22, can
To process the geological information for collecting by operating desk 21；Remote monitoring accessory system can be used for controlling robot sheet simultaneously
The working condition of body 1, is also used as long-distance transport and the storing unit of robot body.
Binocular camera, binocular camera and control system electrical connection are installed on the robot body 2；Binocular camera
For collecting pavement image information and being transferred to control system, control system is filtered to the pavement image information for receiving,
Edge detection process, crack image binaryzation, classification of rifts, morphological method measurement flaw size, restoring area are demarcated and ground
Figure matching, optimal route selection, then control system control machinery arm 3 and 4 road pavement of road surface prosthetic device carry out repair.
Embodiment 3：A kind of four-wheel drive road face repair robot system, including the robot body with dynamical system 1
2, mechanical arm 3 is installed on robot body 2, road surface prosthetic device 4 is installed on mechanical arm 3 is formed a set of Dao Mian robots and repair
Complex system；The control system for control machinery arm 3 is additionally provided with robot body 2, control system has reception of wireless signals
Device, control system and mechanical arm 3 are electrically connected.The road surface prosthetic device 4 includes slotting device.
The control system includes global positioning system, gyroscope, encoder and avoidance laser radar, and the system also includes
For the remote monitoring accessory system of robot body described in remotely control 2,2 nothing of remote monitoring accessory system and robot body
Line communication connection.The dynamical system 1 includes four driving wheels 11, and each driving wheel 11 is respectively provided with independent driving means 12.
The mechanical arm 3 includes mounting seat 20, is fixed with bracing frame 14, is hinged with first connecting rod on bracing frame 14 in mounting seat 20
16, bracing frame 14 connects the middle part of first connecting rod 16, and the end of first connecting rod 16 and second connecting rod 19 are hinged；Also stretch including first
Compression apparatus 15 and the second retractor device 17,15 one end of the first retractor device connection bracing frame 14, other end connection first connecting rod 16；
Second retractor device, 17 one end connection bracing frame 14 other end connection second connecting rod 19, the end of second connecting rod 19 is provided with for pacifying
The instrument installation position 18 of dress road surface prosthetic device 4.
Embodiment 4：A kind of four-wheel drive road face repair robot system, including the robot body with dynamical system 1
2, mechanical arm 3 is installed on robot body 2, road surface prosthetic device 4 is installed on mechanical arm 3 is formed a set of Dao Mian robots and repair
Complex system；The control system for control machinery arm 3 is additionally provided with robot body 2, control system has reception of wireless signals
Device, control system and mechanical arm 3 are electrically connected.The road surface prosthetic device 4 include provisions for grouting and/or drill hammer and/or
Slotting device.
The dynamical system 1 of the robot body 2 includes Athey wheel 7, reducing gear 8, actuating unit 9 and supply unit
10, supply unit 10 and actuating unit 9 are electrically connected, and actuating unit 9 is connected with reducing gear 8,7 phase of reducing gear 8 and Athey wheel
Even.The control system includes global positioning system, gyroscope, encoder and avoidance laser radar, the system also include for
The remote monitoring accessory system of robot body 2 described in remotely control, 2 channel radio of remote monitoring accessory system and robot body
News connection.
The mechanical arm 3 includes mounting seat 20, is fixed with bracing frame 14, is hinged with bracing frame 14 in mounting seat 20
First connecting rod 16, bracing frame 14 connect the middle part of first connecting rod 16, and the end of first connecting rod 16 and second connecting rod 19 are hinged；Also wrap
Include the first retractor device 15 and the second retractor device 17,15 one end of the first retractor device connection bracing frame 14, other end connection the
One connecting rod 16；Second retractor device, 17 one end connection bracing frame 14 other end connection second connecting rod 19, the end of second connecting rod 19
It is provided with for installing the instrument installation position 18 of road surface prosthetic device 4.
Present invention also offers a kind of road surface repair method, by the four-wheel drive road face repair machine described in above example
Device people system repairs road face, specifically includes following methods：Control robot body 2 is moved to the position that face is specified；It is artificial true
Determine the crucial point coordinates of area to be repaired；The restoring area and restorative procedure in artificial setting road face, robot body 2 is according to treating
Detect path in planning road face in restoring area position；Control robot body 2 moves to area to be repaired along road face detection path
Drill hammer or provisions for grouting or slotting device are navigated to specified location by mechanical arm 3 by domain, according to the road face of artificial setting
Restorative procedure is drilled to road face and/or is in the milk and/or is cracked；Road surface information data after collection reparation, to road surface information
Data carry out monitor in real time analysis or delay analysis, determine repairing effect；Mechanical arm 3 is determined by the coordinate information for pre-entering
The position of maintenance, carries out bore operation to area to be repaired using drill hammer, then concrete etc. is mixed using grouting equipment
Compound injection hole region.
In aforesaid road surface repair method, the loose pavement disease of road pavement basic unit carries out the reparation that drills, is in the milk；The brill
Hole, grouting reparation include following methods：Drill in road surface to be repaired, so as to obtain grout hole, then by oxidized asphalt or
Cement mortar injects grout hole with space under fill concrete plate, rebuilds the uniform bulk strength of road deck.Adopt this method and repair
The loose road surface of complex radical layer, it is possible to increase the quality on road surface, improves its bearing capacity, the problems such as preventing deformation, subside.
The alternatively restorative procedure on road surface, the method for repairing road surface in the present embodiment are applied to the crack disease on road surface
Evil；It is described crack, be in the milk reparation include following methods：Crack, according to the fluting size of design, be pre-adjusted groove depth,
Then carry out fluting operation；Raked joint：Will be the dust in the range of the disintegrating slag in groove and crack both sides at least 10cm clear with blowing apparatus
Sweep clean；The cementation of fissures：Fluid sealant is equably poured in groove with grouting equipment.Other methods of method for repairing road surface, step with it is front
State embodiment identical, therefore not to repeat here.
Robot body 1 is first by manual remote control to detection operation initial point position, the then maintenance according to artificial setting
Region, maintenance point and repair method, robot autonomous planning repair path simultaneously are implemented to repair, and after the completion of reparation, are set by detection
It is standby that repairing effect is weighed.The control system of robot body 1 and mechanical arm 3 is using built-in PC as master control system
System；Remote monitoring accessory system possesses the work such as reparation confirmation, operation is evaluated by view data etc..
Robot body 1 operationally, will carry robot body 1, mechanical arm 3 by remote monitoring accessory system first,
Drill hammer, grouting equipment etc. are transported to operation field, and then robot body 1 moves to detection starting point, sets manually
Relevant parameter information.After job initiation is repaired, robot body is moved near restoring area according to presetting, and root
According to technological requirement, using mechanical arm 3 and prosthetic appliance, repair is carried out to neighboring area, whole process can be by artificial reality
When supervisory-controlled robot body working condition, as necessary by remote monitoring auxiliary control system its operation.
The invention also discloses a kind of method for repairing road surface of view-based access control model, determines road surface defect position by vision, from
Master program repair path, specifically includes following methods：
Pavement behavior investigation is a regular content of highway maintenance work, and conventional investigation method is substantially manual measurement
Based on, the degree of accuracy, operability, enforcement complexity are affected, also, because highway wagon flow is larger, have one during measurement
Fixed danger.This method employs the visual intelligent measuring method of view-based access control model, in implementation process, gathers image
Camera is installed on mechanical arm tail end, is analyzed process to the image for collecting by remote monitoring accessory system, so as to
Obtain the information such as length, the area of the pavement diseases such as crack.
Road surface robot for overhauling can be demarcated to each maintenance position, and is directed to map and treats according to testing result
The relation pair repair path of restoring area planned, obtains optimal motion path.
Robot for overhauling carries out the flow process of IMAQ, path planning and road surface reparation：Pavement image collection → image
Filtering, edge detection process → crack image binaryzation → classification of rifts → morphological method measurement crack (flaw size calculating)
→ restoring area is demarcated and is completed with map match → optimal route selection → road surface repair → reparation detection → construction.
Next the method for repairing road surface of aforementioned view-based access control model is illustrated by embodiment of binocular vision detection method：
Binocular vision crack detection method be by binocular camera gather crack picture, to after image procossing with binocular vision
Feel the method that theory carries out flaw size calculating.The collection core of the method is binocular camera, and binocular camera is placed in pavement detection
The end of robot arm, the image for collecting are processed by methods such as noise reduction, enhancing, rim detection, binaryzations, and
Above-mentioned image is matched and calculated using camera calibration, images match, Coordinate calculation method, so as to obtain flaw size,
Road surface robot for overhauling by by restoring area build map on demarcated, so as to obtain optimum repair path, and root
Restorative procedure is independently determined according to surface conditions.
Claims (10)
1. a kind of four-wheel drive road face repair robot system, it is characterised in that include the robot sheet with dynamical system (1)
Body (2), is provided with mechanical arm (3) on robot body (2), be provided with road surface prosthetic device (4) and form a set of on mechanical arm (3)
Dao Mian robots repair system；The control system for control machinery arm (3), control system are additionally provided with robot body (2)
With wireless signal receiver, control system and mechanical arm (3) electrical connection；The dynamical system (1) is including four driving wheels
(11), each driving wheel (11) is respectively provided with independent driving means (12).
2. a kind of four-wheel drive road face according to claim 1 repair robot system, it is characterised in that repair on the road surface
Apparatus for coating (4) includes provisions for grouting and/or drill hammer and/or slotting device.
3. a kind of four-wheel drive road face according to claim 1 repair robot system, it is characterised in that the mechanical arm
(3) it is made up of some connecting rods (5) being hinged successively, is connected by drive mechanism (6) between adjacent connecting rod (5)；It is described
The quantity of drive mechanism (6) is more than or equal to 4, and is less than or equal to 7, and the drive mechanism (6) is using hydraulic pressure, gas
Pressure is electronic as drive form.
4. a kind of four-wheel drive road face according to claim 1 repair robot system, it is characterised in that the control system
System includes global positioning system, gyroscope, encoder and avoidance laser radar, and the system is also included for machine described in remotely control
The remote monitoring accessory system of device human body (2), remote monitoring accessory system and robot body (2) wireless telecommunications connection.
5. a kind of four-wheel drive road face according to claim 1 repair robot system, it is characterised in that the mechanical arm
(3) including mounting seat (20), bracing frame (14) in mounting seat (20), is fixed with, bracing frame is hinged with first connecting rod on (14)
(16), the middle part of bracing frame (14) connection first connecting rod (16), the end of first connecting rod (16) and second connecting rod (19) are hinged；Also
Including the first retractor device (15) and the second retractor device (17), the first retractor device (15) one end connects bracing frame (14), separately
One end connection first connecting rod (16)；Second retractor device (17) one end connection bracing frame (14) other end connection second connecting rod
(19), the end of second connecting rod (19) is provided with for installing the instrument installation position (18) of road surface prosthetic device (4).
6. a kind of Athey wheel road face repair robot system according to any one of claim 1-5, it is characterised in that described
Binocular camera, binocular camera and control system electrical connection are installed on robot body (2)；Binocular camera is used to collect road
Face image information is simultaneously transferred to control system, and control system is filtered to the pavement image information for receiving, at rim detection
Reason, crack image binaryzation, classification of rifts, morphological method measurement flaw size, restoring area are demarcated and map match, optimum
Path selection, then control system control machinery arm (3) and road surface prosthetic device (4) road pavement carry out repair.
7. the road surface repair method of four-wheel drive road face repair robot system described in a kind of any one of employing claim 2 to 5,
Characterized in that, including following methods：The position that control robot body (2) face of being moved to is specified；Manually determine to be repaired
The crucial point coordinates in region；The restoring area and restorative procedure in artificial setting road face, robot body (2) is according to area to be repaired
Detect path in planning road face in domain position；Control robot body (2) moves to area to be repaired along road face detection path, leads to
Cross mechanical arm (3) and drill hammer or provisions for grouting or slotting device are navigated to into specified location, repaiied according to the road face of artificial setting
Compound Fa Dui roads face is drilled and/or is in the milk and/or is cracked；Road surface information data after collection reparation, to road surface information number
According to carrying out monitor in real time analysis or delaying analysis, repairing effect is determined.
8. road surface repair method according to claim 7, it is characterised in that also including following methods：Mechanical arm (3) passes through
The coordinate information for pre-entering determines the position of maintenance, carries out bore operation to area to be repaired using drill hammer, then makes
With grouting equipment by the mixture injection hole such as concrete region.
9. road surface repair method according to claim 8, it is characterised in that the loose pavement disease of road pavement basic unit is carried out
Drilling, grouting are repaired；The drilling, grouting reparation include following methods：Drill in road surface to be repaired, so as to be in the milk
Then oxidized asphalt or cement mortar injection grout hole are rebuild the uniform entirety of road deck with space under fill concrete plate by hole
Intensity.
10. road surface repair method according to claim 8, it is characterised in that repair the crack on road surface by cracking, being in the milk
Disease；It is described crack, be in the milk reparation include following methods：Crack, according to the fluting size of design, be pre-adjusted fluting deep
Degree, then carries out fluting operation；Raked joint：With blowing apparatus by the dust in the range of the disintegrating slag in groove and crack both sides at least 10cm
Clean up；The cementation of fissures：Fluid sealant is equably poured in groove with grouting equipment.
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| CN201611253574.5A CN106514607A (en) | 2016-12-30 | 2016-12-30 | Four-wheel drive road face repairing robot system and road face repairing method |
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| CN201611253574.5A CN106514607A (en) | 2016-12-30 | 2016-12-30 | Four-wheel drive road face repairing robot system and road face repairing method |
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Application publication date: 20170322 |