| With the rapid development of road traffic in our country and the increasing number of transportation vehicles,there are more and more pavement distress happened.The pothole is a common pavement distress,which seriously affects the comfort and safety of driving.Because of the time-consuming and laborious traditional repair work of pothole,the intelligent technology of pothole repair should be much accounted of.The technology of jet pavement pothole repair is a fast,effective,labor-saving and low-cost technology that has not yet been popularized in our country.In this paper,the information of target pothole area is acquire by the filtration,binaryzation,hole filling,masking operations,boundary extraction of the depth images,which are acquired by the depth camera of Kinect v2.Deeper pothole should be repaired layer by layer.The boundary points of each layered contour can be extracted by the gray value of pixels of the depth image which is processed,and the specific shape and size of the layered contour can be obtained,by which the pixels are converted from the image coordinate system to the world coordinate system.Compared with different methods of repair trajectory,round-trip filling method with simpler algorithm and more reliable results is adopted.The repair parameters,trajectory generation angles and other factors affect the generation of the repair trajectory.The repair quality prediction index ——repair error is proposed in order to obtain the theoretical optimal trajectory,which is calculated by the discharge error during the repair time and the traversal rate of the trajectory.The closer the repair error is to 0,the better the theoretical repair quality.Special circumstances may be encountered when extract the layered contours.It will probably lead to larger errors if the line-by-line repair method is used when the extracted contours contain multiple sub-contours because of the large bulges or depressions at the bottom of potholes.The method of area repair is used to divide the contours containing the inner contours into multiple sub-contours that do not contain holes and generate trajectories in each sub-contours for the contour containing multiple phase-separator sub-contours.According to the principle of the shortest distance,the trajectories in each sub-contours are connected.This method can reduce the number of nozzle crossing the non-repaired area.The more the number of fill lines of trajectory,the more obvious the effect is.Finally,compared with the repair results of the pothole repaired on the experimental platform by optimal trajectory and non-optimal trajectory,the validity of the index was verified. |
