CN105204426B - The printed apparatus and method of a kind of road traffic road surface identification - Google Patents
The printed apparatus and method of a kind of road traffic road surface identification Download PDFInfo
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- CN105204426B CN105204426B CN201510647578.0A CN201510647578A CN105204426B CN 105204426 B CN105204426 B CN 105204426B CN 201510647578 A CN201510647578 A CN 201510647578A CN 105204426 B CN105204426 B CN 105204426B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1103—Special, intelligent I-O processor, also plc can only access via processor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25268—PLD programmable logic device
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Road Repair (AREA)
- Road Signs Or Road Markings (AREA)
Abstract
The invention discloses a kind of printed apparatus of road traffic road surface identification and method, including data acquisition module, real-time monitoring modular, PLC, magnetic valve, storage tank, intelligent input module, finely tune module, the data collecting module collected data transfer is to PLC, the intelligent input module input corresponding data is transferred to PLC, the PLC is computed after analysis, to fine setting module, spray painting module, walking module transmission performs signal, the module electromagnetic valve for adjusting of finely tuning is to specified location, the spray painting module is by storage tank, traffic paint be sprayed on precalculated position, the walking module helps the equipment to reach precalculated position, the straight line on road surface can be printed using the present invention, curve and word, realize Automated condtrol, avoid storage tank blocking, save resource, simultaneously effective avoid road surface staff because road surface operate and caused by unexpected danger.
Description
Technical field
The present invention relates to field of road traffic, the printed apparatus and method of especially a kind of road traffic road surface identification.
Background technology
We can be appreciated that road surface staff heads on burning sun and rule on road surface often, work hard very much, and road line
Paint is poisonous, contacts for a long time or close to that can jeopardize the healthy of staff, while road surface staff applies on road
Work is dangerous, may can also because driver general idea and caused by fortuitous casualty accident；
And the traffic paint used in road line has corrosivity, and it is relatively more sticky, the inwall in tank is easily adhered, nothing
Method is made full use of, and causes the waste of resource, but also slack tank can be made increasingly to weigh, can also obstruction conduit；
The printed apparatus automaticity of existing road traffic road surface identification is not high, it is impossible to according to road conditions or positional information
To automatically adjust；It can not be adjusted according to the thickness of font, font size and word, automatic control equipment.
The content of the invention
The goal of the invention of the present invention is：For above-mentioned problem, there is provided a kind of print of road traffic road surface identification
Control equipment and method, it solves have following functions：
1st, the printed apparatus of the road traffic road surface identification can replace road surface worker's road pavement to carry out drawing beeline, paint song
Line and the function of marking-up, realize Automated condtrol；The printed apparatus of the road traffic road surface identification of the present invention saves manpower
Resource, need to only move robot to ground to be onstructed, and the setting of correlation is carried out to it and ground is layouted, so that it may is realized
The printed apparatus of road traffic road surface identification is automatically controlled, meanwhile, it efficiently avoid the generation of Traffic Accidents, machine
People replaces artificial operating efficiency high, and accuracy is high.
2nd, the corrosion resistance of storage tank, and inner wall smooth are enhanced in the printed apparatus of the road traffic road surface identification
Property, it is to avoid its obstruction conduit and the problem of cause the wasting of resources, while extend the life-span of storage tank.
The technical solution adopted by the present invention is as follows：
A kind of printed apparatus of road traffic road surface identification, it is characterised in that it includes robot car, storage tank, electricity
Magnet valve and conduit；The storage tank is cylinder, on the robot car；Storage tank is built with paint marking, the machine
The afterbody of device people's dolly is provided with several magnetic valves side by side, and shower nozzle is connected to storage tank by the magnetic valve by conduit, described
Shower nozzle is directed downward；The storage tank, conduit and shower nozzle are all stainless steel material, the inwall of the storage tank, conduit it is interior
Plating is provided with plating on nickel coating layer, the nickel coating layer and is provided with ceramic fibre dope layer on wall and shower nozzle.
Further, control system is additionally provided with, it includes data acquisition module, PLC, input module, fine setting module, spray
Paint module and walking module；
When painting road surface straight line：The data acquisition module, the first sampling point and the second sampling point for gathering road surface, and turn
Turn to digital signaling zero 01 and 002 and be transferred to PLC；The line on roadside edge is gathered as with reference to side, digital signaling zero 03 is converted into and transmits
To PLC；Width, the thickness of target line are inputted in the input module, and is converted into digital signaling zero 04 and 005 and is transferred to
PLC；The PLC is connected with data acquisition module, input module and fine setting module, spray painting module, walking module respectively, for connecing
Digital signaling zero 01 and 002 is received, virtual target straight line is simulated；Receive digital signaling zero 03, and calculate virtual target straight line with
With reference to the displacement on side；Digital signaling zero 04 and 005 is received, signal is performed to fine setting module, spray painting module, walking module transmission
101、102、103；When painting road surface curve：The sampling point of data collecting module collected first, second, third and fourth, and its position is believed
Breath is converted into digital signaling zero 10,011,012 and 013 and is transferred to PLC；Input curve slope in the input module, and be converted into
Digital signaling zero 14,015,016,017 is transferred to PLC, then the width of input curve, thickness, and is converted into digital signaling zero 18
PLC is transferred to 019；Imaginary line and the display of PLC transmission are received, input curve confirmation signal is simultaneously transferred to PLC；It is described
PLC receives digital signaling zero 10 ~ 017, simulates imaginary line and is transferred to input module and show, reception curve confirmation signal, mould
Draw up a rectangle framework, it is desirable to which curve is accommodated therein by the rectangle framework, respectively to fine setting module, spray painting module and
Walking module transmission performs signal 104,105 and 106；
When carrying out road surface marking-up：The thickness of word and word needed for being inputted in the input module, and select font and font size,
And be converted into digital signaling zero 20,021,022 and 023 and be transferred to PLC, the virtual word for receiving PLC transmission simultaneously shows that input is virtual
Word confirmation signal is simultaneously transferred to PLC;The PLC receives digital signaling zero 20,021,022 and 023, simulates virtual word and transmits
Shown to input module, receive virtual word confirmation signal, simulate a rectangle framework, it is desirable to which the rectangle framework is by the word
It is accommodated therein, performs signal 107,108 and 109 to fine setting module, spray painting module and walking module transmission respectively；
The fine setting module, signal 101,104,107 is performed for receiving, and control magnetic valve is driveed to precalculated position, according to
The thickness of font, electromagnetic valve for adjusting is driveed to precalculated position；
Spray painting module, performs signal 102,105,108 for receiving, precalculated position is painted；
Walking module receive perform signal 103,106,109, when painting road surface straight line, then control machine people dolly forward,
Turn left, turn right and rear turn, adjust its speed；When painting road surface curve and carrying out road surface marking-up, simulation rectangle framework is run to
A right angle electrical, then run to another right angle electrical adjacent thereto, turned round using a wheel as axle center, finally in S
Type walks up and down, until covering whole rectangle framework；
Further, data acquisition module described in its control system includes colour recognition device and displacement transducer, when painting
During the straight line of road surface, the colour recognition device is used to recognize the color on road surface, when recognizing first sampling point consistent with predetermined color,
Then institute's displacement sensors detect its positional information, and are converted into digital signaling zero 01 and are transferred to PLC, the colour recognition device after
Continue and find the second sampling point, then institute's displacement sensors detect its positional information, and be converted into digital signaling zero 02 and be transferred to PLC, institute
State colour recognition device to continually look for reference to side, then institute's displacement sensors detect its positional information, and are converted into digital signaling zero 03
It is transferred to PLC.
Further, it is characterised in that its control system also includes alarm module, the real-time detection machine of institute's displacement sensors
Device people's dolly position is to the displacement with reference to side or the rectangular frame of simulation, if beyond precalculated position, to alarm module
Alarm signal is transmitted, while transmitting failure data signal to PLC, the PLC control machines people dolly stops walking, calculates simultaneously
Offset distance, signal is performed to walking module transmission adjustment.
Further, input module described in its control system includes display screen and input, and the display screen is used to show
Show each position information and each analog image, the display screen is provided with USB interface, the input can touch-screen input also pass through
Font, font size and the thickness of USB connection input through keyboard, the thickness and width for inputting straight line, curve, and word.
Further, a kind of printing method of the printed apparatus of road traffic road surface identification, it is characterised in that it include with
Lower step：
Step 1：Sampling point one and sampling point two are drawn, cloth is fixed with reference to side, and the printed apparatus of road traffic road surface identification is placed in
Road；
Step 2：When painting road surface straight line：Colour recognition device recognizes ground color, consistent with predetermined color when recognizing
First sampling point, then displacement transducer detects its positional information, and is converted into digital signaling zero 01 and is transferred to PLC, the colour recognition
Device continually looks for the second sampling point, then institute's displacement sensors detect its positional information, and is converted into digital signaling zero 02 and is transferred to
PLC, the colour recognition device continually looks for reference side, then institute's displacement sensors detect its positional information, are converted into digital letter
Number 003 is transferred to PLC；Width, the thickness of target line are inputted in input module, and is converted into the biography of digital signaling zero 04 and 005
It is handed to PLC；
When painting road surface curve：Colour recognition device recognizes ground color, is matched when recognizing with predetermined color in comparator
The first sampling point, then institute's displacement sensors detect its positional information, and are converted into digital signaling zero 10 and are transferred to PLC, the face
Color identifier continually looks for the second sampling point, the 3rd sampling point, the 4th sampling point；Then institute's displacement sensors detect that its position is believed respectively
Cease, and be separately converted to digital signaling zero 11,012,013 and be transferred to input curve slope in PLC, the input module, and convert
PLC is transferred to for digital signaling zero 14,015,016,017, the then width of input curve, thickness, and be converted into data signal
018 and 019 is transferred to PLC；Imaginary line and the display of PLC transmission are received, input curve confirmation signal is simultaneously transferred to PLC,
When carrying out road surface marking-up：The thickness of word and word needed for being inputted in the input module, and select font and font size,
And be converted into digital signaling zero 20,021,022 and 023 and be transferred to PLC, the virtual word for receiving PLC transmission simultaneously shows that input is virtual
Word confirmation signal is simultaneously transferred to PLC;
Step 3：The PLC receives digital signaling zero 01 and 002, simulates virtual target straight line；Digital signaling zero 03 is received,
And calculate virtual target straight line and the displacement with reference to side；Receive digital signaling zero 04 and 005, to fine setting module, spray painting module,
Walking module transmission performs signal 101,102,103；
The PLC receives digital signaling zero 10 ~ 017, simulates imaginary line and is transferred to input module and show, receives song
Line justification signal, simulates a rectangle framework, it is desirable to which curve is accommodated therein by the rectangle framework, respectively to fine setting mould
Block, spray painting module and walking module transmission perform signal 104,105 and 106；
The PLC receives digital signaling zero 20,021,022 and 023, simulates virtual word and is transferred to input module and shows,
Virtual word confirmation signal is received, a rectangle framework is simulated, it is desirable to which the word is accommodated therein by the rectangle framework, respectively
Signal 107,108 and 109 is performed to fine setting module, spray painting module and walking module transmission；
Step 4：The fine setting module, which is received, performs signal 101,104,107, and control magnetic valve is driveed to precalculated position；
Step 5：Module of painting receives spray painting and performs signal 102,105,108, and precalculated position is painted；
Step 6：Walking module, which is received, performs signal 103,106,109, when painting road surface straight line, then control machine people dolly
Forward, turn left, turn right and rear turn, adjust its speed；When painting road surface curve and carrying out road surface marking-up, simulation rectangle is run to
One right angle electrical of framework, then runs to another right angle electrical adjacent thereto, is turned round using a wheel as axle center, finally
It is S-type to walk up and down, until covering whole rectangle framework；
Step 7：Displacement transducer detects robot car position to reference to side or the rectangular frame of simulation in real time
Displacement, if beyond precalculated position, alarm signal is transmitted to alarm module, while to PLC transmitting digital signals, the PLC
Control machine people dolly stops walking, while calculating offset distance, signal is performed to walking module transmission adjustment.
In summary, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
1st, the printed apparatus that road traffic road surface identification can be achieved is automatically controlled, and is saved human resources, is reduced horse
The healthy harm of road paint marking road pavement worker, meanwhile, it efficiently avoid the generation of Traffic Accidents；
2nd, the printed apparatus of the road traffic road surface identification can replace road surface worker's road pavement carry out automatic drawing beeline,
The function of plotting with marking-up, while intelligently can be acquired to data sample, and the displacement information of monitoring road conditions in real time, when going out
Rear stopping capable of automatic alarm during existing problem, until after issue handling is finished, continuing operation, realizes Automated condtrol, operation effect
Rate is high, and accuracy is high；
3rd, the corrosion resistance of storage tank, and inner wall smooth are enhanced in the printed apparatus of the road traffic road surface identification
Property, it is to avoid its obstruction conduit and the problem of cause the wasting of resources, while extend the life-span of storage tank.
Brief description of the drawings
Fig. 1 is a kind of control system control schematic diagram of the printed apparatus of road traffic road surface identification of the present invention.
Embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine in any way.
This specification（Including any accessory claim, summary）Disclosed in any feature, unless specifically stated otherwise,
Replaced by other equivalent or with similar purpose alternative features.I.e., unless specifically stated otherwise, each feature is a series of
An example in equivalent or similar characteristics.
As shown in figure 1, a kind of printed apparatus of road traffic road surface identification, it is characterised in that it include robot car,
Storage tank, magnetic valve and conduit；The storage tank is cylinder, on the robot car；Storage tank is built with line
Paint, the afterbody of the robot car is provided with several magnetic valves side by side, and shower nozzle is connected to storage by the magnetic valve by conduit
Batch can, the shower nozzle is directed downward；The storage tank, conduit and shower nozzle are all stainless steel material, the inwall of the storage tank,
Plating is provided with plating on nickel coating layer, the nickel coating layer and is provided with ceramic fibre dope layer on the inwall and shower nozzle of conduit.
Be additionally provided with control system, it include data acquisition module, PLC, input module, fine setting module, spray painting module and
Walking module；
When painting road surface straight line：The data acquisition module, the first sampling point and the second sampling point for gathering road surface, and turn
Turn to digital signaling zero 01 and 002 and be transferred to PLC；The line on roadside edge is gathered as with reference to side, digital signaling zero 03 is converted into and transmits
To PLC；Width, the thickness of target line are inputted in the input module, and is converted into digital signaling zero 04 and 005 and is transferred to
PLC；The PLC is connected with data acquisition module, input module and fine setting module, spray painting module, walking module respectively, for connecing
Digital signaling zero 01 and 002 is received, virtual target straight line is simulated；Receive digital signaling zero 03, and calculate virtual target straight line with
With reference to the displacement on side；Digital signaling zero 04 and 005 is received, signal is performed to fine setting module, spray painting module, walking module transmission
101、102、103；
When painting road surface curve：The sampling point of data collecting module collected first, second, third and fourth, and its positional information is turned
Turn to digital signaling zero 10,011,012 and 013 and be transferred to PLC；Input curve slope in the input module, and it is converted into numeral
Signal 014,015,016,017 is transferred to PLC, then the width of input curve, thickness, and is converted into digital signaling zero 18 and 019
It is transferred to PLC；Imaginary line and the display of PLC transmission are received, input curve confirmation signal is simultaneously transferred to PLC；The PLC is received
Digital signaling zero 10 ~ 017, simulates imaginary line and is transferred to input module and show, receives curve confirmation signal, simulates one
Individual rectangle framework, it is desirable to which curve is accommodated therein by the rectangle framework, respectively to fine setting module, spray painting module and walking mould
Block transmission performs signal 104,105 and 106；
When carrying out road surface marking-up：The thickness of word and word needed for being inputted in the input module, and select font and font size,
And be converted into digital signaling zero 20,021,022 and 023 and be transferred to PLC, the virtual word for receiving PLC transmission simultaneously shows that input is virtual
Word confirmation signal is simultaneously transferred to PLC;The PLC receives digital signaling zero 20,021,022 and 023, simulates virtual word and transmits
Shown to input module, receive virtual word confirmation signal, simulate a rectangle framework, it is desirable to which the rectangle framework is by the word
It is accommodated therein, performs signal 107,108 and 109 to fine setting module, spray painting module and walking module transmission respectively；
The fine setting module, signal 101,104,107 is performed for receiving, and control magnetic valve is driveed to precalculated position, according to
The thickness of font, electromagnetic valve for adjusting is driveed to precalculated position；
Spray painting module, performs signal 102,105,108 for receiving, precalculated position is painted；
Walking module receive perform signal 103,106,109, when painting road surface straight line, then control machine people dolly forward,
Turn left, turn right and rear turn, adjust its speed；When painting road surface curve and carrying out road surface marking-up, simulation rectangle framework is run to
A right angle electrical, then run to another right angle electrical adjacent thereto, turned round using a wheel as axle center, finally in S
Type walks up and down, until covering whole rectangle framework；
" friendship " word is such as painted on road surface, the thickness of " friendship " word and word is inputted first in input module, it is selected
Font and font size, input module, which receives the information and is converted into digital signaling zero 20 to 023, is transferred to PLC, and the PLC receives 020
To 023, the rectangle framework of a ratio big predetermined value of " friendship " word under the font is simulated, respectively to fine setting module and row
Walk module transmission and perform signal 107 to 109；The walking module, which is received, performs signal 109, runs to simulation rectangle framework
One right angle electrical, then runs to another right angle electrical, is turned round using a wheel as axle center, finally S-type to walk up and down, until
Cover whole rectangle framework；The PLC is according to the font and thickness of word, and calculating needs the quantity of open electromagnetic valve, and its opening is greatly
Small value, while when calculating it and coordinating spray painting module and walking module walking, the time that magnetic valve need to be opened and closed, and to micro-
The transmission of mode transfer block performs signal 107, within the time that electromagnetism is opened, and when walking module runs to precalculated position, PLC then controls spray
Paint is sprayed onto road surface by paint module, when it walks full whole rectangle framework, then " hands over " word mark completion.
Data acquisition module described in its control system includes colour recognition device and displacement transducer, when painting road surface straight line
When, the colour recognition device is used for the color for recognizing road surface, when recognizing first sampling point consistent with predetermined color, then institute's rheme
Displacement sensor detects its positional information, and is converted into digital signaling zero 01 and is transferred to PLC, and the colour recognition device continually looks for
Two sampling points, then institute's displacement sensors detect its positional information, and are converted into data signal transmission 002 to PLC, and the color is known
Other device is continually looked for reference to side, then institute's displacement sensors detect its positional information, and be converted into data signal transmission 003 to
PLC。
Its control system also includes alarm module, and institute's displacement sensors detect robot car position to ginseng in real time
According to the displacement of side or the rectangular frame of simulation, if beyond precalculated position, alarm signal is transmitted to alarm module, while to
PLC transmits failure data signal, and the PLC control machines people dolly stops walking, while offset distance is calculated, to walking module
Transmission adjustment performs signal.
Input module described in its control system includes display screen and input, and the display screen is used to show every confidence
Breath and each analog image, the display screen are provided with USB interface, the input can touch-screen input also pass through USB connecting keys
Font, font size and the thickness of disk input, the thickness and width for inputting straight line, curve, and word.
A kind of printing method of the printed apparatus of road traffic road surface identification, it comprises the following steps：
Step 1：The first sampling point and the second sampling point are drawn, cloth is fixed with reference to side, by the printed apparatus of road traffic road surface identification
It is placed in road；
Step 2：When painting road surface straight line：Colour recognition device recognizes ground color, consistent with predetermined color when recognizing
First sampling point, then displacement transducer detects its positional information, and is converted into digital signaling zero 01 and is transferred to PLC, the colour recognition
Device continually looks for the second sampling point, then institute's displacement sensors detect its positional information, and is converted into digital signaling zero 02 and is transferred to
PLC, the colour recognition device continually looks for reference side, then institute's displacement sensors detect its positional information, are converted into digital letter
Number 003 is transferred to PLC；Width, the thickness of target line are inputted in input module, and is converted into the biography of digital signaling zero 04 and 005
It is handed to PLC；
When painting road surface curve：Colour recognition device recognizes ground color, is matched when recognizing with predetermined color in comparator
The first sampling point, then institute's displacement sensors detect its positional information, and are converted into digital signaling zero 10 and are transferred to PLC, the face
Color identifier continually looks for the second sampling point, the 3rd sampling point, the 4th sampling point；Then institute's displacement sensors point separately detect that its position is believed
Cease, and be separately converted to digital signaling zero 11,012,013 and be transferred to input curve slope in PLC, the input module, and convert
PLC is transferred to for digital signaling zero 14,015,016,017, the then width of input curve, thickness, and be converted into data signal
018 and 019 is transferred to PLC；Imaginary line and the display of PLC transmission are received, input curve confirmation signal is simultaneously transferred to PLC,
When carrying out road surface marking-up：The thickness of word and word needed for being inputted in the input module, and select font and font size,
And be converted into digital signaling zero 20,021,022 and 023 and be transferred to PLC, the virtual word for receiving PLC transmission simultaneously shows that input is virtual
Word confirmation signal is simultaneously transferred to PLC;
Step 3：The PLC receives digital signaling zero 01 and 002, simulates virtual target straight line；Digital signaling zero 03 is received,
And calculate virtual target straight line and the displacement with reference to side；Receive digital signaling zero 04 and 005, to fine setting module, spray painting module,
Walking module transmission performs signal 101,102,103；
The PLC receives digital signaling zero 10 ~ 017, simulates imaginary line and is transferred to input module and show, receives song
Line justification signal, simulates a rectangle framework, it is desirable to which curve is accommodated therein by the rectangle framework, respectively to fine setting mould
Block, spray painting module and walking module transmission perform signal 104,105 and 106；
The PLC receives digital signaling zero 20,021,022 and 023, simulates virtual word and is transferred to input module and shows,
Virtual word confirmation signal is received, a rectangle framework is simulated, it is desirable to which the word is accommodated therein by the rectangle framework, respectively
Signal 107,108 and 109 is performed to fine setting module, spray painting module and walking module transmission；
Step 4：The fine setting module, which is received, performs signal 101,104,107, and control magnetic valve is driveed to precalculated position；
Step 5：Module of painting receives spray painting and performs signal 102,105,108, and precalculated position is painted；
Step 6：Walking module, which is received, performs signal 103,106,109, when painting road surface straight line, then control machine people dolly
Forward, turn left, turn right and rear turn, adjust its speed；When painting road surface curve and carrying out road surface marking-up, simulation rectangle is run to
One right angle electrical of framework, then runs to another right angle electrical adjacent thereto, is turned round using a wheel as axle center, finally
It is S-type to walk up and down, until covering whole rectangle framework；
Step 7：Displacement transducer detects robot car position to reference to side or the rectangular frame of simulation in real time
Displacement, if beyond precalculated position, alarm signal is transmitted to alarm module, while to PLC transmitting digital signals, the PLC
Control machine people dolly stops walking, while calculating offset distance, signal is performed to walking module transmission adjustment.
The invention is not limited in foregoing embodiment.The present invention, which is expanded to, any in this manual to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (5)
1. a kind of printed apparatus of road traffic road surface identification, it is characterised in that it includes robot car, storage tank, electromagnetism
Valve and conduit；The storage tank is cylinder, on the robot car；Storage tank is built with paint marking, the machine
The afterbody of people's dolly is provided with several magnetic valves side by side, and shower nozzle is connected to storage tank, the spray by the magnetic valve by conduit
Head be directed downward；The storage tank, conduit and shower nozzle are all stainless steel material, the inwall of the storage tank, the inwall of conduit
And plating is provided with nickel coating layer on shower nozzle, plating is provided with ceramic fibre dope layer on nickel coating layer；The road traffic road marking
The printed apparatus of knowledge is additionally provided with control system, and the control system includes data acquisition module, PLC, input module, fine setting mould
Block, spray painting module and walking module；
When painting road surface straight line：The data acquisition module, for gathering first sampling point and the second sampling point on road surface, and is converted into
Digital signaling zero 01 and 002 is transferred to PLC；The line on roadside edge is gathered as with reference to side, digital signaling zero 03 is converted into and is transferred to
PLC；Width, the thickness of target line are inputted in the input module, and is converted into digital signaling zero 04 and 005 and is transferred to PLC；
The PLC is connected with data acquisition module, input module and fine setting module, spray painting module, walking module respectively；The PLC is used
In receiving digital signaling zero 01 and 002, virtual target straight line is simulated；Digital signaling zero 03 is received, and it is straight to calculate virtual target
Line and the displacement with reference to side；Receive digital signaling zero 04 and 005；Letter is performed to fine setting module, spray painting module, walking module transmission
Numbers 101,102,103；
When painting road surface curve：The sampling point of data collecting module collected first, second, third and fourth, and its positional information is converted into
Digital signaling zero 10,011,012 and 013 is transferred to PLC；Input curve slope in the input module, and it is converted into data signal
014th, 015,016,017 PLC is transferred to, then the width of input curve, thickness, and is converted into the transmission of digital signaling zero 18 and 019
To PLC；Imaginary line and the display of PLC transmission are received, input curve confirmation signal is simultaneously transferred to PLC；The PLC receives numeral
Signal 010 ~ 017, simulates imaginary line and is transferred to input module and show, receives curve confirmation signal, simulates one long
Square frame, it is desirable to which curve is accommodated therein by the rectangle framework, is passed to fine setting module, spray painting module and walking module respectively
Pass execution signal 104,105 and 106；
When carrying out road surface marking-up：The thickness of word and word needed for being inputted in the input module, and font and font size are selected, and turn
Turn to digital signaling zero 20,021,022 and 023 and be transferred to PLC, receive the virtual word of PLC transmission and show, input virtual word true
Recognize signal and be transferred to PLC;The PLC receives digital signaling zero 20,021,022 and 023, simulates virtual word and is transferred to defeated
Enter module to show, receive virtual word confirmation signal, simulate a rectangle framework, it is desirable to which the rectangle framework accommodates the word
In wherein, signal 107,108 and 109 is performed to fine setting module, spray painting module and walking module transmission respectively；
The fine setting module, signal 101,104,107 is performed for receiving, and control magnetic valve is driveed to precalculated position, according to font
Thickness, electromagnetic valve for adjusting driveed to precalculated position；
Spray painting module, performs signal 102,105,108 for receiving, precalculated position is painted；
Walking module receive perform signal 103,106,109, when painting road surface straight line, then control machine people dolly forward, turn left,
Turn right and rear turn, adjust its speed；When painting road surface curve and carrying out road surface marking-up, one of simulation rectangle framework is run to
Right angle electrical, then runs to another right angle electrical adjacent thereto, is turned round using a wheel as axle center, it is final it is S-type back and forth
Walk, until covering whole rectangle framework.
2. the printed apparatus of road traffic road surface identification as claimed in claim 1, it is characterised in that described in its control system
Data acquisition module includes colour recognition device and displacement transducer, when painting road surface straight line, and the colour recognition device is used to recognize
The color on road surface, when recognizing first sampling point consistent with predetermined color, then institute's displacement sensors detect its positional information, and
It is converted into digital signaling zero 01 and is transferred to PLC, the colour recognition device continually looks for the second sampling point, then institute's displacement sensors is examined
Its positional information is surveyed, and is converted into digital signaling zero 02 and is transferred to PLC, the colour recognition device is continually looked for reference to side, then described
Displacement transducer detects its positional information, and is converted into digital signaling zero 03 and is transferred to PLC.
3. the printed apparatus of the road traffic road surface identification as described in one of claim 1 and 2, it is characterised in that it controls system
System also include alarm module, displacement transducer detect in real time robot car position to reference to while or simulate it is rectangular while
The displacement of frame, if beyond precalculated position, alarm signal is transmitted to alarm module, while transmitting failure data signal, institute to PLC
State PLC control machine people dolly and stop walking, while calculating offset distance, signal is performed to walking module transmission adjustment.
4. the printed apparatus of road traffic road surface identification as claimed in claim 3, it is characterised in that described in its control system
Input module includes display screen and input, and the display screen is used to show each position information and each analog image, the display
Screen is provided with USB interface, the input can touch-screen input also by USB connection input through keyboard, for inputting straight line, curve
Thickness and width, and word font, font size and thickness.
5. a kind of printing method of the printed apparatus of road traffic road surface identification, it is characterised in that it comprises the following steps：
Step 1：The first sampling point and the second sampling point are drawn, cloth is fixed with reference to side, and the printed apparatus of road traffic road surface identification is placed in
Road；
Step 2：When painting road surface straight line：Colour recognition device recognizes ground color, when recognizing first consistent with predetermined color
Sampling point, then displacement transducer detects its positional information, and is converted into digital signaling zero 01 and is transferred to PLC, the colour recognition device after
Continue and find the second sampling point, then institute's displacement sensors detect its positional information, and be converted into digital signaling zero 02 and be transferred to PLC, institute
State colour recognition device and continually look for reference side, then institute's displacement sensors detect its positional information, are converted into digital signaling zero 03 and pass
It is handed to PLC；Width, the thickness of target line are inputted in input module, and is converted into digital signaling zero 04 and 005 and is transferred to
PLC；
When painting road surface curve：Colour recognition device recognizes ground color, when recognize matched with predetermined color in comparator the
One sampling point, then institute's displacement sensors detect its positional information, and are converted into digital signaling zero 10 and are transferred to PLC, and the color is known
Other device continually looks for the second sampling point, the 3rd sampling point, the 4th sampling point；Then institute's displacement sensors detect its positional information respectively, and
It is separately converted to digital signaling zero 11,012,013 and is transferred to input curve slope in PLC, the input module, and is converted into number
Word signal 014,015,016,017 is transferred to PLC, then the width of input curve, thickness, and is converted into the He of digital signaling zero 18
019 is transferred to PLC；Imaginary line and the display of PLC transmission are received, input curve confirmation signal is simultaneously transferred to PLC；
When carrying out road surface marking-up：The thickness of word and word needed for being inputted in the input module, and font and font size are selected, and turn
Turn to digital signaling zero 20,021,022 and 023 and be transferred to PLC, receive the virtual word of PLC transmission and show, input virtual word true
Recognize signal and be transferred to PLC；
Step 3：The PLC receives digital signaling zero 01 and 002, simulates virtual target straight line；Digital signaling zero 03 is received, and is counted
Calculate virtual target straight line and the displacement with reference to side；Digital signaling zero 04 and 005 is received, to fine setting module, spray painting module, walking
Module transmission performs signal 101,102,103；
The PLC receives digital signaling zero 10 ~ 017, simulates imaginary line and is transferred to input module and show, and reception curve is true
Recognize signal, simulate a rectangle framework, it is desirable to which curve is accommodated therein by the rectangle framework, respectively to fine setting module,
Module of painting and walking module transmission perform signal 104,105 and 106；
The PLC receives digital signaling zero 20,021,022 and 023, simulates virtual word and is transferred to input module and show, reception
Virtual word confirmation signal, simulates a rectangle framework, it is desirable to which the word is accommodated therein by the rectangle framework, respectively to micro-
Mode transfer block, spray painting module and walking module transmission perform signal 107,108 and 109；
Step 4：The fine setting module, which is received, performs signal 101,104,107, and control magnetic valve is driveed to precalculated position；
Step 5：Module of painting receives spray painting and performs signal 102,105,108, and precalculated position is painted；
Step 6：Walking module receive perform signal 103,106,109, when painting road surface straight line, then control machine people dolly to
Before, turn left, turn right and it is rear turn, adjust its speed；When painting road surface curve and carrying out road surface marking-up, simulation rectangle frame is run to
One right angle electrical of body, then runs to another right angle electrical adjacent thereto, is turned round using a wheel as axle center, is in finally
S types walk up and down, until covering whole rectangle framework；
Step 7：Displacement transducer detects robot car position to the position with reference to side or the rectangular frame of simulation in real time
Move, if beyond precalculated position, alarm signal is transmitted to alarm module, while transmitting failure data signal, the PLC to PLC
Control machine people dolly stops walking, while calculating offset distance, signal is performed to walking module transmission adjustment.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510647578.0A CN105204426B (en) | 2015-10-09 | 2015-10-09 | The printed apparatus and method of a kind of road traffic road surface identification |
| CN201710573810.XA CN107357246B (en) | 2015-10-09 | 2015-10-09 | A kind of control system of road traffic road surface identification printed apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510647578.0A CN105204426B (en) | 2015-10-09 | 2015-10-09 | The printed apparatus and method of a kind of road traffic road surface identification |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710573810.XA Division CN107357246B (en) | 2015-10-09 | 2015-10-09 | A kind of control system of road traffic road surface identification printed apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105204426A CN105204426A (en) | 2015-12-30 |
| CN105204426B true CN105204426B (en) | 2017-08-25 |
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| CN201510647578.0A Expired - Fee Related CN105204426B (en) | 2015-10-09 | 2015-10-09 | The printed apparatus and method of a kind of road traffic road surface identification |
| CN201710573810.XA Active CN107357246B (en) | 2015-10-09 | 2015-10-09 | A kind of control system of road traffic road surface identification printed apparatus |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710573810.XA Active CN107357246B (en) | 2015-10-09 | 2015-10-09 | A kind of control system of road traffic road surface identification printed apparatus |
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| CN (2) | CN105204426B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101289832A (en) * | 2007-07-18 | 2008-10-22 | 朱建新 | Self-propelled linotype machine for road marking |
| CN104264573A (en) * | 2014-10-17 | 2015-01-07 | 上海向彤智能科技有限公司 | Control system of cold-spray road marking vehicle with camera and road marking method |
| CN205139669U (en) * | 2015-10-09 | 2016-04-06 | 成都九十度工业产品设计有限公司 | Printed apparatus of road traffic road surface sign |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ITVR20030102A1 (en) * | 2003-08-11 | 2005-02-12 | Lago Gianluigi Dal | MACHINE FOR THE TRACKING OF SIGNS AND / OR PICTOGRAM LINES |
| CN100497832C (en) * | 2007-02-13 | 2009-06-10 | 朱建新 | Road guideline scriber |
| CN101368363A (en) * | 2008-05-12 | 2009-02-18 | 于永飞 | Computer-controlled full-automatic road identification working vehicle |
| CN201605521U (en) * | 2010-07-09 | 2010-10-13 | 林茂贤 | Movable-type spraying device for road markings |
| CN203346777U (en) * | 2013-06-21 | 2013-12-18 | 舟山市智海技术开发有限公司 | Device for automatically marking line on road |
| CN103590313B (en) * | 2013-11-21 | 2015-11-04 | 吴海滨 | Multifunctional road marking lines construction auxiliary device |
| CN104878683A (en) * | 2014-02-28 | 2015-09-02 | 上海市七宝中学 | Remote-controlled road line-marking vehicle |
-
2015
- 2015-10-09 CN CN201510647578.0A patent/CN105204426B/en not_active Expired - Fee Related
- 2015-10-09 CN CN201710573810.XA patent/CN107357246B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101289832A (en) * | 2007-07-18 | 2008-10-22 | 朱建新 | Self-propelled linotype machine for road marking |
| CN104264573A (en) * | 2014-10-17 | 2015-01-07 | 上海向彤智能科技有限公司 | Control system of cold-spray road marking vehicle with camera and road marking method |
| CN205139669U (en) * | 2015-10-09 | 2016-04-06 | 成都九十度工业产品设计有限公司 | Printed apparatus of road traffic road surface sign |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105204426A (en) | 2015-12-30 |
| CN107357246B (en) | 2019-05-07 |
| CN107357246A (en) | 2017-11-17 |
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