CN105369726A - Intelligent line-marking machine and intelligent line-marking vehicle - Google Patents
Intelligent line-marking machine and intelligent line-marking vehicle Download PDFInfo
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- CN105369726A CN105369726A CN201410391012.1A CN201410391012A CN105369726A CN 105369726 A CN105369726 A CN 105369726A CN 201410391012 A CN201410391012 A CN 201410391012A CN 105369726 A CN105369726 A CN 105369726A
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- shower nozzle
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Abstract
The present invention discloses an intelligent line-marking machine and an intelligent line-marking vehicle. The intelligent line-marking machine comprises a bracket, a spraying nozzle, a camera, a first motor, a second motor, a third motor and a control circuit, wherein the bracket comprises a first horizontal rod parallel to the ground, two second horizontal rods parallel to the ground, and two vertical rods perpendicular to the ground, the spraying nozzle is arranged on the first horizontal rod through a first sliding mechanism and can slide along the extending direction of the first horizontal rod, the first horizontal rod is arranged on the two vertical rods through two second sliding mechanisms and can slide along the extending directions of the vertical rods, and the two vertical rods are respectively arranged on the two second horizontal rods through two third sliding mechanisms and can slide along the extending directions of the horizontal rods. The intelligent line-marking machine and the intelligent line-marking vehicle of the present invention have characteristics of intelligence, efficiency, and no environment pollution.
Description
Technical field
The present invention relates to urban construction technical field, be specifically related to a kind of intelligent pen machine and one intelligence line-marking vehicle.
Background technology
Line-marking vehicle is the important tool in road construction, and nearly ten years, the research for line-marking vehicle concentrates on the structure of spraying paint of shower nozzle and so on to improve the effect and have ignored other problems of spraying paint.The line-marking vehicle of prior art, utilizes shower nozzle to spray paint earthward, thus marks road surface identification pattern, is for general on highway and marks single straight line.But, the line-marking vehicle of prior art needs to rely on a large amount of manpowers, such as during operation, the injection direction of staff's Artificial Control shower nozzle, to mark standard compliant road surface identification pattern on road surface, and will according to different spraying requirements, adjust at any time, labor intensive and manual operation easily spray wrong position.In addition, the line-marking vehicle of prior art is difficult to mark complicated road surface identification pattern efficiently, such as mark motor-driven vehicle going direction arrow pattern, directive etc. on ground, often adopt following technical scheme: paste first on the ground and hide paint adhesive tape, hide paint adhesive tape and be provided with the hollow exposed structure identical with motor-driven vehicle going direction arrow pattern, expose the ground identical with motor-driven vehicle going direction arrow pattern by the exposed structure of hollow; Then pen machine sprays paint above screening paint adhesive tape, and the mode of spraying paint is area covering mode, the area of the area namely sprayed paint direct mulch-laying machine motor-car travel direction arrow pattern, sprays paint after terminating, and opens and hides paint adhesive tape; , therefore sprayed paint due to outside exposed at the correspondence position of the exposed structure of hollow in ground, and other positions are owing to hiding blocking of paint adhesive tape, do not sprayed paint, thus define motor-driven vehicle going arrow pattern on the ground.But prior art needs to expend for the mode of spraying paint of road surface identification pattern and hides glue adhesive tape, needs and manually paste and remove screening glue adhesive tape, need spraying paint of at substantial, inefficiency, waste resource and contaminated environment.
Summary of the invention
The invention provides a kind of intelligent pen machine and one intelligence line-marking vehicle, for solving pen machine inefficiency of the prior art, wasting resource and the problem of contaminated environment.
The invention provides a kind of intelligent pen machine, comprising: support, shower nozzle, camera, the first motor, the second motor, the 3rd motor and control circuit; Described support comprises first horizon bar parallel to the ground, two the second horizon bars parallel to the ground and two vertical rods perpendicular to the ground; Wherein, the plane at described two the second horizon bar places is parallel to the ground, the plane at described two vertical rod places and the plane orthogonal at described two the second horizon bar places, the plane parallel at described first horizon bar and described two vertical rod places and with the plane parallel at described two the second horizon bar places;
Described shower nozzle to be located on described first horizon bar by the first slide mechanism and can be slided along the bearing of trend of described first horizon bar, described first horizon bar to be located on described two vertical rods by two the second slide mechanisms and can be sliding along the dynamic bearing of trend of described vertical rod, and described two articles of vertical rods to be located at respectively on described two article of second horizon bar by two the 3rd slide mechanisms and can be slided along the bearing of trend of described second horizon bar;
Described first motor drives described first slide mechanism, and described second motor drives described second slide mechanism, and described 3rd motor drives described 3rd slide mechanism; Described control circuit connects described first motor, described second motor, described 3rd motor, described shower nozzle and described camera; Described control circuit moves according to the image of described cam feedback by controlling the rotating speed of described first motor, described second motor and described 3rd motor and step pitch and then controlling described shower nozzle and completes line on ground in solid space.
Further, described two the 3rd slide mechanisms are interconnected by lazy-tongs.
Further, described two the second slide mechanisms of described control circuit control are synchronized with the movement.
Further, described shower nozzle is cold spray type spray nozzle.
Further, the zone of action of described shower nozzle is greater than the area of current spray patterns in the projected area on ground.
Further, the operating range of described first slide mechanism is greater than the width of described current spray patterns, and the operating range of described 3rd slide mechanism is greater than the length of described current spray patterns.
The present invention also provides a kind of intelligent line-marking vehicle, comprising: intelligent pen machine of the present invention and the installing rack under being located at chassis:
The Bracket setting of described intelligent pen machine is below described installing rack.
Further, described is set up in the region between the front-wheel of described intelligent line-marking vehicle and trailing wheel.
Further, the accommodating cavity for accommodating described intelligent pen machine is provided with between the front-wheel of described intelligent line-marking vehicle and trailing wheel.
The intelligent pen machine of one provided by the invention and one intelligence line-marking vehicle, moved according to the template contral shower nozzle of the road surface identification pattern prestored by control circuit, to ground spraying road surface identification pattern, and in real time according to the spraying position of the ground image adjustment shower nozzle of camera shooting, can not occur to spray mistake, avoid the waste of spraying paint, not need to use to hide and paint adhesive tape, intelligent and high-efficiency, does not pollute the environment.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings;
Fig. 1 is the schematic perspective view of the intelligent pen machine of the embodiment of the present invention one;
Fig. 2 is the schematic top plan view of the intelligent pen machine of the embodiment of the present invention one;
Fig. 3 is the front elevational schematic of the intelligent pen machine of the embodiment of the present invention one;
Fig. 4 is the schematic side view of the intelligent pen machine of the embodiment of the present invention one;
Fig. 5 is the schematic perspective view of the intelligent line-marking vehicle of the embodiment of the present invention two;
Fig. 6 is the schematic side view of the intelligent line-marking vehicle of the embodiment of the present invention two.
detailed description of the invention:
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Fig. 1 is the schematic perspective view of the intelligent pen machine of the embodiment of the present invention one, Fig. 2 is the schematic top plan view of the intelligent pen machine of the embodiment of the present invention one, Fig. 3 is the front elevational schematic of the intelligent pen machine of the embodiment of the present invention one, Fig. 4 is the schematic side view of the intelligent pen machine of the embodiment of the present invention one, as shown in Figure 1, Figure 2, Figure 3 and Figure 4, the intelligent pen machine of the embodiment of the present invention one comprises: support 1, shower nozzle 2, camera 4, first motor 31, second motor 32, the 3rd motor 33 and control circuit (not showing in figure).
Described support 1 comprises first horizon bar 11, two parallel to the ground second horizon bar 12 parallel to the ground and two vertical rods 13 perpendicular to the ground; Wherein, the plane at described two the second horizon bar 12 places is parallel to the ground, the plane at described two vertical rod 13 places and the plane orthogonal at described two the second horizon bar 12 places, the plane parallel at described first horizon bar 11 and described two vertical rod 13 places and with the plane parallel at described two the second horizon bar 12 places.Article two, the second horizon bar 12 is parallel to each other, and two vertical rods 13 are parallel to each other.
Described shower nozzle 2 to be located on described first horizon bar 11 by the first slide mechanism 111 and can be slided along the bearing of trend of described first horizon bar 11, described first horizon bar 11 to be located on described two vertical rods 13 by two the second slide mechanisms 131 and can be slided along the bearing of trend of described vertical rod 13, and described two articles of vertical rods 13 to be located at respectively on described two article of second horizon bar 12 by two the 3rd slide mechanisms 121 and can be slided along the bearing of trend of described second horizon bar 12.
Described first motor 31 drives described first slide mechanism 111 to move, and described second motor 32 drives described second slide mechanism 131 to move, and described 3rd motor 33 drives described 3rd slide mechanism 121 to move; Described control circuit is electrically connected and controls camera 4, shower nozzle 2, first motor 31, second motor 32 and the 3rd motor 33, is provided with memory, stores the template of road surface identification pattern in memory in control circuit.The image that control circuit feeds back according to the camera 4 be located on intelligent line-marking vehicle or intelligent pen machine moves by controlling the rotating speed of described first motor 31, described second motor 32 and described 3rd motor 33 and step number and then controlling described shower nozzle 2 and completes spraying on ground in solid space.Described first motor 31, described second motor 32 and described 3rd motor 33 can adopt stepper motor.
The operating principle of the intelligent pen machine of the embodiment of the present invention one is: be positioned over by intelligent pen machine above the road that needs to spray road surface identification pattern, spraying instruction is sent to control circuit, control circuit reads the template of the road surface identification pattern be stored in memory according to control instruction, template contral shower nozzle 2 according to road surface identification pattern moves, and sprays paint needing the position being coated with road surface identification pattern.Road surface identification pattern comprises: indication character, direction arrow, zebra stripes, road axis, track cut-off rule, lane boundary line, parking stall stop line etc.The length of some road surface identification patterns reaches 9 meters, and width reaches 3 meters, and area is larger.For this kind of road surface identification pattern, road surface identification pattern is divided into multiple current spray patterns by the processor in control circuit.Current spray patterns refers to that intelligent pen machine is when the invariant position on road surface, the current pattern of shower nozzle spraying under motor drives.Current spray patterns can be a road surface identification pattern, also can be a part for the road surface identification pattern that area is larger.Such as, length for road surface identification pattern is greater than the situation of stent length, a road surface identification pattern is just needed to be divided into some current spray patterns in the longitudinal direction, intelligence pen machine sprays each current spray patterns in position, different road surface, and the whole current spray patterns sprayed forms a complete road surface identification pattern.Particularly, shower nozzle 2 can along the first horizon bar 11 horizontal movement on the first horizon bar 11, first horizon bar 11 can along the bearing of trend horizontal movement of the second horizon bar 12, first horizon bar 11 is vertical with the second horizon bar 12, and then freely movable on the rectangle plane that shower nozzle 2 can be formed at floor projection at the first horizon bar 11 and the second horizon bar 12, thus coating out-of-plane pattern.When shower nozzle 2 is started working, control circuit is moved to the original position of current spray patterns by control the 3rd motor 33 and then control the first horizon bar 11 and is fixed; Control circuit is by control first motor 31 and then control shower nozzle 2 from terminad direction, the top uniform motion of the first horizon bar 11 on the first horizon bar 11, and when shower nozzle 2 arrives predeterminated position, control circuit controls shower nozzle 2 according to current spray patterns and sprays paint; After spraying paint, control circuit controls the top that shower nozzle 2 moves to the first horizon bar 11 again, then control circuit control the 3rd motor 33 drives the first horizon bar 11 to move predeterminable range backward, predeterminable range need ensure that the scope that shower nozzle 2 sprays paint again is overlapping with last scope of spraying paint, and then fix the position of the first horizon bar 11, control shower nozzle 2 on the first horizon bar 11 from terminad direction, the top uniform motion of the first horizon bar 11 simultaneously, when shower nozzle 2 arrives predeterminated position, control circuit controls shower nozzle 2 according to current spray patterns and sprays paint; In order to avoid mistake of spraying paint, control circuit need in real time monitoring to be located at ground image that the camera shooting on pen machine is told by described line-marking vehicle or institute, and automatically adjust according to this ground image the position that shower nozzle 2 sprays paint to needs.Circulation like this repeatedly, until be applied to complete for whole current spray patterns on ground.For the situation of ground relief, control circuit needs the ground image according to camera shooting, control the height of the second motor 32 and then adjustment the first horizon bar 11, and then have adjusted the height of shower nozzle 2, even if make shower nozzle 2 when ground relief, also evenly current spray patterns can be coated with out accurately.
Further, described two the 3rd slide mechanisms 121 are interconnected by lazy-tongs 14, two the 3rd slide mechanisms 121 are synchronized with the movement, avoid the first horizon bar 11 crooked in the horizontal direction, keep the movement locus of shower nozzle 2, lazy-tongs 14 comprise the synchronizing shaft be located between two the second horizon bars 12.Described control circuit, also by control two the second motors 32 and then drive described two the second slide mechanisms 131 to be synchronized with the movement, avoids the first horizon bar 11 crooked at vertical direction, keeps the movement locus of shower nozzle 2.Described shower nozzle 2 is cold spray type spray nozzle.The zone of action of described shower nozzle 2 is greater than the area of current spray patterns in the projected area on ground, avoid drain spray to cause certain excalation of road surface identification pattern.Particularly, the operating range of described first slide mechanism 111 is greater than the width of described current spray patterns, the operating range of described 3rd slide mechanism 121 is greater than the length of described current spray patterns, and then ensures that the zone of action of shower nozzle 2 is greater than the area of current spray patterns in the projected area on ground.
The intelligent pen machine of the embodiment of the present invention one, the line-marking vehicle overcoming prior art relies on manual operation for a long time, be difficult to the problem marking complex road surface identification pattern, achieve the automatic control of scribing operation, shower nozzle motion is controlled according to the road surface identification pattern template prestored by control circuit, to ground coating road surface identification pattern, and in real time according to the application place of the ground image adjustment shower nozzle of camera shooting, can not occur to be coated with mistake, avoid the waste of spraying paint, do not need to use and hide paint adhesive tape, intelligent and high-efficiency, does not pollute the environment.
Fig. 5 is the schematic perspective view of the intelligent line-marking vehicle of the embodiment of the present invention two, Fig. 6 is the schematic side view of the intelligent line-marking vehicle of the embodiment of the present invention two, as shown in Figure 5 and Figure 6, the intelligent line-marking vehicle 500 that the embodiment of the present invention two provides, comprising: intelligent pen machine 100 of the present invention and the installing rack 52 under being located at chassis 51.The Bracket setting of described intelligent pen machine 100 is below described installing rack 52.A region be set up between the front-wheel 53 of described intelligent line-marking vehicle and trailing wheel 54 of described intelligent pen machine 100.The accommodating cavity 55 for accommodating described intelligent pen machine 100 is provided with between the front-wheel 53 of described intelligent line-marking vehicle 500 and trailing wheel 54.
The operating principle of the intelligent line-marking vehicle of the embodiment of the present invention two is: stopped by intelligent line-marking vehicle 500 to needing to be coated with on the road surface of road surface identification pattern, intelligent pen machine 100, under the control of control circuit, sprays road surface identification pattern on ground automatically.Such as, when needs are coated with straight line on entire road, intelligence line-marking vehicle 500 is along road uniform motion, the intelligent pen machine that the chassis of intelligence line-marking vehicle 500 is installed for 51 times utilizes camera to adjust the spraying position of shower nozzle, thus in intelligent line-marking vehicle 500 driving process, road is coated with out whole piece straight line.Camera can be located on intelligent pen machine or below the chassis of intelligent line-marking vehicle, for taking pavement image and feeding back to control circuit.In addition, for the road surface identification pattern that area is larger, it is divided into some parts at length direction by computer, and intelligent line-marking vehicle proceeds to above Part I and stops, spraying Part I; After Part I has sprayed, intelligent line-marking vehicle advances, and proceeds to above Part II and stops, spraying Part II; After Part II has sprayed, intelligent line-marking vehicle advances, and proceeds to above Part III and stops, by that analogy, until sprayed whole road surface identification pattern.Generally can once spray at width.
The intelligent line-marking vehicle of the embodiment of the present invention two, shower nozzle motion is controlled according to the road surface identification pattern template prestored by control circuit, to ground coating road surface identification pattern, and in real time according to the application place of the ground image adjustment shower nozzle of camera shooting, can not occur to be coated with mistake, avoid the waste of spraying paint, not need to use to hide and paint adhesive tape, intelligent and high-efficiency, does not pollute the environment.
Last it is noted that above each embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (9)
1. an intelligent pen machine, is characterized in that, comprising: support, shower nozzle, camera, the first motor, the second motor, the 3rd motor and control circuit;
Described support comprises first horizon bar parallel to the ground, two the second horizon bars parallel to the ground and two vertical rods perpendicular to the ground; Wherein, the plane at described two the second horizon bar places is parallel to the ground, the plane at described two vertical rod places and the plane orthogonal at described two the second horizon bar places, the plane parallel at described first horizon bar and described two vertical rod places and with the plane parallel at described two the second horizon bar places;
Described shower nozzle to be located on described first horizon bar by the first slide mechanism and can be slided along the bearing of trend of described first horizon bar, described first horizon bar to be located on described two vertical rods by two the second slide mechanisms and can be slided along the bearing of trend of described vertical rod, and described two articles of vertical rods to be located at respectively on described two article of second horizon bar by two the 3rd slide mechanisms and can be slided along the bearing of trend of described second horizon bar;
Described first motor drives described first slide mechanism, and described second motor drives described second slide mechanism, and described 3rd motor drives described 3rd slide mechanism; Described control circuit connects described first motor, described second motor, described 3rd motor, described shower nozzle and described camera; Described control circuit moves according to the image of described cam feedback by controlling the rotating speed of described first motor, described second motor and described 3rd motor and step pitch and then controlling described shower nozzle and completes line on ground in solid space.
2. intelligent pen machine according to claim 1, is characterized in that, described two the 3rd slide mechanisms are interconnected by lazy-tongs.
3. intelligent pen machine according to claim 1, is characterized in that, described control circuit controls described two the second slide mechanisms and is synchronized with the movement.
4. intelligent pen machine according to claim 1, is characterized in that, described shower nozzle is cold spray type spray nozzle.
5. the intelligent pen machine according to claim 1-4 any one, is characterized in that, the zone of action of described shower nozzle is greater than the area of current spray patterns in the projected area on ground.
6. intelligent pen machine according to claim 5, is characterized in that, the operating range of described first slide mechanism is greater than the width of described current spray patterns, and the operating range of described 3rd slide mechanism is greater than the length of described current spray patterns.
7. an intelligent line-marking vehicle, is characterized in that, comprising: the intelligent pen machine described in claim 1-6 any one and the installing rack under being located at chassis:
The Bracket setting of described intelligent pen machine is below described installing rack.
8. intelligent line-marking vehicle according to claim 7, is characterized in that, described the region be set up between the front-wheel of described intelligent line-marking vehicle and trailing wheel.
9. intelligent line-marking vehicle according to claim 8, is characterized in that, is provided with the accommodating cavity for accommodating described intelligent pen machine between the front-wheel of described intelligent line-marking vehicle and trailing wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410391012.1A CN105369726B (en) | 2014-08-11 | 2014-08-11 | A kind of intelligent pen machine and a kind of intelligent line-marking vehicle |
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|---|---|---|---|
| CN201410391012.1A CN105369726B (en) | 2014-08-11 | 2014-08-11 | A kind of intelligent pen machine and a kind of intelligent line-marking vehicle |
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| CN105369726A true CN105369726A (en) | 2016-03-02 |
| CN105369726B CN105369726B (en) | 2017-10-20 |
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| CN201410391012.1A Expired - Fee Related CN105369726B (en) | 2014-08-11 | 2014-08-11 | A kind of intelligent pen machine and a kind of intelligent line-marking vehicle |
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Cited By (8)
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| CN108716182A (en) * | 2018-04-11 | 2018-10-30 | 浙江后花园园林工程有限公司 | A kind of municipal road construction device and construction method |
| CN108867305A (en) * | 2018-08-01 | 2018-11-23 | 烟台大学 | A kind of full-automatic road tracks pen machine |
| CN108999072A (en) * | 2018-08-08 | 2018-12-14 | 徐恩成 | Pavement of road lineation device and its construction method |
| CN111206484A (en) * | 2020-01-16 | 2020-05-29 | 浙江众鑫新材料有限公司 | Full-automatic road marking machine |
| CN114481793A (en) * | 2020-10-26 | 2022-05-13 | 广东博智林机器人有限公司 | Parking space marking device and method for marking parking space line |
| CN114561861A (en) * | 2020-11-27 | 2022-05-31 | 广东博智林机器人有限公司 | Line marking robot |
| CN114622469A (en) * | 2022-01-28 | 2022-06-14 | 南通威而多专用汽车制造有限公司 | Automatic old wire laying control system and control method thereof |
| CN115247397A (en) * | 2021-04-28 | 2022-10-28 | 广东博智林机器人有限公司 | Positioning device and marking equipment |
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| CN114561861A (en) * | 2020-11-27 | 2022-05-31 | 广东博智林机器人有限公司 | Line marking robot |
| CN115247397A (en) * | 2021-04-28 | 2022-10-28 | 广东博智林机器人有限公司 | Positioning device and marking equipment |
| CN115247397B (en) * | 2021-04-28 | 2023-09-26 | 广东博智林机器人有限公司 | Positioning device and scribing equipment |
| CN114622469A (en) * | 2022-01-28 | 2022-06-14 | 南通威而多专用汽车制造有限公司 | Automatic old wire laying control system and control method thereof |
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| CN105369726B (en) | 2017-10-20 |
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