CN110593073A - Intelligent vehicle capable of automatically spraying traffic markings and control method - Google Patents
Intelligent vehicle capable of automatically spraying traffic markings and control method Download PDFInfo
- Publication number
- CN110593073A CN110593073A CN201910964907.2A CN201910964907A CN110593073A CN 110593073 A CN110593073 A CN 110593073A CN 201910964907 A CN201910964907 A CN 201910964907A CN 110593073 A CN110593073 A CN 110593073A
- Authority
- CN
- China
- Prior art keywords
- coordinate point
- intelligent vehicle
- paint
- spraying
- curnode
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005507 spraying Methods 0.000 title claims abstract description 58
- 238000000034 method Methods 0.000 title claims abstract description 26
- 239000003973 paint Substances 0.000 claims abstract description 67
- 239000011248 coating agent Substances 0.000 claims abstract description 36
- 238000000576 coating method Methods 0.000 claims abstract description 36
- 239000003502 gasoline Substances 0.000 claims abstract description 19
- 230000005611 electricity Effects 0.000 claims abstract description 9
- 230000008569 process Effects 0.000 claims abstract description 5
- 238000010276 construction Methods 0.000 claims description 21
- 230000008439 repair process Effects 0.000 claims description 19
- 238000003756 stirring Methods 0.000 claims description 14
- 239000007788 liquid Substances 0.000 claims description 13
- 230000000007 visual effect Effects 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 10
- 239000000446 fuel Substances 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 6
- 239000000295 fuel oil Substances 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 230000008676 import Effects 0.000 claims description 3
- 230000004048 modification Effects 0.000 claims description 2
- 238000012986 modification Methods 0.000 claims description 2
- 238000007599 discharging Methods 0.000 claims 2
- 239000002828 fuel tank Substances 0.000 claims 1
- 238000011161 development Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000010985 leather Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/16—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings
- E01C23/20—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ
- E01C23/22—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/16—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings
- E01C23/20—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ
- E01C23/22—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying
- E01C23/227—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying the marking material being supplied in aerosol containers
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
An intelligent vehicle capable of automatically spraying traffic markings, a paint container, a control box and a paint pump connected with each other through a belt are arranged on a vehicle body, the automobile coating device comprises a generator and a gasoline engine, wherein the gasoline engine drives the generator to generate electricity to supply power to a control box and an automobile body respectively, the coating pump is driven to convey coating, a discharge port of a coating container is connected with an inlet end of the coating pump through a pipeline, an outlet end of the coating pump is connected with a feed port end of a right coating pipeline and a feed port end of a left coating pipeline through a three-way pipe joint respectively, the discharge port of the right coating pipeline is connected with a right coating nozzle which is arranged on the right side of the automobile body and used for spraying traffic markings through a right switching electromagnetic valve and a right discharge pipe sequentially, the discharge port of the left coating pipeline is connected with a left coating nozzle which is arranged on the left side of the automobile body and used for spraying traffic. The intelligent vehicle can automatically finish the spraying operation process without human participation.
Description
Technical Field
The invention relates to a traffic marking spraying vehicle. In particular to an intelligent vehicle capable of automatically spraying traffic markings and a control method.
Background
At present, a spraying system is generally arranged on a wheel type trolley in the spraying construction of road traffic marking, the wheel type trolley mostly depends on manpower to push to run, an operator controls the running path of the wheel type trolley, manually controls the spraying action, and manually controls the track and the shape of the sprayed road marking, the running power of individual wheel type trolley is increased, but the labor intensity of the constructors for pushing to run by manpower is only saved. The operation quality of the equipment mainly depends on the proficiency of constructors, the labor cost in the construction operation cost is too high, the construction quality depends on human factors, the quality is not easy to guarantee, the construction efficiency is low, the construction operation environment is poor, and the constructors have the risk of personal traffic injury.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent vehicle capable of automatically spraying traffic markings and a control method, wherein the intelligent vehicle can reduce the manual requirement in operation, is easy to ensure the operation quality, reduces the traffic safety risk of operators, and integrally improves the construction efficiency.
The technical scheme adopted by the invention is as follows: the intelligent vehicle comprises a vehicle body, wherein a paint container, a paint pump, a generator, a gasoline engine and a control box are arranged on the vehicle body from back to front, the paint container is internally provided with a spraying material, the paint pump, the generator, the gasoline engine are connected through a belt, the gasoline engine drives the generator to generate electricity to supply electricity to the control box and the vehicle body respectively to drive the paint pump to convey paint, a discharge port of the paint container is connected with an inlet end of the paint pump through a pipeline, an outlet end of the paint pump is connected with a feed port end of a right paint pipeline and a feed port end of a left paint pipeline through a three-way pipe joint respectively, a discharge port of the right paint pipeline is connected with a right paint nozzle which is arranged on the right side of the vehicle body and used for spraying traffic markings through a right switching electromagnetic valve and a right discharge pipe sequentially, and a discharge port of the left paint pipeline is connected with a left paint nozzle which And the switch control ends of the right switch electromagnetic valve and the left switch electromagnetic valve are connected with the control box through a lead.
A control method of an intelligent vehicle capable of automatically spraying traffic markings comprises the following steps: firstly, setting: the abscissa of the coordinate point of the traffic marking is x; the ordinate of the coordinate point of the traffic marking is y; the drawing line identification is k, the value range of k is {0, 1}, the value range of k is 0 to indicate that no drawing line exists from the previous coordinate point to the current coordinate point, and the value range of k is 1 to indicate that the drawing line exists from the previous coordinate point to the current coordinate point; t is a yaw coefficient threshold value; then the following main running program is carried out:
1) defining a coordinate point array;
2) an operator imports or inputs coordinate point data of the traffic marking into the coordinate point array according to the road traffic marking construction drawing;
3) starting the intelligent vehicle and entering a first coordinate point of the traffic marking;
4) checking whether the current coordinate point CurNode is an end coordinate point or not according to the coordinate point data of the traffic marking, if so, entering a step 14), and if not, continuing the next step;
5) acquiring a next coordinate point NexNode;
6) if the line drawing identifier k of the next coordinate point NexNeode is 1, opening a switching electromagnetic valve for spraying, and performing spraying identifier line operation, otherwise, performing no spraying, and entering the next step;
7) reading real-time coordinate points of intelligent vehicle walking and assigning the coordinate points as xPos and yPos;
8) if | xPos-NexNode.x | + | yPos-NexNode.y | is less than a set value, entering the step 13), otherwise continuing the next step, wherein xPos is the abscissa of the real-time coordinate point, NexNode.x is the abscissa of the next coordinate point, yPos is the ordinate of the real-time coordinate point, and NexNode.y is the ordinate of the next coordinate point;
9) calculating a yaw coefficient Erro:
Erro＝
(yPos-curnode.y) (curnode.x-nexnode.x) - (xPos-curnode.x) (curnode.y-nexnode.y, wherein curnode.y is the ordinate of the current coordinate point and curnode.x is the abscissa of the current coordinate point;
10) if the yaw coefficient Erro is less than or equal to the yaw coefficient threshold value T, the step 12) is carried out, otherwise, the next step is continued;
11) starting an intelligent vehicle route repairing sub-operation program according to the yaw coefficient Erro value;
12) delaying for 100 milliseconds, and returning to the step 7);
13) updating the next coordinate point data to be the current coordinate point data: curnode.x ═ nexcode.x, curnode.y ═ nexcode.y, then return to step 4);
14) and finishing the operation.
The intelligent vehicle capable of automatically spraying the traffic marking and the control method can automatically finish the spraying operation process without human participation. The constructor only needs to equip the automatic spraying traffic marking intelligent vehicle with operation materials in a construction base, inputs the geographic coordinate information and the line type information of the traffic marking through the computer system, then the automatic spraying traffic marking intelligent vehicle can automatically complete the spraying of the traffic marking under the control of the computer control system, and meanwhile, the automatic spraying traffic marking intelligent vehicle can monitor the states of equipment and materials and automatically make a decision whether to continue the construction operation or to alarm to wait for the constructor to add the materials or automatically return to the construction base. The intelligent vehicle for automatically spraying the traffic markings can intelligently calculate and spray the tracks and the shapes of the markings, inform the operation state through acousto-optic alarm in the construction operation, automatically identify the obstacles, stop the construction operation, simultaneously give an alarm to inform constructors, and continue the construction operation after the construction operation conditions are met. The automatic spraying traffic marking intelligent vehicle can reduce the requirement on manpower in operation, the operation quality is easy to guarantee, the traffic safety risk of operators is reduced, the construction efficiency is improved integrally, and the engineering cost is reduced.
Drawings
FIG. 1 is a schematic overall structure diagram of an intelligent vehicle for automatically spraying traffic markings and a control method thereof;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a control schematic block diagram of an intelligent vehicle and control method for automatically spraying traffic markings according to the present invention;
fig. 4 is a power supply principle diagram of the intelligent vehicle for automatically spraying the traffic marking and the control method.
In the drawings
1: and (3) coating container 2: paint pump
3: the power generator 4: gasoline engine
5: and a control box 6: discharge port
7: inlet end 8: outlet end
9: three-way pipe joint 10: right coating pipeline
11: left paint line 12: right switch electromagnetic valve
13: left on-off solenoid valve 14: right discharge pipe
15: left outlet pipe 16: right paint nozzle
17: left paint nozzle 18: leather belt
19: platform frame 20: right rear wheel
21: left rear wheel 22: right rear side driving motor
23: left rear side drive motor 24: right front wheel
25: left front wheel 26: right front side driving motor
27: left front side drive motor 28: container lid
29: the stirring motor 30: rotating shaft
31: the stirring fan blade 32: coating liquid level sensor
33: fuel level sensor 34: electric quantity detection module
35: positioning sensing module 36: ultrasonic sensor
37: audible and visual alarm 51: box body
52: the battery 53: control unit
Detailed Description
The following describes in detail an intelligent vehicle and a control method for automatically spraying traffic markings according to the present invention with reference to the following embodiments and accompanying drawings.
As shown in fig. 1 and 2, the intelligent vehicle for automatically spraying traffic markings comprises a vehicle body, wherein a paint container 1 filled with a spraying material, a paint pump 2, a generator 3, a gasoline engine 4 and a control box 5 are arranged on the vehicle body from back to front, the paint pump 2, the generator 3 and the gasoline engine 4 are connected through a belt 18, and the gasoline engine 4 drives the generator 3 to generate power to supply power to the control box 5 and the vehicle body respectively to drive the paint pump 2 to transmit paint. The generator 3 generates power under the driving of the gasoline engine 4, the power generated by the generator 3 is supplied to the relevant electrical components, on the one hand, the storage battery 52 in the box body 51 of the control box 5 is charged, and the power of the storage battery 52 is used as backup power to supply power to the relevant electrical components. The discharge port 6 of the coating container 5 is connected with the inlet end 7 of the coating pump 2 through a pipeline, the outlet end 8 of the coating pump 2 is respectively connected with the feed port ends of a right coating pipeline 10 and a left coating pipeline 11 through a three-way pipe joint 9, the discharge port of the right coating pipeline 10 is connected with a right coating nozzle 16 which is arranged on the right side of the vehicle body and used for spraying traffic markings through a right switching electromagnetic valve 12 and a right discharge pipe 14 in sequence, the discharge port of the left coating pipeline 11 is connected with a left coating nozzle 17 which is arranged on the left side of the vehicle body and used for spraying traffic markings through a left switching electromagnetic valve 13 and a left discharge pipe 15 in sequence, and the switching control ends of the right switching electromagnetic valve 12 and the left switching electromagnetic valve 13 are connected with.
And a control circuit in the control box 5 controls the opening and closing of the right switch electromagnetic valve 12 and the left switch electromagnetic valve 13 according to information fed back by the paint liquid level sensor 32, the positioning sensing module 35 and the like, so that the right paint nozzle 16 and the left paint nozzle 17 spray paint on a road surface.
A stirring motor 29 is provided on a container cover 28 of the paint container 1, a rotating shaft 30 of the stirring motor 29 penetrates the container cover 28 and is positioned in the paint container 1, and a stirring blade 31 for stirring the paint in the paint container 1 is connected to the top end of the rotating shaft 30. The control circuit in the control box 5 controls the operation of the stirring motor 29 according to a set time interval, and the paint is stirred by the stirring fan blades 31, so that the paint is always in a uniform state.
As shown in fig. 1 and 2, the vehicle body includes a flat frame 19, right and left rear wheels 20 and 21 provided at the left and right sides of the rear portion of the flat frame 19, right and left rear drive motors 22 and 23 having output shafts connected to the rotation shafts of the right and left rear wheels 20 and 21, right and left front wheels 24 and 25 provided at the left and right sides of the front portion of the flat frame 19, and right and left front drive motors 26 and 27 having output shafts connected to the rotation shafts of the right and left front wheels 24 and 25, control inputs of the right and left rear drive motors 22, 23, 26 and 27 are connected to the control box 5, and feedback information from a position sensor module 35 and an ultrasonic sensor 36 is fed back from a control unit in the control box 5, the rotation speeds and the steering directions of the right rear side drive motor 22, the left rear side drive motor 23, the right front side drive motor 26 and the left front side drive motor 27 are controlled to realize the forward movement, the backward movement and the left and right side turning of the vehicle body, thereby realizing the running track course of the vehicle frame 1.
As shown in fig. 1 and 2, the control box 5 includes a box body 51, a storage battery 52 disposed at a lower portion in the box body 51, and a control unit 53 disposed at an upper portion in the box body 51, a power input end of the storage battery 52 is connected to a power output end of the generator 3 through a lead, and power output ends of the storage battery 52 are respectively connected to the control unit 53 and power input ends of the right rear side driving motor 22, the left rear side driving motor 23, the right front side driving motor 26, and the left front side driving motor 27 in the vehicle body through leads.
As shown in fig. 3, the control unit 53 is composed of a control circuit, and signal input ends of the control circuit are respectively connected to a paint level sensor 32 for sensing whether the paint is enough for operation, a fuel level sensor 33 for sensing whether the fuel is enough for operation, an electric quantity detection module 34 for sensing the electric quantity of the storage battery, a positioning sensing module 35 for sensing the geographical position of the vehicle body, an ultrasonic sensor 36 for sensing whether an obstacle exists in front of the vehicle body, and an audible and visual alarm 37 for forming audible and visual alarm; the signal output end of the control circuit is respectively connected with the control signal input end of a stirring motor 29 arranged on a container cover 28 of the paint container 1, the control signal input ends of a right rear side driving motor 22, a left rear side driving motor 23, a right front side driving motor 26 and a left front side driving motor 27 arranged on two sides of a vehicle body, and the switch control input ends of a right switch electromagnetic valve 12 and a left switch electromagnetic valve 13. Wherein the content of the first and second substances,
the coating liquid level sensor 32 is arranged on the coating container 1, the fuel liquid level sensor 33 is arranged on an oil tank of the gasoline engine 4, the electric quantity detection module 34 is arranged on a storage battery 52 in the control box 5, the positioning sensing module 35 is arranged on a box body 51 of the control box 5, the ultrasonic sensor 36 is arranged at the front end of the vehicle body, and the audible and visual alarm 37 is arranged on the flat frame 19.
In the embodiment of the invention:
the control unit 53 employs: the wild fire inherits fire STM32F103VET6 development board, or the ortho atomic Apollo STM32F767 development board, or the hard stone electronic STM32F4 development board;
the positioning sensing module 35 employs: a real-time difference module of Zhonghai Sky2, or a TOPGNSS TOPF9UB RTK difference GPS module, or a Huaxia starry Sky HxSky001 RTK difference GPS module;
the ultrasonic sensor 36 employs: TELESKY HC-SR04 US-100US-015 ultrasonic module, or a hard stone electronic US-100 ultrasonic module, or a Risym US-100 ultrasonic ranging module;
the electric quantity detection module 34 employs: a Jiansi research science and technology JSY-MK-135 miniature electrical parameter acquisition module, or an electric parameter acquisition module of a standing fast electronic LT-211 storage battery, or a Kangwei science and technology WCS2702 high-precision voltage direct current electric quantity detection module;
the paint level sensor 32 and the fuel level sensor 33 employ: HCL300 liquid level sensor of HOSSWILL company, or HY-136 liquid level transmitter of a macro-morning instrument, or T30 liquid level sensor of TELESKY company.
The invention discloses a control method of an intelligent vehicle capable of automatically spraying traffic markings, which comprises the following steps: firstly, setting: the abscissa of the coordinate point of the traffic marking is x; the ordinate of the coordinate point of the traffic marking is y; the drawing line identification is k, the value range of k is {0, 1}, the value range of k is 0 to indicate that no drawing line exists from the previous coordinate point to the current coordinate point, and the value range of k is 1 to indicate that the drawing line exists from the previous coordinate point to the current coordinate point; t is a yaw coefficient threshold value; then the following main running program is carried out:
1) defining a coordinate point array;
2) an operator imports or inputs coordinate point data of the traffic marking into the coordinate point array according to the road traffic marking construction drawing;
3) starting the intelligent vehicle and entering a first coordinate point of the traffic marking;
4) checking whether the current coordinate point CurNode is an end coordinate point or not according to the coordinate point data of the traffic marking, if so, entering a step 14), and if not, continuing the next step;
5) acquiring a next coordinate point NexNode;
6) if the line drawing identification k of the next coordinate point NexNeode is 1, opening a switching electromagnetic valve for spraying, and performing spraying line marking operation, otherwise, performing no spraying, and entering the next step;
7) reading real-time coordinate points of intelligent vehicle walking and assigning the coordinate points as xPos and yPos;
8) if | xPos-NexNode.x | + | yPos-NexNode.y | is less than a set value, entering the step 13), otherwise continuing the next step, wherein xPos is the abscissa of the real-time coordinate point, NexNode.x is the abscissa of the next coordinate point, yPos is the ordinate of the real-time coordinate point, and NexNode.y is the ordinate of the next coordinate point;
9) calculating a yaw coefficient Erro:
Erro＝
(yPos-curnode.y) (curnode.x-nexnode.x) - (xPos-curnode.x) (curnode.y-nexnode.y, wherein curnode.y is the ordinate of the current coordinate point and curnode.x is the abscissa of the current coordinate point;
10) if the yaw coefficient Erro is less than or equal to the yaw coefficient threshold value T, the step 12) is carried out, otherwise, the next step is continued;
11) starting an intelligent vehicle route repairing sub-operation program according to the yaw coefficient Erro value;
12) delaying for 100 milliseconds, and returning to the step 7);
13) updating the next coordinate point data to be the current coordinate point data: curnode.x ═ nexcode.x, curnode.y ═ nexcode.y, then return to step 4);
14) and finishing the operation.
The intelligent vehicle route repairing sub-operation program in the step 11) comprises the following steps:
setting a yaw threshold value as Threshod; entrance parameters: the abscissa of the real-time coordinate point of the intelligent vehicle walking is assigned as xPos, and the ordinate of the real-time coordinate point is assigned as yPos; the current coordinate point of the current vehicle driving interval is CurNode, and the next coordinate point is NexNode; then the following steps are carried out:
(1) calculating the running direction characteristic marks flag and flag of the intelligent vehicle
The intelligent vehicle driving x-direction characteristic flag is NexNode
Intelligent vehicle driving y direction characteristic flag is NexNeode
Wherein NexNode.x is the abscissa of the next coordinate point, and CurNode.x is the abscissa of the current coordinate point; NexNode.y is the ordinate of the next coordinate point, and CurNode.y is the ordinate of the current coordinate point;
(2) calculating an ordinate value y0 and an abscissa value x0 of a theoretical travel locus coordinate point of the intelligent vehicle:
wherein CurNode.y is the ordinate of the current coordinate point, and NexNode.y is the ordinate of the next coordinate point;
(3) and (3) carrying out intelligent vehicle route repair under the following modification conditions:
if | yPos-y0| ≦ Threshod, xPos-x0> Threshod, and flag >0, then the airline turns left for repair, otherwise turns right for repair;
if the | yPos-y0| ≦ Threshod, xPos-x0< -Threshod and flag >0, the airline turns right to repair, otherwise turns left to repair;
if yPos-y0> Threshod and Flagx >0, then the airline turns right to repair, otherwise turns left to repair;
if yPos-y0< -Threshod, and Flagx >0, then the lane turns left to repair, otherwise turns right to repair.
The right-turn restoration method is acceleration of the left-side motor, and the left-turn restoration method is acceleration of the right-side motor.
The control method of the intelligent vehicle capable of automatically spraying the traffic markings further comprises the steps of stopping the main operation program when the ultrasonic sensor detects that an obstacle exists in front of the vehicle body, or when the fuel oil level sensor detects that the fuel oil for operation reaches the set lower limit, or when the paint level sensor detects that the paint for operation reaches the set lower limit of 0, or when the electric quantity detection module detects that the electric quantity of the storage battery reaches the set lower limit, executing the interrupt program, processing, and returning to the main operation program to continue to operate after the processing is finished. Wherein the content of the first and second substances,
the interrupt program includes: stopping the intelligent vehicle, closing the switch electromagnetic valve and starting the audible and visual alarm to give an alarm. The treatment comprises the steps of removing barriers, filling fuel oil, filling paint and charging the storage battery.
When the intelligent vehicle and the control method for automatically spraying the traffic marking are used, a constructor opens a container cover 28 of a paint container to fill paint into the paint container 1, a storage battery 52 is fully charged, a gasoline engine 4 is filled with gasoline, a control unit 53 is started, traffic marking construction drawing data is input (the invention is input into the control unit 53 through a keyboard arranged on a control box 5), specifically, coordinate position information of key geographic coordinate points of the traffic marking needing to be operated is input or led in according to the sequence of the construction drawing, linear information of the traffic marking among the geographic coordinate points needing to be operated is input, the gasoline engine 4 is started, the operation of the control unit 53 is started, the control unit 53 continuously forms a running path from a current point to a next coordinate point according to the sequence of the geographic coordinate points of the input traffic marking, and controlling the intelligent vehicle to automatically run according to the planned path to form a running track of the traffic marking, wherein in the running process of the intelligent vehicle, the control unit 53 simultaneously controls the opening and closing of the right switch electromagnetic valve 12 or the left switch electromagnetic valve 13 according to the geographical coordinate point information, and sprays the coating through the right coating nozzle 16 or the left coating nozzle 17, so that the intelligent vehicle runs according to the track of the traffic marking while spraying the coating until the operation is finished, and returns according to the starting geographical coordinate point information to finish the operation.
In addition, in the operation process, the control unit 53 continuously reads the geographic position information of the positioning sensor module 35 to serve as the real-time geographic position information of the intelligent vehicle, and the control unit 53 calculates the deviation degree of the intelligent vehicle from the route in real time and continuously corrects the route to realize the automatic driving required by the road traffic marking construction drawing path.
The coating liquid level sensor 32, the fuel oil liquid level sensor 33 and the electric quantity detection module 34 transmit data to the control unit 53 in real time, when one of the sensor information is true, the intelligent vehicle does not have normal operation conditions, the main program of the control unit 53 is interrupted, and the corresponding interruption service program is executed to control the audible and visual alarm 37 to give an alarm, so that a constructor is informed to troubleshoot faults and perform related maintenance.
When the data of the ultrasonic sensor 36 is true, the main program of the control unit 53 is interrupted, the corresponding interrupt service program is executed, the intelligent vehicle is controlled to stop running, the right switch electromagnetic valve 12 or the left switch electromagnetic valve 13 is controlled to be closed to stop the spraying action, the construction personnel is informed through the audible and visual alarm 37, and when the obstacle is eliminated, the intelligent vehicle continues the operation content which is just stopped.
The generator 3 generates electricity under the driving of the gasoline engine 4, the electricity generated by the generator 3 is supplied to the relevant electrical elements on one hand, the storage battery 52 is charged on the other hand, and the electricity of the storage battery 52 is used as backup electricity to supply electricity to the relevant electrical elements.
When the intelligent vehicle for automatically spraying the traffic marking is used, containers, pipelines and the like of the coating need to be cleaned after each operation is finished.
Claims (10)
1. The intelligent vehicle capable of automatically spraying the traffic markings comprises a vehicle body and is characterized in that a paint container (1) filled with a spraying material inside, a paint pump (2), a generator (3), a gasoline engine (4) and a control box (5) are arranged on the vehicle body from back to front, the paint pump (2), the generator (3) and the gasoline engine (4) are connected through a belt (18), the gasoline engine (4) respectively drives the generator (3) to generate electricity to supply power to the control box (5) and the vehicle body and drives the paint pump (2) to transmit paint, a discharge port (6) of the paint container (5) is connected with an inlet port (7) of the paint pump (2) through a pipeline, an outlet port (8) of the paint pump (2) is respectively connected with a right paint pipeline connector (10) and a feed port end of a left paint pipeline (11) through a tee joint (9), the discharge gate of right side coating pipeline (10) loops through right on-off solenoid valve (12) and right discharging pipe (14) and connects right coating nozzle (16) that are used for spraying the traffic marking that sets up on the automobile body right side, the discharge gate of left side coating pipeline (11) loops through left on-off solenoid valve (13) and left discharging pipe (15) and connects left coating nozzle (17) that set up on the left traffic marking that is used for spraying of automobile body, the on-off control end of right on-off solenoid valve (12) and left on-off solenoid valve (13) passes through wire connection control case (5).
2. The intelligent vehicle capable of automatically spraying the traffic markings according to claim 1, wherein a stirring motor (29) is arranged on a container cover (28) of the paint container (1), a rotating shaft (30) of the stirring motor (29) penetrates through the container cover (28) and is located in the paint container (1), and a stirring blade (31) for stirring the paint in the paint container (1) is connected to the top end of the rotating shaft (30).
3. The intelligent vehicle capable of automatically spraying traffic markings according to claim 1, wherein the vehicle body comprises a platform frame (19), a right rear wheel (20) and a left rear wheel (21) which are correspondingly arranged at the left side and the right side of the rear part of the flat plate frame (19), and a right rear side drive motor (22) and a left rear side drive motor (23) having output shafts correspondingly connecting the rotation shafts of the right rear wheel (20) and the left rear wheel (21), a right front wheel (24) and a left front wheel (25) which are correspondingly arranged at the left side and the right side of the front part of the flat plate frame (19), and a right front side drive motor (26) and a left front side drive motor (27) having output shafts correspondingly connecting the rotation shafts of the right front wheel (24) and the left front wheel (25), and the control input ends of the right rear side driving motor (22), the left rear side driving motor (23), the right front side driving motor (26) and the left front side driving motor (27) are connected with the control box (5).
4. The intelligent vehicle capable of automatically spraying the traffic markings according to claim 1, wherein the control box (5) comprises a box body (51), a storage battery (52) arranged at the lower part in the box body (51) and a control unit (53) arranged at the upper part in the box body (51), the power input end of the storage battery (52) is connected with the power output end of the generator (3) through a lead, and the power output end of the storage battery (52) is respectively connected with the control unit (53) and the power input ends of the right rear side driving motor (22), the left rear side driving motor (23), the right front side driving motor (26) and the left front side driving motor (27) in the vehicle body through leads.
5. The intelligent vehicle capable of automatically spraying the traffic markings according to claim 3, wherein the control unit (53) is composed of a control circuit, and signal input ends of the control circuit are respectively connected with a paint liquid level sensor (32) for sensing whether the operating paint is enough or not, a fuel liquid level sensor (33) for sensing whether the operating fuel is enough or not, an electric quantity detection module (34) for sensing the electric quantity of a storage battery, a positioning sensing module (35) for sensing the geographic position of the vehicle body, an ultrasonic sensor (36) for sensing whether an obstacle exists in front of the vehicle body and an audible and visual alarm (37) for forming audible and visual alarm; the signal output end of the control circuit is respectively connected with the control signal input end of a stirring motor (29) arranged on a container cover (28) of the paint container (1), the control signal input ends of a right rear side driving motor (22), a left rear side driving motor (23), a right front side driving motor (26) and a left front side driving motor (27) arranged on two sides of a vehicle body, and the switch control input ends of a right switch electromagnetic valve (12) and a left switch electromagnetic valve (13).
6. The intelligent vehicle capable of automatically spraying the traffic markings as claimed in claim 5, wherein the paint liquid level sensor (32) is arranged on the paint container (1), the fuel liquid level sensor (33) is arranged on a fuel tank of the gasoline engine (4), the electric quantity detection module (34) is arranged on a storage battery (52) in the control box (5), the positioning sensing module (35) is arranged on a box body (51) of the control box (5), the ultrasonic sensor (36) is arranged at the front end of the vehicle body, and the audible and visual alarm (37) is arranged on the flat vehicle frame (19).
7. The control method of the intelligent vehicle for automatically spraying the traffic markings according to claim 1, comprising the following steps: firstly, setting: the abscissa of the coordinate point of the traffic marking is x; the ordinate of the coordinate point of the traffic marking is y; the drawing line identification is k, the value range of k is {0, 1}, the value range of k is 0 to indicate that no drawing line exists from the previous coordinate point to the current coordinate point, and the value range of k is 1 to indicate that the drawing line exists from the previous coordinate point to the current coordinate point; t is a yaw coefficient threshold value; then the following main running program is carried out:
1) defining a coordinate point array;
2) an operator imports or inputs coordinate point data of the traffic marking into the coordinate point array according to the road traffic marking construction drawing;
3) starting the intelligent vehicle and entering a first coordinate point of the traffic marking;
4) checking whether the current coordinate point CurNode is an end coordinate point or not according to the coordinate point data of the traffic marking, if so, entering a step 14), and if not, continuing the next step;
5) acquiring a next coordinate point NexNode;
6) if the line drawing identifier k of the next coordinate point NexNeode is 1, opening a switching electromagnetic valve for spraying, and performing spraying identifier line operation, otherwise, performing no spraying, and entering the next step;
7) reading real-time coordinate points of intelligent vehicle walking and assigning the coordinate points as xPos and yPos;
8) if | xPos-NexNode.x | + | yPos-NexNode.y | is less than a set value, entering the step 13), otherwise continuing the next step, wherein xPos is the abscissa of the real-time coordinate point, NexNode.x is the abscissa of the next coordinate point, yPos is the ordinate of the real-time coordinate point, and NexNode.y is the ordinate of the next coordinate point;
9) calculating a yaw coefficient Erro:
(yPos-curnode.y) (curnode.x-nexnode.x) - (xPos-curnode.x) (curnode.y-nexnode.y, wherein curnode.y is the ordinate of the current coordinate point and curnode.x is the abscissa of the current coordinate point;
10) if the yaw coefficient Erro is less than or equal to the yaw coefficient threshold value T, the step 12) is carried out, otherwise, the next step is continued;
11) starting an intelligent vehicle route repairing sub-operation program according to the yaw coefficient Erro value;
12) delaying for 100 milliseconds, and returning to the step 7);
13) updating the next coordinate point data to be the current coordinate point data: curnode.x ═ nexcode.x, curnode.y ═ nexcode.y, then return to step 4);
14) and finishing the operation.
8. The control method of the intelligent vehicle for automatically spraying the traffic markings according to claim 7, wherein the route repair sub-operation program of the intelligent vehicle comprises:
setting a yaw threshold value as Threshod; entrance parameters: the abscissa of the real-time coordinate point of the intelligent vehicle walking is assigned as xPos, and the ordinate of the real-time coordinate point is assigned as yPos; the current coordinate point of the current vehicle driving interval is CurNode, and the next coordinate point is NexNode; then the following steps are carried out:
(1) calculating the running direction characteristic marks flag and flag of the intelligent vehicle
The intelligent vehicle driving x-direction characteristic flag is NexNode
Intelligent vehicle driving y direction characteristic flag is NexNeode
Wherein NexNode.x is the abscissa of the next coordinate point, and CurNode.x is the abscissa of the current coordinate point; NexNode.y is the ordinate of the next coordinate point, and CurNode.y is the ordinate of the current coordinate point;
(2) calculating an ordinate value y0 and an abscissa value x0 of a theoretical travel locus coordinate point of the intelligent vehicle:
wherein CurNode.y is the ordinate of the current coordinate point, and NexNode.y is the ordinate of the next coordinate point;
(3) and (3) carrying out intelligent vehicle route repair under the following modification conditions:
if | yPos-y0| ≦ Threshod, xPos-x0> Threshod, and flag >0, then the airline turns left for repair, otherwise turns right for repair;
if the | yPos-y0| ≦ Threshod, xPos-x0< -Threshod and flag >0, the airline turns right to repair, otherwise turns left to repair;
if yPos-y0> Threshod and Flagx >0, then the airline turns right to repair, otherwise turns left to repair;
if yPos-y0< -Threshod and Flagx >0 lane left turn repair, otherwise right turn repair.
The right-turn restoration method is acceleration of the left-side motor, and the left-turn restoration method is acceleration of the right-side motor.
9. The control method of the intelligent vehicle capable of automatically spraying the traffic markings according to claim 7, wherein when the ultrasonic sensor detects that an obstacle exists in front of the vehicle body, or when the fuel level sensor detects that fuel oil for operation has reached a set lower limit, or the paint level sensor detects that paint for operation has reached a set lower limit, or the electric quantity detection module detects that the electric quantity of the storage battery has reached a set lower limit, the main operation program is stopped, the interrupt program is executed, the processing is performed, and the main operation program is returned to for continuous operation after the processing is completed.
10. The method as claimed in claim 9, wherein the interrupt process comprises: stopping the intelligent vehicle, closing the switch electromagnetic valve and starting the audible and visual alarm to give an alarm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910964907.2A CN110593073B (en) | 2019-10-11 | 2019-10-11 | Intelligent vehicle capable of automatically spraying traffic marking and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910964907.2A CN110593073B (en) | 2019-10-11 | 2019-10-11 | Intelligent vehicle capable of automatically spraying traffic marking and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110593073A true CN110593073A (en) | 2019-12-20 |
| CN110593073B CN110593073B (en) | 2024-05-14 |
Family
ID=68866604
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910964907.2A Active CN110593073B (en) | 2019-10-11 | 2019-10-11 | Intelligent vehicle capable of automatically spraying traffic marking and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110593073B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111218885A (en) * | 2020-01-16 | 2020-06-02 | 泉州市路明达交通设施有限公司 | Automatic spraying control system and method for traffic marking |
| CN111409654A (en) * | 2020-04-03 | 2020-07-14 | 首钢智新迁安电磁材料有限公司 | Rail transport device |
| CN114319010A (en) * | 2022-01-10 | 2022-04-12 | 郑州科技学院 | Automatic marking device for parking place |
| WO2024079065A1 (en) * | 2022-10-10 | 2024-04-18 | Tinymobilerobots Aps | Line marking apparatus with paint fill level and/or paint nozzle control |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102267455A (en) * | 2011-05-09 | 2011-12-07 | 台州市鼎天摩配科技有限公司 | Hybrid motorcycle/scooter and control method thereof |
| CN202559220U (en) * | 2012-04-17 | 2012-11-28 | 招商局重庆交通科研设计院有限公司 | Intelligent mark and marking line car |
| CN206346100U (en) * | 2016-12-22 | 2017-07-21 | 吉林大学 | Road traffic marking system for automatic marker making car |
| EP3253924A1 (en) * | 2015-02-06 | 2017-12-13 | Limn Tech LLC | Roadway marker control system |
| CN107869107A (en) * | 2016-09-28 | 2018-04-03 | 黄信岳 | A kind of pen machine bias correction method and pen machine |
| KR20180115073A (en) * | 2017-04-12 | 2018-10-22 | 이종민 | A device for painting of robot type road markings |
| CN108867305A (en) * | 2018-08-01 | 2018-11-23 | 烟台大学 | A kind of full-automatic road tracks pen machine |
| CN211057582U (en) * | 2019-10-11 | 2020-07-21 | 唐山学院 | Traffic marking spraying vehicle |
-
2019
- 2019-10-11 CN CN201910964907.2A patent/CN110593073B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102267455A (en) * | 2011-05-09 | 2011-12-07 | 台州市鼎天摩配科技有限公司 | Hybrid motorcycle/scooter and control method thereof |
| CN202559220U (en) * | 2012-04-17 | 2012-11-28 | 招商局重庆交通科研设计院有限公司 | Intelligent mark and marking line car |
| EP3253924A1 (en) * | 2015-02-06 | 2017-12-13 | Limn Tech LLC | Roadway marker control system |
| CN107869107A (en) * | 2016-09-28 | 2018-04-03 | 黄信岳 | A kind of pen machine bias correction method and pen machine |
| CN206346100U (en) * | 2016-12-22 | 2017-07-21 | 吉林大学 | Road traffic marking system for automatic marker making car |
| KR20180115073A (en) * | 2017-04-12 | 2018-10-22 | 이종민 | A device for painting of robot type road markings |
| CN108867305A (en) * | 2018-08-01 | 2018-11-23 | 烟台大学 | A kind of full-automatic road tracks pen machine |
| CN211057582U (en) * | 2019-10-11 | 2020-07-21 | 唐山学院 | Traffic marking spraying vehicle |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111218885A (en) * | 2020-01-16 | 2020-06-02 | 泉州市路明达交通设施有限公司 | Automatic spraying control system and method for traffic marking |
| CN111409654A (en) * | 2020-04-03 | 2020-07-14 | 首钢智新迁安电磁材料有限公司 | Rail transport device |
| CN114319010A (en) * | 2022-01-10 | 2022-04-12 | 郑州科技学院 | Automatic marking device for parking place |
| WO2024079065A1 (en) * | 2022-10-10 | 2024-04-18 | Tinymobilerobots Aps | Line marking apparatus with paint fill level and/or paint nozzle control |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110593073B (en) | 2024-05-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110593073A (en) | Intelligent vehicle capable of automatically spraying traffic markings and control method | |
| US10571905B2 (en) | Control apparatus for utility vehicle | |
| CN102880175B (en) | Automatic running device | |
| US11207995B2 (en) | System and method for charging machines | |
| US10386852B2 (en) | Control apparatus for utility vehicle | |
| CN106702937A (en) | Sanitation vehicle with automatic sweeping function and automatic driving method thereof | |
| EP3225454A1 (en) | Charging station for utility vehicle | |
| CN202555124U (en) | Mobile water mist dust suppression locomotive for controlling PM2.5 air quality to avoid exceeding standard | |
| CN103963043A (en) | Intelligent robot for power station inspection and maintenance and control system thereof | |
| CN106948302A (en) | A kind of unmanned cleaning car | |
| CN102660932A (en) | Movable water spray dust fall engine for controlling over-standard air quality of particulate matter 2.5 (PM 2.5) | |
| CN207397090U (en) | A kind of unmanned distribution trolley | |
| CN110989578B (en) | Wireless-control dual-core four-wheel-drive UWB positioning mowing robot and control method thereof | |
| CN207704267U (en) | A kind of Intelligent unattended floor truck control system | |
| CN107608348A (en) | A kind of autonomous type graticule robot system and line-marking method | |
| CN110786221B (en) | Unmanned vehicle medicine separation high-clearance operation system | |
| CN110989545A (en) | Agricultural unmanned vehicle management system and method based on cloud platform | |
| CN211057582U (en) | Traffic marking spraying vehicle | |
| CN208810381U (en) | A kind of spray equipment based on robot | |
| CN112921780A (en) | Intelligent two-dimensional traffic marking spraying device | |
| CN105807770A (en) | Adjusting device for chassis self-walking mechanism for aircraft engine installation and debugging method of adjusting device | |
| CN218756932U (en) | Unmanned water line device of beating | |
| CN206590005U (en) | Automatical pilot transportation vehicle | |
| CN211104657U (en) | Spray maintenance vehicle suitable for small-size assembled component | |
| Turkmen et al. | Autonomous car parking system with various trajectories |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |