CN112779845A - Automatic pre-scribing equipment for road marking line and working method - Google Patents
Automatic pre-scribing equipment for road marking line and working method Download PDFInfo
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- CN112779845A CN112779845A CN202110113060.4A CN202110113060A CN112779845A CN 112779845 A CN112779845 A CN 112779845A CN 202110113060 A CN202110113060 A CN 202110113060A CN 112779845 A CN112779845 A CN 112779845A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 239000007921 spray Substances 0.000 claims abstract description 58
- 230000002452 interceptive effect Effects 0.000 claims abstract description 39
- 230000003993 interaction Effects 0.000 claims abstract description 23
- 238000004891 communication Methods 0.000 claims abstract description 8
- 239000000049 pigment Substances 0.000 claims description 34
- 238000005507 spraying Methods 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 6
- 239000003973 paint Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 2
- 241001061260 Emmelichthys struhsakeri Species 0.000 claims 1
- 229910000831 Steel Inorganic materials 0.000 description 6
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- 239000010959 steel Substances 0.000 description 6
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- 238000005516 engineering process Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
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- 238000010276 construction Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000011324 bead Substances 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000005433 ionosphere Substances 0.000 description 1
- 238000007620 mathematical function Methods 0.000 description 1
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- 239000005436 troposphere Substances 0.000 description 1
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- 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
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- 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
- E01C23/222—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying specially adapted for automatic spraying of interrupted, individual or variable markings
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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Abstract
The invention discloses automatic pre-scribing equipment for road markings and a working method, wherein the automatic pre-scribing equipment comprises a self-walking trolley, a laser radar, an external interaction terminal, a GNSS fixed station and a GNSS mobile station; the laser radar and the GNSS mobile station are fixed on the self-walking trolley; the external interactive terminal is in interactive communication with the self-walking trolley, the laser radar, the GNSS fixed station and the GNSS mobile station; and the GNSS fixed station and the GNSS mobile station carry out interactive communication. The accuracy of pre-scribing positioning is guaranteed, the arranged spray head can automatically spray and scribe according to the scribing rule and the scribing path according to the positioning information and the set scribing rule, automatic pre-scribing is achieved, labor cost is reduced, and pre-scribing efficiency is improved.
Description
Technical Field
The invention relates to the technical field of traffic equipment, in particular to automatic road marking line pre-scribing equipment and a working method.
Background
At present, marked lines with various indication properties are arranged on various roads in China, and as shown in figure 4, the marked lines are basically finished manually. The marking work flow is basically as follows: firstly, a worker carries out pre-scribing according to a construction drawing, such as a thin line shown in fig. 5, wherein the marked line can be a dotted line, marks need to be made on the pre-scribing line, and a starting point and an end point of the marked line are marked; the worker then marks the final reticle (bold line) according to the pre-scribe line using the apparatus of fig. 2 by: the front part of the device shown in figure 2 is provided with a guide steel needle with the diameter of 6-8mm, a worker aligns the steel needle with the pre-scribing line, pushes the scribing vehicle to move forward, starts and finishes the spraying of the coating according to the starting point and the end point marked on the pre-scribing line, and simultaneously uniformly spreads reflective glass beads with the diameter of about 2mm on the surface of the marking line, so as to be used for reflecting the irradiated automobile headlamp at night.
The pre-scribing link is crucial, in the process of scribing the marking line, a worker only needs to align the pre-scribing mechanically to ensure the position accuracy of the final marking line, and the pre-scribing needs to be capable of reading and understanding a drawing, marking, paying off, scribing and processing an arc line, so that the requirements on skills are high, the working strength is high, and the efficiency is low. However, in the existing marking equipment, the positioning is mostly carried out by adopting a GPS (global positioning system), the marking is carried out by adopting a spraying mode, and meanwhile, the positioning position is mostly determined by combining manpower and the control of the marking mode, so that the problems of low positioning precision, inaccurate marking position, incapability of using in a scene with weak GPS signals, unclear marking, labor consumption, low working efficiency and the like exist.
Therefore, how to design an automatic pre-scribing device for road markings, which has high positioning accuracy, reduces the scene limitation, saves labor and improves the working efficiency, is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides an automatic pre-scribing apparatus for road markings and a working method thereof,
in order to achieve the purpose, the invention adopts the following technical scheme:
an automatic pre-scribing device for road markings comprises a self-walking trolley, a laser radar, an external interaction terminal, a GNSS fixed station and a GNSS mobile station; the laser radar and the GNSS mobile station are fixed on the self-walking trolley; the external interactive terminal is in interactive communication with the self-walking trolley, the laser radar, the GNSS fixed station and the GNSS mobile station; and the GNSS fixed station and the GNSS mobile station carry out interactive communication.
Preferably, the self-walking trolley comprises a chassis, a driving wheel, universal wheels, a spray head structure, a paint box, a controller and a battery;
the driving wheel, the universal wheel and the spray head structure are arranged on the bottom surface of the chassis; the driving wheel is driven by a motor with a speed encoder, and the speed encoder and the motor are electrically connected with the controller; a rotary encoder is arranged on a rotating part of the universal wheel, which is rotatably connected with the chassis, and the rotary encoder is electrically connected with the controller;
the sprayer structure is provided with three sprayers, each sprayer is provided with a sprayer electromagnetic valve, and the sprayer electromagnetic valves are electrically connected with the controller; when the equipment is in a marking mode, the pigment pump is started to promote pigment to flow, so that the pigment has certain pressure at the spray head, and the pigment is sprayed out when the spray head electromagnetic valve is opened;
the pigment box comprises a pigment tank and a pigment pump, and the pigment tank is communicated with the spray head through the pigment pump; the pigment pump is electrically connected with the controller;
the controller, the motor, the speed encoder, the rotary encoder, the spray nozzle electromagnetic valve, the pigment pump, the laser radar and the GNSS mobile station are all electrically connected with the battery.
Preferably, the GNSS mobile station and the GNSS fixed station are each provided with a detachable self-powered battery.
Preferably, the bottom of the GNSS mobile station is provided with a vertical rod interface which is detachably mounted on the self-walking trolley; and the GNSS mobile station acquires and stores the global positioning coordinates of the current positioning point and transmits the global positioning coordinates to the external interactive terminal.
The GNSS mobile station is detached from the self-walking trolley, the vertical rod is installed through the vertical rod interface, the vertical rod is placed in a way of being aligned to the edge of the road, the global positioning coordinates of the current road edge point can be obtained through the GNSS mobile station, the walking path point of the self-walking trolley is obtained in advance, and the walking path point is transmitted and guided to the external interaction terminal; the GNSS mobile station is installed on the self-walking trolley to obtain the current global positioning coordinate of the self-walking trolley; adding a preset offset to the global positioning coordinates of the walking path points to obtain actual walking path coordinate points of the self-walking trolley, and advancing and scribing the self-walking trolley according to the actual walking path coordinate points;
the speed encoder acquires the rotating speed of the motor, the rotary encoder acquires the angular displacement of the universal wheel and transmits the rotating speed of the motor and the angular displacement of the universal wheel to the controller, the controller obtains the moving distance of the driving wheel according to the rotating speed of the motor, obtains the deflection angle of the universal wheel according to the angular displacement of the universal wheel, obtains the advancing direction of the self-walking trolley, and performs redundancy check on the position information obtained by the GNSS mobile station according to the moving distance and the advancing direction, wherein the position information is the obtained current global positioning coordinate of the self-walking trolley; the controller drives the two driving wheels through differential speed, and the advancing direction of the universal wheels can be controlled and changed. The moving distance, the advancing direction and the position information are fed back to the controller to carry out redundancy check, the position change quantity after the self-walking trolley leaves the starting point is calculated according to the moving distance and the advancing direction, the position change quantity and the position information are checked, if the difference between the position change quantity and the position information is not large and the position change quantity is changed slowly and gradually, the self-walking trolley runs normally, otherwise, the self-walking trolley runs abnormally, early warning is given out, and the GNSS signal is generally regarded as having sudden change when the self-walking trolley runs abnormally.
Preferably, the self-walking trolley is further provided with an early warning module, and when the self-walking trolley is found to be abnormal in operation through redundancy check, early warning information is sent out through the early warning module.
Preferably, the height of the laser radar from the ground is lower than the edge of a road; the laser radar can scan the road edge, obtain the distance with the road edge, and transmit and guide in the distance to the external interaction terminal. And the external interactive terminal sets a parallel and equidistant path which is away from the road edge by a set distance with the road edge on the left side or the right side of the self-walking trolley as a reference, and the self-walking trolley ensures that the laser radar and the road edge walk equidistantly according to the set path to perform spraying and scribing and pre-scribing.
Preferably, the sprayer structure comprises a first sprayer, a second sprayer and a third sprayer, the first sprayer sprays and marks a continuous line, the second sprayer sprays and marks a discontinuous line, and the third sprayer sprays and marks a vertical line segment. The continuous line that first shower nozzle spouted and drawn is used for the direction steel needle alignment of marking line marking machine, the discontinuous line that the second shower nozzle spouted and drawn indicates marking line route, the vertical line section that the third shower nozzle spouted and drawn is used for indicating the starting point and the terminal point of marking line, indicates the starting point of marking line when the first discontinuous line that appears and vertical line section promptly, indicates the terminal of marking line when the vertical line section appears again, and the circulation shows in proper order. The first spray head and the second spray head are circular nozzles, the third spray head is a flat nozzle, when the equipment conducts scribing, the first spray head continuously works to spray the scribing, and the second spray head and the third spray head start to work according to the scribing rule.
Preferably, the external interactive terminal comprises a human-computer interaction tablet, a PC terminal and the like.
Preferably, the GNSS fixed station and the GNSS mobile station implement differential positioning by using RTK calculation, so as to achieve higher positioning accuracy.
A working method of automatic pre-marking equipment for road markings comprises the following steps:
step 11: selecting a manual punctuation function on an external interactive terminal; taking down the GNSS mobile station from the self-walking trolley, and installing a vertical rod below the GNSS mobile station;
step 12: aligning the end of the vertical rod to the edge of a road, pressing a storage key of the GNSS mobile station, and storing the global positioning coordinates of the current road edge point into the GNSS mobile station; collecting global positioning coordinates of a plurality of positioning points;
step 13: taking down the vertical rod, and installing the GNSS mobile station on the self-walking trolley;
step 14: the external interaction terminal reads the global positioning coordinates of the positioning points stored in the GNSS mobile station, performs equidistant offset calculation on the global positioning coordinates, and generates a path curve through function fitting;
step 15: determining the position of a first path point of the road marking, and placing the self-walking trolley;
step 16: and guiding the pre-scribing type and the path curve into the self-walking trolley through the external interactive terminal, starting the self-walking trolley, advancing according to the path curve, and spraying and scribing according to the pre-scribing type.
A working method of automatic pre-marking equipment for road markings comprises the following steps:
step 21: selecting laser radar automatic scribing on an external interactive terminal;
step 22: determining the position of a first path point, and placing a self-walking trolley;
step 23: and leading the pre-scribing type into the self-walking trolley through the external interactive terminal, starting the self-walking trolley, emitting laser by a laser radar to scan the road edge, acquiring the shortest distance between the road edge and the self-walking trolley, controlling the self-walking trolley to travel at the shortest distance at equal intervals along the road edge, and performing spraying and scribing according to the pre-scribing type. The first path point from the travelling carriage is determined, the distance of the line from the road edge, i.e. the shortest distance, is determined.
The technical scheme shows that compared with the prior art, the invention discloses and provides automatic pre-scribing equipment for road markings and a working method thereof, the automatic pre-scribing equipment comprises a self-walking trolley, an external interactive terminal and a GNSS fixed station, wherein the self-walking trolley is provided with a GNSS mobile station which interacts with the external interactive terminal and the GNSS fixed station and is used for acquiring a positioning point of a scribing path and a coordinate position of the self-walking trolley and sending the positioning point and the coordinate position to the external interactive terminal, the external interactive terminal generates the scribing path according to the global positioning coordinates of the positioning point, the external interactive terminal sends a scribing rule and the scribing path to a controller on the self-walking trolley, the controller controls the self-walking trolley to spray and scribe pre-scribe lines according to the scribing rule and the scribing path, and the distance between the trolley and the road edge can be measured through a laser radar arranged on the self-walking trolley in an environment with weak signals, ensuring that the pre-scored line is parallel to the edge of the road. The invention ensures the accuracy of pre-scribing positioning, and the arranged spray head can automatically spray and scribe according to the scribing route and the scribing rule according to the positioning information and the set scribing rule, thereby realizing automatic pre-scribing, reducing the labor cost and improving the pre-scribing efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural view of an automatic pre-scribing apparatus for road markings according to the present invention;
FIG. 2 is a schematic drawing of a pre-scribed line provided by the present invention;
FIG. 3 is a schematic view of the tunnel operation of the automatic pre-scribing equipment for road markings according to the present invention;
FIG. 4 is a schematic view of a road marking provided by the present invention;
fig. 5 is a schematic diagram of a road pre-scribed line according to the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses automatic pre-scribing equipment for a road marking line, which comprises a self-walking trolley, a laser radar, an external interaction terminal, a GNSS fixed station and a GNSS mobile station; the laser radar and the GNSS mobile station are fixed on the self-walking trolley; the external interactive terminal is in interactive communication with the self-walking trolley, the laser radar, the GNSS fixed station and the GNSS mobile station; and the GNSS fixed station and the GNSS mobile station carry out interactive communication.
In order to further optimize the technical scheme, the self-walking trolley comprises a chassis, a driving wheel, universal wheels, a spray head structure, a paint box, a controller and a battery; the driving wheel, the universal wheel and the nozzle structure are arranged on the bottom surface of the chassis; the driving wheel is driven by a motor with a speed encoder, and the speed encoder and the motor are electrically connected with a controller; a rotary encoder is arranged on a rotating part of the universal wheel, which is rotatably connected with the chassis, and the rotary encoder is electrically connected with the controller; the spray head structure is provided with three spray heads, each spray head is provided with a spray head electromagnetic valve, and the spray head electromagnetic valves are electrically connected with the controller; the pigment box comprises a pigment tank and a pigment pump, and the pigment tank is communicated with the spray head through the pigment pump; the pigment pump is electrically connected with the controller; the controller, the motor, the speed encoder, the rotary encoder, the spray nozzle electromagnetic valve, the pigment pump, the laser radar and the GNSS mobile station are all electrically connected with the battery.
The speed encoder acquires the rotating speed of the motor, the rotary encoder acquires the angular displacement of the universal wheel and transmits the rotating speed of the motor and the angular displacement of the universal wheel to the controller, the controller acquires the moving distance of the driving wheel according to the rotating speed of the motor, acquires the deflection angle of the universal wheel according to the angular displacement of the universal wheel, acquires the advancing direction of the self-walking trolley, and performs redundancy check on the position information acquired by the GNSS mobile station according to the moving distance and the advancing direction; the controller drives the two driving wheels through differential speed, and the advancing direction of the universal wheels can be controlled and changed.
In order to further optimize the above technical solution, both the GNSS mobile station and the GNSS stationary station are provided with detachable self-powered batteries.
In order to further optimize the technical scheme, the self-walking trolley is further provided with an early warning module, and when the self-walking trolley is found to be abnormal in operation through redundancy check, early warning information is sent out through the early warning module.
In order to further optimize the technical scheme, the bottom of the GNSS mobile station is provided with a vertical rod interface which is detachably arranged on the self-walking trolley. The GNSS mobile station is detached from the self-walking trolley, a vertical rod is installed through a vertical rod interface, the vertical rod is placed in a way of aligning to the edge of the road, global positioning coordinates of current road edge points can be obtained through the GNSS mobile station, walking path points of the self-walking trolley are obtained in advance, and the walking path points are transmitted and guided to an external interaction terminal; the GNSS mobile station is installed on the self-walking trolley to obtain the current global positioning coordinate of the self-walking trolley, namely to obtain the position information. And adding the global positioning coordinates of the walking path points with a preset offset to obtain actual walking path coordinate points of the self-walking trolley, and advancing and scribing the self-walking trolley according to the actual walking path coordinate points.
In order to further optimize the technical scheme, the height of the laser radar from the ground is lower than the edge of the road; the laser radar can scan the road edge, obtain the distance with the road edge, and lead in distance transmission to outside interactive terminal. The external interactive terminal is set by taking the road edge on the left side or the right side of the self-walking trolley as a reference, taking a parallel and equidistant path with a set distance from the road edge as a set path of the pre-scribing line, and ensuring that the laser radar and the road edge walk equidistantly according to the set path by the self-walking trolley to perform the jet-scribing pre-scribing.
In order to further optimize the technical scheme, the sprayer structure comprises a first sprayer, a second sprayer and a third sprayer, wherein the first sprayer sprays and marks a continuous line, the second sprayer sprays and marks a discontinuous line, and the third sprayer sprays and marks a vertical line segment. The continuous line sprayed and scribed by the first spray head is used for aligning a guide steel needle of the marking line scribing machine, the discontinuous line sprayed and scribed by the second spray head represents a marking line path, and the vertical line section sprayed and scribed by the third spray head is used for indicating the starting point and the end point of the marking line, namely the starting point of the marking line is indicated when the discontinuous line and the vertical line section appear for the first time, the end point of the marking line is indicated when the vertical line section appears again, and the continuous line and the vertical line section are sequentially and circularly represented. The first spray head and the second spray head are circular nozzles, the third spray head is a flat nozzle, when the equipment performs scribing, the first spray head continuously works to perform scribing, and the second spray head and the third spray head start to work according to the scribing rule. The first sprayer and the second sprayer are in dot spraying, line segment spraying and marking are achieved by moving along with the self-walking trolley, short line segments can be directly sprayed by the aid of the flat nozzle of the third sprayer, and the width of the vertical line segment can be changed by controlling the working time of the sprayers.
In order to further optimize the technical scheme, the external interaction terminal comprises a human-computer interaction panel, a PC terminal and the like.
In order to further optimize the technical scheme, the GNSS fixed station and the GNSS mobile station adopt RTK calculation to realize differential positioning, so that higher positioning precision is achieved.
A working method of automatic pre-marking equipment for road markings comprises the following steps:
s11: selecting a manual punctuation function on an external interactive terminal; taking down the GNSS mobile station from the self-walking trolley, and installing a vertical rod below the GNSS mobile station;
s12: aligning the end of the vertical rod to the edge of the road, pressing a storage key of the GNSS mobile station, and storing the global positioning coordinate of the current road edge point into the GNSS mobile station; collecting global positioning coordinates of a plurality of positioning points;
s13: taking down the vertical rod, and installing the GNSS mobile station on the self-walking trolley;
s14: the external interactive terminal reads the global positioning coordinates of the positioning points stored in the GNSS mobile station, performs equidistant offset calculation on the global positioning coordinates, and generates a path curve through function fitting;
s15: determining the position of a first path point of a road marking, and placing a self-walking trolley;
s16: and leading the pre-scribing type and the path curve into a self-walking trolley controller through an external interactive terminal, starting the self-walking trolley, advancing according to the path curve, and spraying and scribing according to the pre-scribing type.
A working method of automatic pre-marking equipment for road markings comprises the following steps:
s21: selecting laser radar automatic scribing on an external interactive terminal;
s22: determining the position of a first path point, and placing a self-walking trolley;
s23: leading-in the car controller of walking of preliminary marking through outside mutual terminal with the type of preliminary marking, start the dolly of walking certainly, laser radar transmission laser scanning road edge obtains the shortest distance of road edge and dolly of walking certainly, and the control is walked the dolly certainly along road edge with shortest distance equidistance and is marchd to spout according to the type of preliminary marking.
Examples
As shown in fig. 1, the automatic pre-scribing equipment for road markings of the invention comprises a self-walking trolley chassis 1, a driving wheel 2 driven by a motor with a speed encoder, a universal wheel 3 with a rotary encoder, a laser radar 4, a GNSS mobile station 5, a pigment box 7 consisting of a pigment tank and a pigment pump, a nozzle structure 8 consisting of three nozzles with nozzle electromagnetic valves, a battery, a controller 6, a GNSS fixed station 10 and a panel 9 for man-machine interaction.
The self-walking trolley is provided with two driving wheels and a universal wheel, each driving wheel is driven by a motor with a speed encoder, namely a differential driving mode is realized, and a rotating part of the universal wheel connected with the chassis is provided with a rotary encoder for accurately measuring the advancing direction of the trolley; the speed encoder on the motor can be used for obtaining the walking distance of the wheels, the rotary encoder on the universal wheels can be used for obtaining the direction of the trolley, and the data can be used for carrying out redundancy check on the position information obtained by the trolley from the GNSS mobile mode station;
pigment is filled in the pigment tank and is connected with a pigment pump, the pigment pump is started when the trolley moves, the pigment is conveyed to a spray head with a spray head electromagnetic valve, a controller can control the on and off of the spray head electromagnetic valve to spray the pigment on a road surface, the thickness of a pre-scribing line sprayed out of the spray head is controlled to be 4-6mm by selecting the straight direction of the spray head, the thickness range is easy to realize, and meanwhile, when a subsequent constructor operates a thick line scribing device, a guide steel needle on the device is easy to align; the spray heads comprise a first spray head, a second spray head and a third spray head;
when the GNSS mobile station is located on the trolley, the GNSS mobile station is matched with the GNSS fixed station, so that the accurate position of the trolley, more specifically the position of the first spray head can be obtained. The GNSS mobile station can be taken down from the trolley, and when a vertical rod is arranged below the GNSS mobile station, the GNSS mobile station can be used for acquiring the path point; generally, before the construction of a road marking, a road is built, namely the edge of the road is molded, a GNSS mobile station is provided with a vertical rod and is placed at the edge of the road, a storage key on the GNSS mobile station is pressed, the global positioning coordinates of the edge point of the current road can be obtained, the coordinates of a plurality of points are obtained in sequence, namely the coordinates of the plurality of points on a line parallel to the marking to be marked are obtained, after the coordinates are imported on a man-machine interaction panel, a left deviation generation path instruction or a right deviation generation path instruction is selected, and the deviation distance is set; the GNSS mobile station and the GNSS fixed station adopt the existing devices for receiving the interactive GPS signals.
The controller receives a path instruction sent by the man-machine interaction panel, simultaneously acquires global positioning coordinates received by the GNSS mobile station, controls the motors on the two driving wheels and advances according to the path instruction. And on the traveling route, controlling the on-off of the three spray heads according to the scribing information on the route. As shown in fig. 2, the rectangle with broken lines represents the area corresponding to the subsequent formal marking line, the solid line with black color represents the pre-marking line, specifically, the line marked by the first nozzle is a continuous line 11 which is used as the guide steel of the marking line marking machine for alignment, the line marked by the second nozzle is a discontinuous line 13 which represents the marking line, and the line segment 12 which is perpendicular to the traveling path is sprayed by the third nozzle and is used for indicating the starting point and the ending point of the marking line to the marking worker, namely, when the lines of the second nozzle and the third nozzle appear, the starting point of the marking line is indicated, and when the line of the third nozzle appears again, the ending point of the marking line is indicated, which can facilitate the worker to quickly operate the marking machine.
Ordinary GPS positioning is achieved by using a set of observations of pseudoranges, ephemeris, satellite transmit times, etc. from the satellites, while the user clock error must also be known. During this positioning, there are three partial errors. Some common to each user receiver, e.g., satellite clock error, ephemeris error, ionosphere error, troposphere error, etc.; the second part is the propagation delay error that cannot be measured by the user or calculated by the correction model; the third part is the error inherent to each user receiver, such as internal noise, channel delay, multipath effects, etc. Therefore, the positioning accuracy of the ordinary GPS is only meter level, and the accuracy requirement of the pre-scribing can not be met completely. Therefore, the invention adopts a carrier phase differential technology, which is also called as an RTK (real time kinematic) technology, and is based on processing the carrier phases of two stations in time. The carrier phase differential technology can provide the three-dimensional coordinates of the observation point in real time and achieve centimeter-level high precision. The specific coordination mode is to arrange a GNSS (RTK) fixed station and a GNSS (RTK) mobile station, thereby realizing differential positioning and achieving higher precision.
When the line needs to be pre-scribed in the tunnel, because enough satellite signals cannot be received, the method of acquiring the position by adopting the GNSS (RTK) mobile station cannot be adopted, and at the moment, the line is pre-scribed by adopting a method of walking with the laser radar and the roadside at equal intervals. The trolley is placed at the starting point of a path needing pre-scribing, the left or right road edge of the travelling direction of the trolley is set as a reference through the man-machine interaction panel, the laser radar scans the corresponding road edge, and as shown in figure 3, the returned road edge line data is set as the path of the trolley. The carriage travels along a path parallel to and equidistant from the road edge and makes a pre-scribe.
Specifically, the use of the road marking automatic pre-scribing device in a scene with reliable GPS signals comprises the following steps:
s11: selecting a manual punctuation function on a man-machine interaction panel;
s12: taking down the GNSS (RTK) mobile module from the trolley, and installing a vertical rod below the GNSS (RTK) mobile module;
s13: aligning the end of a vertical rod equipped with a GNSS (RTK) mobile module to the edge of a road, such as the junction of a kerb and the road, pressing a storage button on the GNSS (RTK) mobile module, and storing the global positioning coordinates of a first point in the GNSS (RTK) mobile module; repeating the positioning process to obtain the global positioning coordinates of enough positioning points;
s14: taking off a vertical rod below the GNSS (RTK) mobile module, and reinstalling the vertical rod on the trolley;
s15: selecting a function of reading positioning points of a GNSS (RTK) mobile module on the human-computer interaction panel, and storing coordinates of a plurality of positioning points recorded in S13 into the human-computer interaction panel;
s16: selecting the offset coordinate point generation waypoint function on the human-computer interaction tablet and inputting the distance of left offset or right offset, for example 3 meters. And (4) calculating by the man-machine interaction panel, firstly performing function fitting on the plurality of positioning points to generate a curve, and then generating a path curve in parallel according to the left or right offset distance. The method of function fitting according to the coordinates of a plurality of known points is to find a mathematical function, the curve of which passes through a plurality of known points;
s17: after manual measurement, the position of the first path point is found, the trolley is placed, the first nozzle of the trolley is located right above the first path point, and the first path point is usually selected as the starting position of a section of marked line on the design drawing.
S18: the type of pre-scribed line is selected according to the design drawing requirements, for example: and 3 m lines are drawn at intervals of 3 m. And then selecting a function of guiding out the pre-scribing line to the trolley on the man-machine interaction panel, after the guiding out is finished, selecting a function of starting the pre-scribing line, then starting the trolley to travel according to the path curve, and controlling the spray head to scribe according to the pre-scribing rule according to the type of the pre-scribing line.
Specifically, the use of the road marking automatic pre-scribing device in a scene where GPS signals are unavailable comprises the steps of:
s21: selecting a laser radar automatic scribing function on the man-machine interaction panel;
s22: after manual measurement, the position of the first path point is found, the trolley is placed, the first nozzle of the trolley is located right above the first path point, and the first path point is usually selected as the starting position of a section of marked line on the design drawing.
S23: the type of pre-scribed line is selected according to the design drawing requirements, for example: and 3 m lines are drawn at intervals of 3 m.
S24: and selecting a function of starting pre-scribing, controlling the trolley to run in parallel with the road edge according to the shortest distance between the road edge scanned by the laser and the trolley as a control target, and controlling the spray head to scribe according to the pre-scribing rule according to the type of the pre-scribing. Usually, the height of the road edge is selected to be higher than that of the laser scanner, and generally, the side wall of the tunnel is arranged in the tunnel.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. An automatic pre-scribing device for road markings is characterized by comprising a self-walking trolley, a laser radar, an external interaction terminal, a GNSS fixed station and a GNSS mobile station; the laser radar and the GNSS mobile station are fixed on the self-walking trolley; the external interactive terminal is in interactive communication with the self-walking trolley, the laser radar, the GNSS fixed station and the GNSS mobile station; and the GNSS fixed station and the GNSS mobile station carry out interactive communication.
2. The automatic pre-scribing apparatus for road markings according to claim 1, wherein the self-propelled carriage comprises a chassis, drive wheels, universal wheels, a sprayer head structure, a paint bin, a controller and a battery;
the driving wheel, the universal wheel and the spray head structure are arranged on the bottom surface of the chassis; the driving wheel is driven by a motor with a speed encoder, and the speed encoder and the motor are electrically connected with the controller; a rotary encoder is arranged on a rotating part of the universal wheel, which is rotatably connected with the chassis, and the rotary encoder is electrically connected with the controller;
the sprayer structure is provided with three sprayers, each sprayer is provided with a sprayer electromagnetic valve, and the sprayer electromagnetic valves are electrically connected with the controller;
the pigment box comprises a pigment tank and a pigment pump, and the pigment tank is communicated with the spray head through the pigment pump; the pigment pump is electrically connected with the controller;
the controller, the motor, the speed encoder, the rotary encoder, the spray nozzle electromagnetic valve, the pigment pump, the laser radar and the GNSS mobile station are all electrically connected with the battery.
3. The automatic pre-scribing device for road markings according to claim 2, wherein a vertical rod interface is arranged at the bottom of the GNSS mobile station and is detachably mounted on the self-walking trolley; and the GNSS mobile station acquires and stores the global positioning coordinates of the current positioning point and transmits the global positioning coordinates to the external interactive terminal.
4. The automatic pre-scribing apparatus for road markings according to claim 2, wherein the lidar is at a lower elevation than the edge of the road; and the laser radar scans the road edge, acquires the distance from the road edge and transmits and guides the distance to the external interactive terminal.
5. The automatic pre-scribing apparatus for road markings according to claim 2, wherein the head structure comprises a first head, a second head and a third head, the first head marking a continuous line, the second head marking a discontinuous line and the third head marking a vertical line segment.
6. The apparatus of claim 1, wherein the external interactive terminal comprises a human-machine interactive tablet.
7. The apparatus according to claim 1, wherein said GNSS stationary station and said GNSS rover station use RTK calculations for differential positioning.
8. A method of operating an automatic pre-scribing installation for road markings according to claims 1 to 7, comprising the steps of:
step 11: selecting a manual punctuation function on an external interactive terminal; taking down the GNSS mobile station from the self-walking trolley, and installing a vertical rod below the GNSS mobile station;
step 12: aligning the end of the vertical rod to the edge of a road, pressing a storage key of the GNSS mobile station, and storing the global positioning coordinates of the current road edge point into the GNSS mobile station; collecting global positioning coordinates of a plurality of positioning points;
step 13: taking down the vertical rod, and installing the GNSS mobile station on the self-walking trolley;
step 14: the external interaction terminal reads the global positioning coordinates of the positioning points stored in the GNSS mobile station, performs equidistant offset calculation on the global positioning coordinates, and generates a path curve through function fitting;
step 15: determining the position of a first path point of the road marking, and placing the self-walking trolley;
step 16: and guiding the pre-scribing type and the path curve into the self-walking trolley through the external interactive terminal, starting the self-walking trolley, advancing according to the path curve, and spraying and scribing according to the pre-scribing type.
9. A method of operating an automatic pre-scribing installation for road markings according to claims 1 to 7, comprising the steps of:
step 21: selecting laser radar automatic scribing on an external interactive terminal;
step 22: determining the position of a first path point, and placing a self-walking trolley;
step 23: and leading the pre-scribing type into the self-walking trolley through the external interactive terminal, starting the self-walking trolley, emitting laser by a laser radar to scan the road edge, acquiring the shortest distance between the road edge and the self-walking trolley, controlling the self-walking trolley to travel at the shortest distance at equal intervals along the road edge, and performing spraying and scribing according to the pre-scribing type.
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