CN218345922U - Line marking robot - Google Patents

Abstract

The utility model discloses a marking off robot, this marking off robot includes: a movable chassis; the supporting component is arranged on the chassis, the supporting component is provided with a controller and a positioning and orienting component, and the controller is electrically connected with the positioning and orienting component; the positioning and orienting component is used for positioning and orienting the environment to provide a target position for the controller, and the controller is used for controlling the chassis to move to the target position; the scribing component is fixed on one side of the supporting component close to the base plate and comprises a guide rail and a sliding block capable of sliding on the guide rail, the extending direction of the guide rail is not consistent with the moving direction of the base plate, a spray head is fixed on the sliding block, and a spray nozzle of the spray head faces downwards; and the spray head is used for realizing the marking operation of the pavement marker at the target position by the driving of the slide block. The technical problem that the construction operation of pavement markers in the related art is complex can be solved.

Description

Line marking robot

Technical Field

The application belongs to the technical field of engineering operation, and particularly relates to a scribing robot.

Background

During road construction, the method mainly comprises two steps of road pavement construction and road traffic marking construction. The construction of the road traffic marking comprises the construction of road surface lane lines and road surface markers like guide arrows and speed limit identifiers.

In the construction of pavement markers, a formwork method is generally used, and specifically, a truck on which a marking material processing device is mounted is used to repeatedly spray a cut area in a formwork. However, in the operation mode of using the template method to realize the construction of the pavement marker, constructors need to put the template at a pre-marked position in advance, and need to take down the template after the spraying is finished, so that the operation is complicated.

Disclosure of Invention

The embodiment of the application provides a marking robot, aims at solving the technical problem that road surface marker construction operation is complicated among the correlation technique.

In one aspect, embodiments of the present application provide a scribing robot,

a movable chassis;

the supporting component is arranged on the chassis, the supporting component is provided with a controller and a positioning and orienting component, and the controller is electrically connected with the positioning and orienting component;

the positioning and orienting component is used for positioning and orienting the environment to provide a target position for the controller, and the controller is used for controlling the chassis to move to the target position;

the scribing assembly is fixed on one side, close to the base plate, of the supporting assembly and comprises a guide rail and a sliding block capable of sliding on the guide rail, the extending direction of the guide rail is not consistent with the moving direction of the base plate, a spray head is fixed on the sliding block, and a spray nozzle of the spray head faces downwards;

and the spray head is used for realizing the marking operation of the pavement marker at the target position by the driving of the slide block.

Optionally, the positioning and orientation assembly includes a laser radar system and a positioning and orientation system, and the laser radar system and the positioning and orientation system are respectively electrically connected to the controller.

Optionally, the positioning and orientation system includes a GNSS positioning and orientation board and an inertial measurement unit.

Optionally, the GNSS positioning orientation board is configured with a dual antenna. Therefore, accurate positioning data can be provided for the line drawing robot, accurate map data can be provided for the follow-up operation of the line drawing robot, and accurate decision making is facilitated.

Optionally, the line striping robot further comprises:

the raw materials holds the subassembly, installs on supporting component, and the raw materials holds subassembly and shower nozzle intercommunication for provide the operation raw materials to the shower nozzle.

Optionally, the material containment assembly is of a plastic material. So set up, can reduce the quality that the raw materials held the subassembly as far as possible, guarantee marking robot's lightweight operation, be convenient for simultaneously wash and change.

Optionally, the chassis comprises:

a chassis support;

a front wheel assembly and a rear wheel assembly which are matched with the chassis support;

and a drive mechanism for driving the rear wheel assembly to move.

Optionally, the front wheel assembly comprises a front wheel and a front wheel drive shaft assembled with the front wheel.

Optionally, the front wheels are omni-wheels.

Through the setting of omniwheel, can make the robot of drawing a line at the in-process of advancing, can rotate the small tyre one by one, realize centimetre level turning radius, guarantee the maximum flexibility ratio of the robot of drawing a line, adapt to the road surface of different conditions more, promote free driving ability.

Optionally, the rear wheel assembly comprises a first rear wheel, a second rear wheel and a rear wheel drive shaft assembling the first rear wheel and the second rear wheel;

the drive mechanism includes a first drive motor that drives the first rear wheel and a second drive motor that drives the second rear wheel.

In the example, the arrangement of the two sets of driving motors can control the speed difference between the first rear wheel and the second rear wheel, provide power output for the scribing robot and ensure accurate adjustment of the direction.

The scribing robot of this application embodiment is provided with movable chassis, the subassembly of drawing a line and installs the supporting component on the chassis, is provided with controller and location orientation subassembly on the supporting component, and the controller is connected with location orientation subassembly electricity. The positioning and orienting component is used for positioning and orienting the environment to provide a target position for the controller, and the controller is used for controlling the chassis to move to the target position. The scribing assembly is fixed on one side, close to the base plate, of the supporting assembly and comprises a guide rail and a sliding block capable of sliding on the guide rail, the extending direction of the guide rail is not consistent with the moving direction of the base plate, a spray head is fixed on the sliding block, and a spray nozzle of the spray head faces downwards; and the spray head is used for realizing the marking operation of the pavement marker at the target position by the driving of the slide block. Therefore, the marking robot at the target position can drive the spray head to finish the marking operation of the pavement marker through the slide block. Therefore, a brand-new pavement marker drawing operation mode is provided, and the technical problem that the pavement marker construction operation in the related technology is complicated is solved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic perspective view of an alternative scribing robot according to an embodiment of the present application;

FIG. 2 is a side view of the line striping robot of FIG. 1;

FIG. 3 is a schematic view of an alternative internal perspective configuration of the scribing robot of FIG. 1 with the housing removed;

FIG. 4 is a schematic view of an alternative configuration of the chassis of FIG. 1;

fig. 5 is a schematic diagram of an alternative module structure of a controller and a positioning and orientation assembly in the scribing robot according to the embodiment of the present application.

In the attached figures, the drawing is shown,

the device comprises a chassis 10, a chassis support 11, a front wheel assembly 12, a rear wheel assembly 13, a driving mechanism 14, a front wheel 121, a rear wheel 131, a first rear wheel 132, a second rear wheel 133, a first driving motor 141, a second driving motor 142, a shell 20, a supporting assembly 30, a bottom supporting structure 31, a first supporting frame 32, a second supporting frame 33, a positioning and orienting assembly 40, a laser radar system 41, a positioning and orienting system 42, a GNSS positioning and orienting board 421, an inertial measurement unit 422, an antenna 43, a controller 50, a scribing assembly 60, a guide rail 61, a sliding block 62, a spray head 63 and a raw material accommodating assembly 70.

Detailed Description

Features of various aspects and exemplary embodiments of the present application will be described in detail below, and in order to make objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative only and are not intended to be limiting. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present application by illustrating examples thereof.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element.

In the current road construction, the road pavement construction is usually completed first, and then the road traffic marking construction is performed on the paved road.

The road traffic marking is a traffic safety facility formed from various lines, arrows, characters, vertical marks, projected road signs and contour marks, etc. marked on the road surface, and its function is to control and guide traffic, and can be matched with mark or can be used alone.

According to the regulations of the current national standard road traffic sign and marking (GB 5768-1999), the current road traffic marking in China can be divided into three types, namely an indicating marking, a forbidden marking and a warning marking according to the function type, wherein the width of the indicating marking is 10-20cm, the width of the forbidden marking is generally not less than 20cm, and the width of the warning marking is 15cm.

The road traffic marking is mainly arranged on the road surface, and is required to be subjected to sun, rain, wind, snow and ice, and simultaneously is subjected to impact abrasion of vehicles, so that strict requirements are imposed on the performance of the road traffic marking.

In the embodiment of the application, the construction of the road traffic marking can be divided according to the construction mode, namely the construction of a road lane line and the construction of a road marker (including the construction of an indication marking, the construction of a forbidden marking and the like).

The construction of the road surface lane line in the related technology is mainly divided into two steps, the distance between the road edge is manually measured in the first step, then, equidistant white and slender reference lines are drawn according to a drawing, the reference lines generally use white emulsion paint as a drawing raw material, two persons are responsible for dragging and stretching a line drawing rope, and one person is responsible for drawing the reference lines. And secondly, erecting the marking material processing device on a carriage of the truck, enabling the truck to slowly walk along the reference line, and simultaneously uniformly spraying the marking material on the road surface.

The construction of pavement markers like guide arrows, speed limit identifiers, ground characters and the like generally uses a template method, and the template method is to place an empty template or other plate-shaped shielding objects on the ground, so as to control a truck provided with a marking material processing device to repeatedly surround the area where the template is located, so that the marking material can be repeatedly sprayed on the empty area of the template.

However, the construction method has the following technical problems:

1. in the construction operation of the road surface lane line, the drawing accuracy of the reference line seriously influences the drawing effect of the subsequent lane line. However, in the current construction mode, three people are required to be combined for drawing a reference line. Therefore, to a great extent, the drawing effect of the lane line is determined by the cooperation of multiple parts and proficiency of construction operators, the reliability is poor, and large construction errors are easy to occur.

2. The operation mode of utilizing the template method to realize the construction of the pavement marker requires that constructors put the template at a pre-marked position in advance, and also needs to take down the template after the spraying is finished, so that the operation is complicated.

3. The construction work by using the template method also needs to execute the operation of removing the template after the marking material is cooled. In this process, if the template is removed too early, it can easily cause the reticle material to wet out. If the template is removed too late, the edges of the template may stick to the edges of the painted pavement marker, causing chipping or damage to the paint at the edges of the painted pavement marker, thereby severely affecting the quality of the pavement marker.

In order to solve at least one of the above technical problems, the present application provides a scribing robot (or called a line marking robot), which is described in detail below with reference to the accompanying drawings.

Referring to fig. 1 to 3, fig. 1 is an alternative structural schematic diagram of a scribing robot according to an embodiment of the present application, fig. 2 is a side view of the scribing robot of fig. 1, and fig. 3 is an internal structural schematic diagram of the scribing robot of fig. 1 after a housing is removed.

The line marking robot is used for road marking lines, and can draw road reference lines, for example. The line striping robot may comprise, inter alia, a chassis 10, a housing 20, a line striping assembly 60, a positioning and orientation assembly 40 disposed at least partially outside of the housing 20, and a support assembly 30 disposed within the housing 20, a controller 50, and a material containment assembly 70.

Referring to fig. 1 to 4 together, the chassis 10 is movable, and for example, the chassis 10 may include a chassis bracket 11, a front wheel assembly 12 and a rear wheel assembly 13 engaged with the chassis bracket 11, and a driving mechanism 14 for driving the rear wheel assembly 13 and/or the front wheel assembly 12 to move. In other examples, the chassis 10 may also be moved by tracks.

The front wheel assembly 12 may include at least two front wheels 121, and a front wheel transmission shaft (not shown) assembled with the front wheels 121. The rear wheel assembly 13 may include at least two rear wheels 131, and a rear wheel drive shaft (not shown) assembled with the rear wheels 131. At least two front wheels 121 can also be provided with at least two groups of strong torsion spring suspension systems (not shown), and the arrangement of the rear wheel assembly 13 can buffer impact caused by uneven road surfaces, small steps and the like, so that the scribing robot can stably run.

The front wheel 121 may be an omni wheel, which may be composed of a plurality of independent small tires, for example, 24 independent small tires, which may be made of rubber. The independent small tires can form a tooth-shaped structure, so that the scribing robot can improve the ground gripping force in the process of meeting obstacles and gullies.

Through the setting of omniwheel, can make the robot of drawing a line at the in-process of advancing, can rotate the small tyre one by one, realize centimetre level turning radius, guarantee the maximum flexibility ratio of the robot of drawing a line, adapt to the road surface of different conditions more, promote free driving ability.

The at least two rear wheels 131 may be pneumatic tires, the at least two rear wheels 131 may include a first rear wheel 132 and a second rear wheel 133, the first rear wheel 132 and the second rear wheel 133 may be oppositely disposed at both sides of the chassis frame 11, and the first rear wheel 132 and the second rear wheel 133 may be assembled by a rear wheel transmission shaft. Wherein the first rear wheel 132 may be driven by a first driving motor 141 and the second rear wheel 133 may be driven by a second driving motor 142.

To illustrate that the driving mechanism 14 drives the rear wheel assembly 13 to move, the driving mechanism 14 may include two independent dc driving motors, i.e. a first driving motor 141 and a second driving motor 142. The first and second driving motors 141 and 142 may be provided on the chassis frame 11. The two sets of direct current driving motors can control the speed difference between the first rear wheel 132 and the second rear wheel 133 through respective independent operation, so that power output is provided for the scribing robot, and accurate adjustment of the direction is guaranteed.

In some alternative examples, with continued reference to fig. 1-3, the support assembly 30 is mounted on the chassis 10, and the support assembly 30 may include multiple layers of support frames. The multilayer support frame can adopt aluminum alloy integration welding. The aluminum alloy can be 7-series aviation-grade aluminum alloy, and the diameter of each support frame is larger than 3.5 millimeters, so that the aluminum alloy is firm and stable.

The bottom of the multi-layer support frame can be formed by matching two cross beams arranged along the first direction X with the bent pipe to form a bottom support structure 31, and the bottom support structure 31 is arranged on the chassis 10 to bear load. In this example, the multilayer support frame does not use bolted construction to connect, can guarantee that deformation and not hard up can not appear under the long-time use.

The multi-layer support frame is provided with a bottom support structure 31, a first support frame 32 and a second support frame 33 in sequence along a second direction Y, which may be a direction away from the chassis 10. Wherein the material containment assembly 70 described above may be disposed on the bottom support structure 31. It will be appreciated that the stock containment assembly 70 rests on the bottom support structure 31, which is advantageous in maintaining the overall operational stability of the scoring robot.

This raw materials holds subassembly 70 can be high strength plastic material, so set up, can reduce the quality that the raw materials held subassembly 70 as far as possible, guarantee marking robot's lightweight operation, be convenient for simultaneously wash and change.

The material containing member 70 may have, for example, a rectangular parallelepiped structure or a cylindrical structure. The raw material containing member 70 stores therein a raw material for drawing road traffic markings, which may be, for example, white latex paint.

The support assembly 30 may further include a controller 50 and a positioning and orienting assembly 40, and the controller 50 may be electrically connected to the positioning and orienting assembly 40. The controller 50 may be disposed on the first support frame 32, the controller 50 may be an intelligent processing unit with processing and storing functions, and those skilled in the art may perform appropriate configuration according to configuration requirements of different scribing robots, and the specific model of the controller 50 is not limited herein.

For example, the controller 50 may be a heterogeneous computing system that employs a PC architecture in combination with a GPU (graphics Processing Unit) for computing, and may combine the positioning and orienting component 40 and the line drawing component 60 to complete functions of sensing an external environment, positioning and avoiding obstacles, path planning, map Processing, navigation tracking, and the like, thereby providing a favorable decision for actions of the line drawing robot and drawing jobs in different modes.

It should be noted that the main technical solution of the present application focuses on the positioning and orienting component 40 and the scribing component 60 being used in combination in the scribing robot to perform scribing operation, so as to provide a hardware structure of the scribing robot and bring about a completely new operation mode. The control methods that may be involved, such as the implementation of the controller 50 and the positioning and orientation assembly 40 described above, may be implemented by those skilled in the art with reference to the prior art in the field of positioning control.

Referring to fig. 1 to 5, the positioning and orientation assembly 40 is used for positioning and orienting the environment to provide a target position for the controller 50, the positioning and orientation assembly 40 may be disposed on the second support frame 33, the positioning and orientation assembly 40 may include a laser radar system 41 and a positioning and orientation system 42, and the laser radar system 41 and the positioning and orientation system 42 may be electrically connected to the controller 50, respectively.

It should be noted that, the positioning and Orientation System 42 (POS) integrates the DGPS (Differential GPS) technology and the Inertial Navigation System (INS) technology, and the positioning and Orientation System 42 can obtain the spatial Position and the three-axis attitude information of the mobile object.

In this embodiment, the positioning and orientation System 42 may include a GNSS (Global Navigation Satellite System) positioning and orientation board and an Inertial Measurement Unit 422 (IMU). The inertial measurement unit 422 may be an industrial-grade inertial measurement unit 422, which may measure a three-axis attitude angle (or angular rate) and an acceleration of the object, and the GNSS positioning and orientation board 421 may employ a high-precision RTK (Real Time Kinematic) technology.

It can be understood that the positioning and orienting system 42 integrates the GNSS positioning and orienting board 421 and the inertial measurement unit 422, so as to help the scribing robot provide continuous, stable and credible real-time high-precision position and attitude information under various harsh natural environments, and support RTK calibration-free oblique cutting measurement and signal-free measurement functions.

Optionally, the GNSS positioning and orientation board 421 may be configured with a dual antenna 43, so as to provide accurate positioning data for the line drawing robot, thereby providing accurate map data for the subsequent operation of the line drawing robot, and facilitating accurate decision making.

The scribing assembly 60 is alternatively referred to as a reticle assembly, and the scribing assembly 60 can be fixed on one side of the support assembly 30 close to the chassis 10 or directly fixed on the chassis 10. The scribing assembly 60 may include a guide rail 61 and a slider 62 capable of sliding on the guide rail 61, wherein the extending direction (direction Z) of the guide rail 61 is not consistent with the moving direction (direction Q) of the chassis 10, a nozzle 63 is fixed on the slider 62, and the nozzle of the nozzle 63 faces downward, i.e., toward the road. In other examples, the guide rail 61 may include a timing belt and a transmission shaft, and the sliding block 62 may be fixed to the timing belt so that the sliding block 62 may be moved by the timing belt.

The nozzle 63 may communicate with the material accommodating unit 70, and the material accommodating unit 70 may supply the operation material to the nozzle 63. The spray head 63 may be controlled by a separate electronic control unit (not shown) which may be communicatively coupled to the controller 50. The spray head 63 may be a lightweight solenoid valve, which is directly controlled via an electronic control unit. For example, when the raw material containing assembly 70 stores the emulsion paint therein, the electronic control unit may control the spray head 63 to respond at a high speed, thereby performing the function of painting and marking. So set up, realized shower nozzle 63's independent control, be convenient for install, and work such as maintenance change.

The operation of the scribing robot will be described below with reference to the above-described structure. In the moving process of the scribing robot, the positioning and orienting assembly 40 can collect navigation signals through the antenna 43 connected with the GNSS positioning and orienting board 421 to perform positioning, and the laser radar system 41 can perform laser scanning synchronously to obtain point cloud data. The controller 50 may acquire a target position provided by the position and orientation assembly 40 (which may be provided by the position and orientation system 42 and/or the lidar system 41) and move the line marking robot to the target position by virtue of the chassis 10 movement. When the scribing robot moves to a target position, the controller 50 may control the electric control unit and the guide rail 61 according to a pattern of a road traffic marking (including a road lane line and a road marking), so that the spray head 63 may be driven by the slider 62 to perform a scribing operation on the road marking including the road marking and the road lane line.

Therefore, a brand-new road traffic marking drawing operation mode is provided, and the technical problem that the construction operation of road markers in the related technology is complicated is solved. And so set up, saved the template, consequently can improve the quality of road surface marker, reduce manual operation, improve and draw the precision, easy operation is convenient, and the reliability is high.

Claims (10)

1. A scribing robot, comprising:

a movable chassis;

the supporting assembly is arranged on the chassis, a controller and a positioning and orienting assembly are arranged on the supporting assembly, and the controller is electrically connected with the positioning and orienting assembly;

wherein the positioning and orientation assembly is used for positioning and orienting the environment to provide a target position for the controller, and the controller is used for controlling the chassis to move to the target position;

the scribing assembly is fixed on one side, close to the base plate, of the supporting assembly and comprises a guide rail and a sliding block capable of sliding on the guide rail, the extending direction of the guide rail is not consistent with the moving direction of the base plate, a spray head is fixed on the sliding block, and a spray opening of the spray head faces downwards;

the spray head is used for realizing the marking operation of the pavement marker at the target position through the driving of the slide block.

2. The scribing robot of claim 1, wherein the positioning and orientation assembly comprises a lidar system and a positioning and orientation system, the lidar system and the positioning and orientation system each being electrically connected to the controller.

3. The line striping robot of claim 2 wherein the position and orientation system comprises a GNSS position and orientation board and an inertial measurement unit.

4. The line striping robot of claim 3 wherein the GNSS positioning orientation board is configured with dual antennas.

5. The line striping robot of claim 1 further comprising:

the raw material containing assembly is installed on the supporting assembly and communicated with the spray head and used for providing operation raw materials for the spray head.

6. The scoring robot of claim 5 wherein the material containment assembly is a plastic material.

7. The line striping robot of any one of claims 1-6 wherein the chassis comprises:

a chassis support;

a front wheel assembly and a rear wheel assembly which are matched with the chassis bracket;

and a drive mechanism for driving the rear wheel assembly to move.

8. The line striping robot of claim 7 wherein the front wheel assembly comprises a front wheel and a front wheel drive shaft assembled with the front wheel.

9. The line striping robot of claim 8 wherein the front wheels are omni-wheels.

10. The line striping robot of claim 7 wherein the rear wheel assembly comprises a first rear wheel, a second rear wheel, and a rear wheel drive shaft that assembles the first rear wheel and the second rear wheel;

the drive mechanism includes a first drive motor that drives the first rear wheel and a second drive motor that drives the second rear wheel.

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