WO2022179099A1

WO2022179099A1 - Line marking system, line marking method and line marking device

Info

Publication number: WO2022179099A1
Application number: PCT/CN2021/120761
Authority: WO
Inventors: 刘斌; 贾玉涛; 宋丹枫; 穆雄
Original assignee: 广东博智林机器人有限公司
Priority date: 2021-02-26
Filing date: 2021-09-26
Publication date: 2022-09-01
Also published as: CN114960392A

Abstract

A line marking system, a line marking method and a line marking device. The line marking system comprises a positioning device and a line marking device. The positioning device comprises a machine frame and a first positioning mechanism arranged on the machine frame. The first positioning mechanism comprises a first signal emitter, which can emit signals in a Y direction, and a first adjustment mechanism, wherein the first adjustment mechanism is in communication connection with the line marking device, and same can drive the first signal emitter to move in an X direction. The line marking device comprises a line marking mechanism and a first signal receiver arranged on the line marking mechanism, wherein the line marking mechanism can move and mark a line on a surface to be marked with a line; the first signal receiver can receive the signal from the first signal emitter and is in communication with the line marking mechanism; and the line marking mechanism can move in the Y direction and mark a line, and also adjusts a line marking position in the X direction according to information received by the first signal receiver. The line marking device can adjust the position of the signal emitter to a proper position matching the signal receiver, thereby improving the line marking precision.

Description

Scribing system, scribing method and scribing device

This application claims the priority of the Chinese patent application with an application date of February 26, 2021 and an application number of 202110220527.5, the entire contents of which are incorporated herein by reference.

technical field

The present application relates to the technical field of construction machinery, for example, to a scribing system, a scribing method, and a scribing device.

Background technique

With the development of society, the labor cost in the process of building construction is increasing. In the field of parking space marking operation, the operation method of marking with automatic marking device is gradually replacing the traditional marking operation method that relies on manual labor throughout the whole process. The marking device usually includes an automatic navigation trolley and a spraying mechanism connected to the automatic navigation trolley. The automatic navigation trolley pulls the spraying mechanism to move in a preset direction, so as to realize the marking action, but it is affected by various factors such as ground flatness. The line drawn by the navigation movement of the automatic navigation car is not very accurate.

In order to solve this problem, there is a scribing system in the related art, which includes a positioning device for fixing at a specific position and a scribing device, the positioning device includes a signal transmitter, and the scribing device includes an automatic navigation trolley and a spraying device connected to the automatic guided trolley. There is a displacement sensor on the spraying mechanism. The displacement sensor can receive the signal of the signal transmitter and make the spraying mechanism move in the direction perpendicular to the marking line relative to the automatic navigation car, thereby compensating for the position deviation of the automatic navigation car and ensuring the spraying parking space line. accuracy. However, when the initial placement of the displacement sensor and the signal transmitter deviates greatly and exceeds the compensation range of the spraying mechanism relative to the automatic navigation car, the displacement sensor cannot capture the signal emitted by the signal transmitter, and thus cannot guarantee the marking accuracy. precision.

SUMMARY OF THE INVENTION

The present application proposes a scribing system, which can automatically adjust the position of the signal transmitter to an appropriate position matched with the signal receiver, thereby improving the accuracy of scribing.

The present application also proposes a scribing method, and the straight line drawn by the method has high precision.

The present application also proposes a scribing device, which can coordinately adjust the laser light emitted by the signal transmitting end to match the position of the scribing device, thereby improving the scribing accuracy.

An embodiment provides a scribing system, including a positioning device and a scribing device; wherein, the positioning device includes a frame and a first positioning mechanism disposed on the frame, the first positioning mechanism A first signal transmitter and a first adjustment mechanism for transmitting signals in the Y direction, the first adjustment mechanism is connected in communication with the scribing device, and can drive the first signal transmitter to move along the X direction; the scribing device The device includes a scribing mechanism and a first signal receiver arranged on the scribing mechanism, the scribing mechanism can move and scribe on the surface to be scribed, and the first signal receiver can receive the first signal receiver. The signal sent by the signal transmitter is connected to the scribing mechanism in communication, and the scribing mechanism can move and scribe the line along the Y direction, and at the same time adjust along the X direction according to the information received by the first signal receiver Line location.

In the scribing system of the present application, during operation, the scribing device communicates with the first adjustment mechanism after reaching the first predetermined position, and the first adjustment mechanism adjusts the position of the first signal transmitter along the direction perpendicular to the direction to be scribbled after receiving the signal , so that the signal emitted by the first signal transmitter is located at the midpoint of the first signal receiver along the direction perpendicular to the scribe line. At this time, the first signal receiver communicates with the first adjustment mechanism through the scribe line mechanism, so that the first adjustment mechanism Stop adjusting the position of the first signal transmitter to lock the position of the first signal transmitter, so the first signal receiver can always receive the first signal transmission at the initial scribing position and during the scribing process. The signal emitted by the transmitter ensures that the scribing mechanism can maintain real-time adjustment of the scribing deviation perpendicular to the scribing direction, and avoids the conflict between the running route of the scribing mechanism and the route planned by the first signal transmitter, thereby improving the accuracy of the scribing.

As an optional solution, the frame includes a beam extending along the X direction, and the first adjustment mechanism can adjust the position of the first signal transmitter on the beam. Therefore, when the scribing device draws straight lines extending along the Y direction at different positions, the first signal transmitter can be adjusted by the first adjustment mechanism to a position matching the first signal receiver at this time, and it is not necessary to move the position of the positioning device, Thereby improving the scribing efficiency.

As an optional solution, the frame includes a beam extending along the X direction, the beam is provided with a plurality of the first positioning mechanisms, and each of the first positioning mechanisms is provided with a corresponding one of the first positioning mechanisms. first signal transmitter. The first signal transmitter of each first positioning mechanism can transmit signals to the first signal receivers located at different scribing positions respectively, so as to correct the scribing deviation of the corresponding spraying mechanism along the X direction, that is, scribing different positions When the line is in the Y direction, it is not necessary to move the position of the positioning device, thereby improving the scribing efficiency.

As an optional solution, the first adjustment mechanism includes a frame, a rack, a gear and a first drive assembly, the frame is movably connected to the beam, and the first signal transmitter is arranged on the On the frame, the rack is arranged on the beam and extends along the X direction, the first drive assembly is arranged on the frame, the gear is engaged with the rack, the first drive assembly is The drive assembly can drive the gear to rotate, so that the frame moves along the X direction, the structure is simple, and the matching mode of the gear and rack has high precision.

As an optional solution, the first adjustment mechanism includes a slider, a flexible member, two transmission wheels and a second drive assembly, the first signal transmitter is arranged on the slider, and the two transmissions The connecting lines of the wheels extend along the X direction and are respectively rotatably supported on the beams, the flexible members are wound around the two transmission wheels, the slider is connected with the flexible members, and the first Two drive assemblies are arranged on the beam, and the second drive assembly can drive any one of the transmission wheels to rotate, so as to make the slider move along the X direction, thereby realizing the first signal generator along the X direction. Position adjustment, simple structure and low cost.

As an optional solution, a first end of the frame along the X direction is provided with a fixed support foot, a second end is provided with a caster, and the fixed support foot and the caster are set to be supported on the line to be marked surface. The fixed right angle can ensure the stability of the rack placement position. When moving the rack position, the operator lifts the first end of the fixed foot and pushes the rack through the caster at the second end. The moving process is labor-saving and not easy to scratch. Just drawn line.

As an optional solution, the positioning device further includes a second positioning mechanism disposed on the frame, and the second positioning mechanism includes a second signal transmitter capable of transmitting a positioning signal along the X direction, and a second adjustment mechanism, the second adjustment mechanism is connected to the scribing device in communication, and the second adjustment mechanism can drive the second signal transmitter to move along the Y direction; the scribing device includes a The second signal receiver on the scribing mechanism, the second signal receiver can receive the signal emitted by the second signal transmitter and communicate with the scribing mechanism, and the scribing mechanism can move along the X The direction is moved and scribed, and the scribed line position is adjusted along the Y direction according to the information received by the second signal receiver. This enables the scribing system to ensure high precision when scribing lines along the X direction.

As an optional solution, the frame includes a longitudinal beam, the longitudinal beam extends along the Y direction and is located at the first end of the frame along the X direction, and the second positioning mechanism is provided at on the stringer. The signals emitted by the first signal transmitter and the second position signal transmitter can be prevented from being interfered with.

As an optional solution, at least one of the first signal transmitter and the second signal transmitter is a word-line laser transmitter, and the word-line laser transmitter can emit vertical Laser face. That is, the signal emitted by the first signal transmitter is a plane, and when it hits the first signal receiver, it is a vertical straight line, even if the first signal receiver and the first signal transmitter have a height deviation, The first signal device can still receive the signal of the first signal transmitter, thereby solving the influence of the position error of the first signal transmitter and the first signal receiver in the vertical direction on the positioning accuracy.

As an optional solution, the marking mechanism includes a moving base and a spraying mechanism, the first signal receiver is arranged on the spraying mechanism, and the spraying mechanism can move along the X relative to the moving base. direction move. Then, when adjusting the scribing deviation of the scribing device along the X direction, it is only necessary to adjust the structure of the spraying mechanism, and the adjustment is more convenient.

As an optional solution, the scribing mechanism further includes a third driving assembly and a spraying moving guide rail extending along the X direction, and the third driving assembly can drive the spraying mechanism to slide along the spraying moving guide rail Therefore, when the scribing device scribes along the Y direction, the scribing deviation of the spraying mechanism along the X direction can be adjusted.

As an optional solution, the spraying mechanism includes a mounting seat, a spraying actuator and a fourth driving component, the fourth driving component is arranged on the mounting seat, and the fourth driving component can drive the spraying The actuator moves in the Y direction relative to the mount. Therefore, when the scribing device is scribing along the X direction, the scribing deviation of the spraying mechanism along the Y direction can be adjusted.

As an optional solution, the spraying mechanism further includes a fifth driving component, the fifth driving component is connected to the output end of the fourth driving component, and the fifth driving component can drive the spraying actuator Axial rotation about the vertical direction relative to the mounting seat to spray along the X direction or along the Y direction, that is, to realize the adjustment of the spraying direction of the spraying mechanism.

As an optional solution, the marking mechanism includes a spraying mechanism, the first signal receiver and the second signal receiver are respectively arranged on the spraying mechanism, and the spraying mechanism includes a spraying actuator, so The center of the projection of the spraying actuator on the ground is located at the intersection of the center extension lines of the first signal receiver and the second signal receiver.

As an optional solution, the length of the spraying moving guide rail along the X direction is greater than the length of the moving base along the X direction.

An embodiment provides a scribing method based on the above scribing system, comprising:

controlling the scribing mechanism of the scribing device to move to the first predetermined position;

The scribing mechanism sends a laser adjustment signal to the first signal transmitter of the first positioning mechanism, so that the first signal transmitter adjusts the laser irradiation position;

When the first signal transmitter is adjusted so that the laser irradiates the predetermined area, the scribing mechanism stops sending the laser adjustment signal;

The scribing mechanism of the scribing device is controlled to move to the second predetermined position for scribing, and the offset position is compensated in real time according to the laser irradiation path, so as to keep the laser irradiating the predetermined area all the time until reaching the second predetermined position.

An embodiment provides a scribing device, comprising:

a scribing module, configured to move to a first predetermined position;

a first sending module, configured to send a laser adjustment signal to the laser emitting end, so that the laser emitting end adjusts the laser irradiation position;

a first receiving module, configured to receive an in-position signal of the laser emitting end when the laser emitting end is adjusted to a predetermined area where the laser is irradiated, so that the first sending module stops sending the laser adjustment signal;

The scribing module is further configured to move to a second predetermined position to perform scribing, and compensate the offset position in real time according to the laser irradiation path, so as to keep the laser always irradiating the predetermined area until reaching the second predetermined position.

Description of drawings

1 is a top view of the scribing system provided in Embodiment 1 of the present application when the plane to be scribed is scribed;

2 is a schematic structural diagram of a positioning device provided in Embodiment 1 of the present application;

3 is a schematic structural diagram of a scribing device provided in Embodiment 1 of the present application;

Fig. 4 is the enlarged view of A place in Fig. 2;

5 is a schematic structural diagram of a first adjustment mechanism provided in Embodiment 1 of the present application;

Fig. 6 is the enlarged view of B place in Fig. 2;

7 is a schematic diagram of a first signal transmitter and a signal transmitted by the first signal transmitter provided in Embodiment 1 of the present application;

FIG. 8 is a flowchart of a method for scribing provided in Embodiment 1 of the present application;

9 is a schematic structural diagram of a positioning device provided in Embodiment 2 of the present application;

10 is a schematic structural diagram of the first adjustment mechanism provided in Embodiment 2 of the present application;

11 is a longitudinal cross-sectional view of the positioning device provided in Embodiment 2 of the present application;

12 is a schematic diagram of the positional relationship between the spraying actuator and the first signal receiver and the second signal receiver provided by an embodiment;

FIG. 13 is a schematic diagram illustrating the comparison of the scribe width of the spraying mechanism and the spraying actuator provided in an embodiment.

In the picture:

100-vertical reference plane; 200-column; 300-third positioning mechanism;

1-positioning device; 111-beam; 112-longitudinal beam; 113-fixed foot; 114-caster; 115-abutment; 12-first positioning mechanism; 121-first signal transmitter; 122-first adjustment mechanism ; 1220-roller; 1221-frame; 1222-rack; 1223-gear; 1224-first drive assembly; 1225-slider; 1226-flexible member; 1227-transmission wheel; -Linear guide rail; 123-Installation plate; 124-Electric control box; 13-Second positioning mechanism; 131-Second signal transmitter; 132-Second adjustment mechanism;

2-scribing device; 21-scribing mechanism; 211-moving base; 212-spraying mechanism; 2121-mounting seat; 21211-first mounting surface; 21212-second mounting surface; 2122-spraying actuator; 2123-first Five drive components; 22 - the first signal receiver; 23 - the second signal receiver; 24 - the spraying moving guide rail.

Detailed ways

In the description of this application, unless otherwise expressly specified and limited, the terms "connected", "connected" and "fixed" should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integrated ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood in specific situations.

In this application, unless otherwise expressly specified and defined, a first feature "on" or "under" a second feature may include direct contact between the first and second features, or may include the first and second features Not directly but through additional features between them. Also, the first feature being "above", "over" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature is "below", "below" and "below" the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature has a lower level than the second feature.

In the description of this embodiment, the terms "upper", "lower", "right", etc. are based on the orientation or positional relationship shown in the accompanying drawings, which are only for convenience of description and simplified operation, rather than indicating Or imply that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as a limitation of the present application. In addition, the terms "first" and "second" are only used for distinction in description, and have no special meaning.

Example 1

This embodiment provides a marking system, which can be used in construction, for example, is suitable for marking a parking space on a plane to be marked. As shown in Figures 1-5, the scribing system includes a positioning device 1 and a scribing device 2. The positioning device 1 includes a frame and a first positioning mechanism 12 arranged on the frame. The first positioning mechanism 12 includes a The first signal transmitter 121 and the first adjustment mechanism 122 for transmitting signals in the direction, the first adjustment mechanism 122 is connected with the marking device 2 in communication, and the first adjustment mechanism 122 can drive the first signal transmitter 121 to move along the X direction, marking The device 2 includes a scribing mechanism 21 and a first signal receiver 22 arranged on the scribing mechanism 21. The scribing mechanism 21 can move and scribe on the surface to be scribed, and the first signal receiver 22 can receive the first signal to transmit The signal sent by the receiver 121 is connected to the scribing mechanism 21 in communication. The scribing mechanism 21 can move and scribe the line along the Y direction. Y direction.

When the scribing system of this embodiment is in operation, after the scribing device 2 reaches the first predetermined position (position a in FIG. 1 ), the first signal transmitter 121 and the first signal receiver 22 are approximately in the Y direction. In the opposite position, the scribing mechanism 21 is connected in communication with the first adjusting mechanism 122. After the first adjusting mechanism 122 receives the signal, it adjusts the position of the first signal transmitter 121 along the X direction, so that the signal emitted by the first signal transmitter 121 is located at the position of the first signal transmitter 121. The midpoint of the receiving surface of the first signal receiver 22 along the X direction, at this time, the first signal receiver 22 communicates with the first adjustment mechanism 122 through the marking mechanism 21, so that the first adjustment mechanism 122 stops transmitting the first signal The position of the transmitter 121 is adjusted to lock the position of the first signal transmitter 121 at this time, so the scribing device 2 moves from the first predetermined position to the second predetermined position in the first predetermined position and along the Y direction (that is, from FIG. 1 ). In the process of moving from position a to position b), the first signal receiver 22 can always receive the signal transmitted by the first signal transmitter 121 to ensure that the marking mechanism 21 can maintain real-time compensation for the marking deviation along the X direction, The conflict between the preset running route of the marking mechanism 21 and the route planned by the first signal transmitter 121 is avoided, thereby improving the precision of marking the straight line in the Y direction.

Optionally, the scribing device 2 includes a scribing module, a first sending module and a first receiving module, the scribing module is configured to move to a first predetermined position, and the first sending module is configured to send a laser adjustment signal to the laser emitting end, In order to make the laser emitting end adjust the laser irradiation position, the first receiving module is set to receive the laser emission when the laser emitting end is adjusted to the predetermined area (that is, the midpoint of the receiving surface of the first signal receiver 22 along the X direction) when the laser is irradiated. In-position signal to make the first sending module stop sending the laser adjustment signal, and the scribing module is also set to move to the second predetermined position for scribing, and compensate the offset position in real time according to the laser irradiation path, so as to keep the laser always irradiated at the predetermined position. area until the second predetermined position is reached. In this embodiment, the scribing module, the first sending module, and the first receiving module all belong to the scribing mechanism 21 . The laser emitting end includes a first positioning mechanism 12. The laser adjustment signal sent by the first sending module is received by the first adjustment mechanism 122. The first adjustment mechanism 122 drives the first signal transmitter 121 to adjust the position, thereby adjusting the irradiation position of the laser.

Optionally, as shown in FIG. 2 , FIG. 3 and FIG. 6 , the positioning device 1 further includes a second positioning mechanism 13 , and the second positioning mechanism 13 includes a second signal transmitter 131 and a second signal transmitter 131 capable of transmitting signals along the X direction. The adjusting mechanism 132, the second adjusting mechanism 132 is connected with the marking device 2 in communication, the second adjusting mechanism 132 can drive the second signal transmitter 131 to move along the Y direction, and the marking device 2 includes a second marking mechanism 21. The signal receiver 23, the second signal receiver 23 can receive the signal transmitted by the second signal transmitter 131 and communicate with the marking mechanism 21, the marking mechanism 21 can move along the X direction and mark the line, and at the same time receive according to the second signal. The information received by the device 23 adjusts the position of the scribe line along the Y direction, so that the scribe line system can also ensure higher accuracy when scribing along the X direction. The scribing process of the scribing device 2 along the X direction is the same as the scribing principle along the Y direction. In this embodiment, as shown in FIG. 1 , after the scribing device 2 moves from the a position to the b position, the second signal is emitted at this time. The transmitter 131 and the second signal receiver 23 are in approximately opposite positions in the X direction, the marking mechanism 21 communicates with the second adjustment mechanism 132, and the second adjustment mechanism 132 adjusts the second signal transmitter 131 along the Y direction after receiving the signal. position, so that the signal emitted by the second signal transmitter 131 is irradiated at the midpoint of the receiving surface of the second signal receiver 23 along the Y direction at this time. At this time, the second signal receiver 23 passes through the marking mechanism 21 and the second The adjustment mechanism 132 communicates, so that the second adjustment mechanism 132 stops adjusting the position of the second signal transmitter 131 to lock the position of the second signal transmitter 131 at this time, so the marking device 2 is at the second predetermined position and along the X During the process of moving the direction from the second predetermined position to the third predetermined position (that is, moving from position b to position c in FIG. 1 ), the second signal receiver 23 can always receive the signal transmitted by the second signal transmitter 131 , It is ensured that the scribing mechanism 21 can timely adjust the scribing deviation along the Y direction, and improve the accuracy of scribing the straight line in the X direction.

Optionally, the scribing device 2 further includes a second sending module and a second receiving module, wherein the second sending module is configured to send a laser adjustment signal to the second adjustment mechanism 132, so that the second adjustment mechanism 132 adjusts the second signal. The laser irradiation position of the transmitter 131, the second receiving module is set to receive the second signal transmitter 131 when the laser emitted by the second signal transmitter 131 is irradiated to the midpoint of the receiving surface of the second signal receiver 23 along the Y direction. In-position signal, and make the second sending module stop sending the laser adjustment signal, the scribing module (which can be the scribing device 2) is moving from the second predetermined position to the third predetermined position in the process of scribing and scribing according to the second signal. The signal transmitted by the device 131 compensates the position deviation in real time, thereby improving the scribing accuracy. Wherein, both the second sending module and the second receiving module belong to the marking mechanism 21 .

Optionally, as shown in FIG. 3 , the marking mechanism 21 also includes a moving base 211 and a spraying mechanism 212, the first signal receiver 22 is arranged on the spraying mechanism 212, and the spraying mechanism 212 can move relative to the moving base 211 along the X direction. . Then, when adjusting the scribing deviation of the scribing device 2 along the X direction, only the spraying mechanism 212 needs to be adjusted, and the adjustment is more convenient. In this embodiment, both the mobile base 211 and the spraying mechanism 212 belong to the marking mechanism 21 , and one or more of the first sending module, the first receiving module, the second sending module, and the second receiving module can be arranged on the spraying mechanism 212 On the other hand, the others are all arranged on the moving base 211, or all are arranged on the spraying mechanism 212, or all are arranged on the moving base 211, which are not specifically limited here. Optionally, the movable base 211 can walk in any direction on the plane to be scribed, so it is not necessary to move the body of the base 211 and the spraying mechanism 212 on it to turn when scribing the corner position, which is convenient and efficient for scribing. The mobile base 211 has a navigation function, and the mobile base 211 can drive the spraying mechanism 212 to move and draw lines along the route planned by the navigation (ie, the preset running route described above). The first signal transmitter 121 and the first signal The cooperation of the receiver 22 (or the cooperation of the second signal transmitter 131 and the second signal receiver 23 ) can drive the spraying mechanism 212 to compensate the deviation of the navigation route of the mobile base 211, ensure the accuracy of the marking, and will not interfere Navigation of mobile base 211. The mobile base 211 having a navigation function and capable of moving in any direction on a plane is a mature component in the related art, and its specific structure and working principle will not be repeated here.

Exemplarily, as shown in Figure 3, the scribing mechanism 21 also includes the third drive assembly and the spraying moving guide rail 24 extending along the X direction, and the third driving assembly can drive the spraying mechanism 212 to slide along the spraying moving guide rail 24, so in the drawing When the line device 2 scribes the line in the Y direction, the deviation of the line in the X direction of the spraying mechanism 212 can be adjusted. In this embodiment, the spraying moving guide rails 24 protrude from the moving base 211 at both ends along the X direction, so the spraying mechanism 212 can draw a line at a position outside the moving base 211, so as to prevent the moving base 211 from rubbing and scratching new lines during the movement of the moving base 211. line. Exemplarily, the third driving component may be a motor with a screw nut pair, a linear cylinder, or other structures capable of driving the spraying mechanism 212 to move along the spraying moving guide 24, which is not specifically limited here.

Optionally, as shown in FIG. 3 , the spraying mechanism 212 includes a mounting seat 2121, a spraying actuator 2122 and a fourth driving assembly, the fourth driving assembly is arranged on the mounting seat 2121, and the fourth driving assembly can drive the spraying actuator 2122 relative to each other. The mounting seat 2121 moves along the Y direction. Therefore, when the scribing device 2 scribes the line in the X direction, the deviation of the scribe line in the Y direction of the spraying mechanism 212 can be adjusted. In this embodiment, the fourth driving component may be an electric push rod, and the output end of the electric push rod extends along the Y direction. The spraying actuator 2122 can be a spray gun, and the spray gun is connected to the output end of the electric push rod.

Exemplarily, as shown in FIG. 3 , the spraying mechanism 212 further includes a fifth drive assembly 2123, the fifth drive assembly 2123 is connected with the output end of the fourth drive assembly, and the fifth drive assembly 2123 can drive the spraying actuator 2122 to wind around the vertical axis. The direction axis is rotated relative to the mounting seat 2121 to spray along the X direction or along the Y direction, that is, to realize the adjustment of the spraying direction of the spraying mechanism 212 . In this embodiment, the fifth driving component 2123 may be a rotary cylinder or a direct drive motor, which is not specifically limited herein.

In this embodiment, the first signal receiver 22 is a displacement sensor, that is, the first signal receiver 22 has a signal receiving range of a certain length along the X direction. When the first adjustment mechanism 122 adjusts the position of the first signal transmitter 121, Make the signal sent by the first signal transmitter 121 hit the midpoint of the displacement sensor along the X direction. Likewise, the second signal receiver 23 is a displacement sensor. That is to say, the second signal receiver 23 has a signal receiving range of a certain length along the Y direction. When the second adjusting mechanism 132 adjusts the position of the second signal transmitter 131, the signal sent by the second signal transmitter 131 is hit in the corresponding position. The midpoint of the displacement sensor along the Y direction. As shown in FIG. 3 , the mounting seat 2121 includes a first mounting surface 21211 perpendicular to the Y direction and a second mounting surface 21212 perpendicular to the X direction. The first signal receiver 22 is disposed on the first mounting surface 21211, and the second signal The receiver 23 is provided on the second mounting surface 21212 .

Optionally, as shown in FIG. 3 and FIG. 7 , the first signal transmitter 121 is a word line laser transmitter, that is, the signal emitted by the first signal transmitter 121 is a plane parallel to the Y direction. When a signal receiver 22 is on a vertical line, even if the first signal receiver 22 and the first signal transmitter 121 have a height deviation, the first signal receiver 22 can still receive the first signal transmitter 121, thereby solving the influence of the position error of the first signal transmitter 121 and the first signal receiver 22 in the vertical direction on the positioning accuracy. Similarly, the second signal transmitter 131 is also a word line laser transmitter, which can solve the influence of the position error of the second signal transmitter 131 and the second signal receiver 23 in the vertical direction on the positioning accuracy.

Optionally, as shown in FIG. 2 , FIG. 4 and FIG. 5 , the frame includes a beam 111 extending along the X direction, and a plurality of first positioning mechanisms 12 are provided on the beam 111 , and each first positioning mechanism 12 is correspondingly provided with one The first signal transmitter 121 . The first signal transmitter 121 of each first positioning mechanism 12 can respectively transmit signals to the first signal receivers 22 at different scribed positions, so as to correct the scribed deviation of the corresponding spraying mechanism 212 along the X direction, That is, when scribing lines in the Y direction at different positions, it is not necessary to move the position of the positioning device 1 , thereby improving the scribing efficiency. In this embodiment, the distance between two adjacent first positioning mechanisms 12 may be the length of one parking space or the width of one parking space.

Exemplarily, as shown in FIG. 5 , the first adjustment mechanism 122 includes a slider 1225 , a flexible member 1226 , two transmission wheels 1227 and a second drive assembly 1228 , the first signal transmitter 121 is arranged on the slider 1225 , The connecting line of the two transmission wheels 1227 extends along the X direction and is rotatably supported on the beam 111 respectively, the flexible member 1226 is wound around the two transmission wheels 1227, the slider 1225 is connected with the flexible member 1226, and the second driving component 1228 is arranged on the beam 111, the second driving assembly 1228 can drive any one of the transmission wheels 1227 to rotate, so as to make the slider 1225 move along the X direction, thereby realizing the position adjustment of the first signal transmitter 121 along the X direction, and the structure is simple. ,low cost. In this embodiment, the second driving component 1228 may be a servo motor or a rotary cylinder, which is not specifically limited herein. Optionally, the flexible member 1226 may be a belt, the corresponding transmission wheel 1227 may be a pulley, the flexible member 1226 may also be a chain, and the corresponding transmission wheel 1227 may be a sprocket. Exemplarily, the first adjusting mechanism 122 further includes an electric control box 124 and a mounting plate 123, the mounting plate 123 is arranged on the beam 111, the electric control box 124 is connected with the mounting plate 123, the first signal transmitter 121, the second driving assembly 1228 are all electrically connected to the electric control box 124 . Optionally, the first adjustment mechanism 122 further includes a linear guide rail 1229, the linear guide rail 1229 is arranged on the mounting plate 123 and extends along the X direction, and the slider 1225 is slidably matched with the linear guide rail 1229, so that the first signal transmitter 121 moves along the X direction. When the direction moves, the direction is accurate and the movement is stable.

Exemplarily, as shown in FIG. 2 and FIG. 6 , the frame further includes a longitudinal beam 112, the longitudinal beam 112 extends along the Y direction and is located at one end of the transverse beam 111 along the X direction, and the second positioning mechanism 13 is provided on the longitudinal beam 112, Therefore, the signals transmitted by the first signal transmitter 121 and the second signal transmitter 131 can be prevented from interfering with each other. Optionally, the structure of the second positioning mechanism 13 is completely the same as that of the first positioning mechanism 12 , and only the setting position and the setting direction are different, so they are not repeated here.

Optionally, as shown in FIG. 2 , the two ends of the frame along the X direction are respectively provided with abutting members 115 , the connecting line between the two abutting members 115 is parallel to the X direction, and the abutting members 115 are arranged to be vertical reference The abutment of the plane 100, that is, taking the vertical reference plane 100 as a reference, can ensure the accuracy of the placement direction of the entire rack. In this embodiment, the two abutting members 115 are respectively connected to both ends of the beam 111 along the X direction. Optionally, between the two abutting members 115 , a plurality of support beams may also be provided on the beam 111 , and the plurality of support beams jointly support the beam 111 , which can ensure the levelness of the beam 111 .

Exemplarily, the first end of the frame along the X direction is provided with a fixed support 113, the second end is provided with a caster 114, and the fixed support 113 and the caster 114 are set to be supported on the surface to be marked. The fixed feet 113 can ensure the stability of the placement position of the rack, and when moving the position of the rack, the operator lifts the first end of the fixed feet 113 and pushes the rack through the casters 114 at the second end. The moving process is labor-saving and not easy. It is easy to scratch the freshly drawn line. In this embodiment, the fixed legs 113 and the casters 114 are respectively installed below the two abutting members 115 .

This embodiment also provides a scribing method, which is applied to the above scribing system. As shown in FIG. 8 , the scribing method includes:

Control the scribing mechanism 21 of the scribing device 2 to move to the first predetermined position;

The scribing mechanism 21 sends a laser adjustment signal to the laser emitting end, so that the laser emitting end adjusts the laser irradiation position;

When the laser emitting end is adjusted to the point where the laser irradiates the predetermined area, stop sending the laser adjustment signal;

The scribing mechanism 21 of the scribing device 2 is controlled to move to the second predetermined position for scribing, and the offset position is compensated in real time according to the laser irradiation path to keep the laser always irradiating the predetermined area until reaching the second predetermined position.

In the scribing method of this embodiment, when the scribing mechanism 21 is at the first predetermined position, the signal emitted by the laser emitting end is adjusted to irradiate the predetermined area, that is, the laser irradiation path is adjusted accurately before scribing, so as to ensure the scribing. During the scribing process from the first predetermined position to the second predetermined position, the line mechanism 21 can compensate the offset position in real time according to the accurate laser irradiation path, thereby improving the accuracy of the scribing.

Exemplarily, the laser emitting end may be the first positioning mechanism 12 or the second positioning mechanism 13 in the scribing system, and the preset area may be the midpoint of the signal receiving surface of the first signal receiver 22 along the X direction, or the first position. The midpoint of the signal receiving surface of the two signal receivers 23 along the Y direction.

Taking the above-mentioned scribing method as an example in the scribing system of the present embodiment, as shown in FIG. 1 , the process of scribing the parking space line is as follows:

The frame of the positioning device 1 is abutted on the vertical reference plane 100, and the scribing device 2 is moved to a position (ie, the first predetermined position), where the first signal transmitter 121 and the second signal receiver 23 are at this time. roughly relative.

The first sending module of the scribing mechanism 21 sends a signal to the first adjusting mechanism 122, and the first adjusting mechanism 122 adjusts the position of the first signal transmitter 121 along the X direction, so that the signal emitted by the first signal transmitter 121 is located in the first signal transmitter 121. The receiving surface of the receiver 22 is along the midpoint of the X direction. At this time, the first receiving module receives the in-position signal of the first signal transmitter 121 and stops the first sending module from sending the laser adjustment signal, and the marking mechanism 21 is along the Y direction. Move from the a position (the first predetermined position) to the b position (the second predetermined position) and draw a line, and during the drawing process, the spraying mechanism 212 compensates the positional deviation along the X direction in real time according to the signal of the first signal transmitter 121 . After the scribing device 2 reaches the position b, the second signal transmitter 131 is substantially opposite to the second signal receiver 23 .

The second sending module of the scribing mechanism 21 sends a signal to the second adjusting mechanism 132, and the second adjusting mechanism 132 adjusts the position of the second signal transmitter 131 along the Y direction, so that the signal emitted by the second signal transmitter 131 is located in the second signal transmitter 131. The receiver 23 receives the midpoint of the surface along the Y direction. At this time, the second receiving module receives the in-position signal from the second signal transmitter 131, and makes the second signal sending module stop sending the laser adjustment signal. The X direction moves from the b position to the c position and draws a line, and during the drawing process, the spraying mechanism 212 compensates the positional deviation along the Y direction in real time according to the signal of the second signal transmitter 131 .

The scribing mechanism 21 is moved from the c position to the d position. This process is the same as the process in which the scribing mechanism 21 moves from position a to position b, and will not be repeated here.

The scribing mechanism 21 is moved from the d position to the a position. A third positioning mechanism 300 is separately set on one side of the a position, (the third positioning mechanism 300 can be placed with the nearby column 200 as the reference plane) The structure and working principle of the third positioning mechanism 300 and the second positioning mechanism 13 are exactly the same , so this process is consistent with the process of moving the scribing mechanism 21 from position b to position c.

The process of the scribing mechanism 21 moving from position e to position f and from position g to position h is the same as the process of scribing mechanism 21 moving from position a to position b, and will not be repeated here.

Embodiment 2

The working principle of the scribing system provided in this embodiment is basically the same as that of the scribing system provided in the first embodiment, only the specific structure of the first positioning mechanism 12 is different, and the same structure as the first embodiment will not be repeated in this embodiment. , the difference between this embodiment and the first embodiment is:

As shown in FIGS. 9-11 , the frame includes a beam 111 extending along the X direction, and the first adjustment mechanism 122 can adjust the position of the first signal transmitter 121 on the beam 111 along the X direction. Therefore, when the scribing device 2 draws straight lines extending along the Y direction at different positions, the first signal transmitter 121 can be adjusted by the first adjustment mechanism 122 to match the position of the first signal receiver 22 at this time, and there is no need to move the positioning. position of the device 1, thereby improving the scribing efficiency. In this embodiment, the length of the beam 111 may be an integer multiple of the length (or width) of the parking space.

Optionally, the first adjustment mechanism 122 includes a frame 1221, a rack 1222, a gear 1223 and a first drive assembly 1224. The frame 1221 is movably connected to the beam 111, and the first signal transmitter 121 is disposed on the frame 1221. The bar 1222 is arranged on the beam 111 and extends along the X direction. The first driving component 1224 is arranged on the frame 1221. The gear 1223 is engaged with the rack 1222. The first driving component 1224 can drive the gear 1223 to rotate, so that the frame 1221 can rotate along It moves in the X direction, the structure is simple, and the matching mode of the gear 1223 and the rack 1222 has high precision and good precision. Optionally, the frame 1221 is in the shape of a "凵" with an opening facing downward, and three inner surfaces of the frame 1221 are provided with rollers 1220, and the rollers 1220 on each inner surface correspond to the three sides of the beam 111 respectively. Roll fit, so as to guide the movement of the frame 1221 along the X direction. In other embodiments, the movement of the vehicle frame 1221 can also be guided by providing a guide rail and slider structure, which is not limited herein. In other embodiments, the structure of the first adjustment mechanism 122 may also be the same as that of the first adjustment mechanism 122 in the first embodiment, which is not specifically limited herein.

In one embodiment, as shown in FIG. 12 , from a top view, the spraying actuator 2122 is located at the intersection of the center extension lines of the first signal receiver 22 and the second signal receiver 23 . That is, the center of the projection of the spraying actuator 2122 on the ground is located at the intersection of the center extension lines of the first signal receiver 22 and the second signal receiver 23, so that the line drawn by the scribing mechanism 21 can be aligned with the laser line. .

As shown in FIG. 13 , when the marking mechanism 21 is marking a line, the spraying actuator 2122 will spray paint with a color to mark the ground. In one embodiment, the width of the paint sprayed by the spraying actuator 2122 should be larger than the width of the spraying mechanism 212 to prevent the spraying mechanism 212 from hitting the wall during the painting process.

In one embodiment, in conjunction with FIG. 3 and FIG. 1 , the bottom of the mobile base 211 is provided with a traveling wheel, in order to prevent the traveling wheel from pressing on the line just drawn by the marking mechanism 21 (that is, the spraying actuator 2122 has just drawn) during the walking process. The sprayed wet paint), the length of the spraying moving guide rail 24 along the X direction is greater than the length of the moving base 211 along the X direction, so as to ensure that the walking wheel can cooperate with the marking mechanism 21 to draw lines, and will not be in the process of walking. Press down to the line you just drew.

When the scribing system of the present application is in operation, the scribing device 2 communicates with the first adjusting mechanism 122 after reaching the first predetermined position. After receiving the signal, the first adjusting mechanism 122 adjusts the first signal transmitter 121 to be perpendicular to the line to be scribed. The position of the first signal transmitter 121 is located at the midpoint of the first signal receiver 22 along the direction perpendicular to the scribe line. At this time, the first signal receiver 22 passes through the scribe line mechanism 21 and the first adjustment mechanism. 122 communication, so that the first adjustment mechanism 122 stops adjusting the position of the first signal transmitter 121, so as to lock the position of the first signal transmitter 121, so the marking device 2 is in the first predetermined position and during the marking process. A signal receiver 22 can always receive the signal transmitted by the first signal transmitter 121, so that the marking mechanism 21 can maintain real-time adjustment of the marking deviation perpendicular to the marking direction, so as to avoid the preset running route of the marking mechanism 21 from being inconsistent with The routes planned by the first signal transmitter 121 collide, thereby improving the accuracy of the scribing.

In the scribing method of the present application, when the scribing mechanism 21 of the scribing device 2 is at the first predetermined position, the signal emitted by the laser emitting end is adjusted to irradiate the predetermined area, that is, the laser irradiation path is adjusted accurately before scribing , thereby ensuring that the scribing mechanism 21 can compensate the offset position in real time according to the accurate laser irradiation path during the scribing process from the first predetermined position to the second predetermined position, thereby improving the scribing accuracy.

The scribing device 2 of the present application can adjust the laser emitted by the laser emitting end to match the first predetermined position where the scribing device 2 is located, thereby improving the scribing accuracy.

Claims

A scribing system, comprising a positioning device (1) and a scribing device (2);

The positioning device (1) includes a frame and a first positioning mechanism (12) arranged on the frame, and the first positioning mechanism (12) includes a first signal transmitter capable of transmitting signals along the Y direction a device (121) and a first adjustment mechanism (122), the first adjustment mechanism (122) is connected in communication with the scribing device (2) and can drive the first signal transmitter (121) along the X direction move;

The scribing device (2) comprises a scribing mechanism (21) and a first signal receiver (22) arranged on the scribing mechanism (21), and the scribing mechanism (21) can be used for scribing The surface is moved and scribed, the first signal receiver (22) can receive the signal sent by the first signal transmitter (121) and communicate with the scribing mechanism (21), the scribing mechanism ( 21) Can move and scribe along the Y direction, and at the same time adjust the scribe position along the X direction according to the information received by the first signal receiver (22).
The scribing system according to claim 1, wherein the frame comprises a beam (111) extending along the X direction, and the first adjustment mechanism (122) is capable of adjusting the first adjustment mechanism (122). The position of a signal transmitter (121) on the beam (111).
The scribing system according to claim 1, wherein the frame comprises a beam (111) extending along the X direction, and a plurality of the first positioning mechanisms (12) are provided on the beam (111). , and each of the first positioning mechanisms (12) is correspondingly provided with one of the first signal transmitters (121).
The scribing system of claim 2 or 3, wherein the first adjustment mechanism (122) comprises:

a frame (1221), movably connected with the beam (111), and the first signal transmitter (121) is arranged on the frame (1221);

a rack (1222), arranged on the beam (111) and extending along the X direction;

A gear (1223) and a first drive assembly (1224), the first drive assembly (1224) is arranged on the frame (1221), the gear (1223) is meshed with the rack (1222), so The first driving assembly (1224) can drive the gear (1223) to rotate, so as to make the frame (1221) move along the X direction.
The scribing system of claim 2 or 3, wherein the first adjustment mechanism (122) comprises:

a slider (1225), the first signal transmitter (121) is arranged on the slider (1225);

A flexible member (1226) and two transmission wheels (1227), the connecting lines of the two transmission wheels (1227) extend along the X direction and are respectively rotatably supported on the beam (111), the A flexible member (1226) is wound around the two transmission wheels (1227), and the slider (1225) is connected with the flexible member (1226);

A second drive assembly (1228) is disposed on the beam (111), and the second drive assembly (1228) can drive any one of the transmission wheels (1227) to rotate, so that the slider (1225) moves along the The X direction moves.
The scribing system according to claim 1, wherein a first end of the frame along the X direction is provided with a fixed support (113), and a second end of the frame along the X direction is provided with casters (114), the fixing feet (113) and the casters (114) are arranged to be supported on the surface to be marked.
The scribing system according to claim 1, wherein the positioning device (1) further comprises a second positioning mechanism (13), and the second positioning mechanism (13) comprises a first positioning mechanism capable of transmitting signals along the X direction Two signal transmitters (131) and a second adjustment mechanism (132), the second adjustment mechanism (132) is connected in communication with the scribing device (2), and the second adjustment mechanism (132) can drive the The second signal transmitter (131) moves along the Y direction;

The scribing device (2) further comprises a second signal receiver (23) arranged on the scribing mechanism (21), the second signal receiver (23) being capable of receiving the second signal transmitter (131) The transmitted signal is connected in communication with the scribing mechanism (21), the scribing mechanism (21) can move along the X direction and scribble, and at the same time according to the signal received by the second signal receiver (23) The information adjusts the scribe line position along the Y direction.
The scribing system of claim 7, wherein the frame includes a longitudinal beam (112) extending along the Y-direction and located at the No. 1 position of the frame along the X-direction At one end, the second positioning mechanism (13) is arranged on the longitudinal beam (112).
The scribing system of claim 7, wherein at least one of the first signal transmitter (121) and the second signal transmitter (131) is a word line laser transmitter, and the one The word line laser emitters are capable of emitting vertical laser planes.
The scribing system according to any one of claims 1-3 and 6-7, wherein the scribing mechanism (21) comprises a moving base (211) and a spraying mechanism (212), and the first signal receives A device (22) is arranged on the spraying mechanism (212), and the spraying mechanism (212) can move in the X direction relative to the moving base (211).
The scribing system according to claim 10, wherein the scribing mechanism (21) further comprises a third driving assembly and a spraying moving guide rail (24) extending along the X direction, the third driving assembly being capable of driving The spraying mechanism (212) slides along the spraying moving guide rail (24).
The scribing system according to claim 10, wherein the spraying mechanism (212) comprises a mounting seat (2121), a spraying actuator (2122) and a fourth driving component, the fourth driving component is provided on the mounting On the seat (2121), the fourth driving assembly can drive the spraying actuator (2122) to move relative to the mounting seat (2121) along the Y direction.
The scribing system according to claim 12, wherein the spraying mechanism (212) further comprises a fifth drive assembly (2123), the fifth drive assembly (2123) is connected with the output end of the fourth drive assembly , the fifth drive assembly (2123) can drive the spraying actuator (2122) to rotate relative to the mounting seat (2121) around the vertical axis to spray along the X direction or along the Y direction spray.
The scribing system according to claim 7, wherein the scribing mechanism (21) comprises a spraying mechanism (212), the first signal receiver (22) and the second signal receiver (23) are respectively be arranged on the spraying mechanism (212), the spraying mechanism (212) includes a spraying actuator (2122), and the center of the projection of the spraying actuator (2122) on the ground is located at the first signal receiver ( 22) and the intersection of the center extension line of the second signal receiver (23).
The scribing system according to claim 11, wherein the length of the spraying moving guide rail (24) extending along the X direction is greater than the length of the moving base (211) along the X direction.
A scribing method based on the scribing system described in any one of claims 1-13, comprising:

controlling the scribing mechanism (21) of the scribing device (2) to move to the first predetermined position;

The scribing mechanism (21) sends a laser adjustment signal to the first signal transmitter (121) of the first positioning mechanism (12), so that the first signal transmitter (121) adjusts the laser irradiation position;

When the first signal transmitter (121) is adjusted so that the laser irradiates the predetermined area, the scribing mechanism (21) stops sending the laser adjustment signal;

The scribing mechanism (21) of the scribing device (2) is controlled to move to a second predetermined position to perform scribing, and the offset position is compensated in real time according to the laser irradiation path, so as to keep the laser light always irradiated on the predetermined area until reaching the second Predetermined location.
A scribing device, comprising:

a scribing module, configured to move to a first predetermined position;

a first sending module, configured to send a laser adjustment signal to the laser emitting end, so that the laser emitting end adjusts the laser irradiation position;

a first receiving module, configured to receive the in-position signal of the laser emitting end when the laser emitting end is adjusted to a predetermined area where the laser is irradiated, so that the first sending module stops sending the laser adjustment signal;

The scribing module is further configured to move to the second predetermined position for scribing, and compensate the offset position in real time according to the laser irradiation path, so as to keep the laser irradiating the predetermined area all the time until reaching the second predetermined position.