Intelligent identifying and positioning device for ground marking and management and control method of intelligent identifying and positioning device

Abstract

The invention discloses an intelligent identifying and positioning device for ground lineation and a control method thereof, and relates to the technical field of intelligent equipment.The intelligent identifying and positioning device comprises a mounting base, a controller, a first support and a fixing seat, connecting blocks are welded to the two ends of the mounting base, and a driving motor is mounted on one side of one connecting block through a screw; according to the device, the recognition camera is used for capturing ground lineation images, the ground lineation images are converted into digital signals containing position and angle information, the signal receiving unit in the controller receives the signals, preprocessing and feature extraction are carried out through the image processing unit, and the recognition camera is used for recognizing the ground lineation images and converting the ground lineation images into the digital signals containing the position and angle information. The accurate position and angle of lineation are accurately determined; the control logic unit calculates the required adjustment amount according to the extracted feature information, and outputs a control signal to the executing mechanism through the driving control unit, so that accurate adjustment of the scribing equipment is realized; the closed-loop control mechanism ensures high precision and high efficiency of scribing.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent equipment, and in particular to an intelligent identification and positioning device for ground marking and a control method thereof. Background Art

[0002] In traditional ground marking operations, manual or semi-automatic equipment is usually used. These methods rely on the operator's experience and skills, as well as direct control of the marking tool. For example, the operator needs to manually push the marking machine to move along a predetermined path, while controlling the marking machine's nozzle to maintain the straightness and uniformity of the line. This method has the following disadvantages: Reliance on manual operation: Due to differences in operator skill levels and physical strength, it is difficult to ensure consistent marking quality and it is easily affected by fatigue and distraction. Manual marking is slow and efficiency issues are particularly prominent when marking large areas or long distances.

[0003] Lack of precise control: It is difficult to achieve precise position and angle control through manual operation, resulting in low marking accuracy, especially in situations where complex patterns or precise alignment are required. It is difficult to maintain the consistency and accuracy of the lines when marking on uneven surfaces or in complex environments.

[0004] To this end, the present invention proposes an intelligent identification and positioning device for ground marking, which realizes the automation and intelligence of the marking process by integrating advanced sensors, controllers and actuators. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides an intelligent identification and positioning device for ground marking and a control method thereof, which solves the problems proposed in the background technology that manual marking, due to differences in operator skills and physical strength and lack of precise control means, leads to inconsistent marking quality and low efficiency, and it is difficult to maintain the accuracy and consistency of lines in complex environments.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a device for intelligent identification and positioning of ground markings and a control method thereof, comprising a mounting base, a controller, a first bracket and a fixing base, the mounting base is welded with connecting blocks at both ends, a driving motor is installed on one side of one connecting block by screws, a threaded rod is sleeved on the outside of the output end of the driving motor, one end of the threaded rod is rotatably connected to the connecting block, a slider is arranged on the outside of the threaded rod, and the top surface of the slider is in sliding contact with the bottom of the mounting base; A first connecting shaft is provided at the bottom of the slider, one end of the top of the first connecting shaft is connected to the bottom of the slider by a screw, the bottom of the first connecting shaft is connected to one end of the top of the first bracket, a second connecting shaft is provided on one side of the bottom of the first bracket, one end of the second connecting shaft is connected to one end of the bottom of the first bracket by a screw, a second bracket is provided at the other end of the second connecting shaft, a third connecting shaft is installed at the other end of the second bracket, an identification camera is installed at the other end of the third connecting shaft, a fixed seat is provided on the other side of the identification camera, and a marking mechanism is installed on the surface of the fixed seat.

[0007] Preferably, the marking mechanism includes a docking seat, the bottom of the docking seat is welded to the top of the telescopic rod, two telescopic rods are provided, springs are mounted on the outside of the two telescopic rods, one end of the bottom of the telescopic rod is welded to the connecting seat, one end of the bottom of the connecting seat is rotatably connected to one end of the top of the support arm, a flat-mouthed nozzle is installed on the top of one end of the support arm by screws, baffles are provided on both sides of the nozzle, one end of the baffle is slidably connected to the outer wall of the limit rod, one end of the limit rod is welded to the support arm, so that a steel ball is embedded in the bottom of the baffle, and the steel ball is in sliding contact with the inside of the baffle, and the bottom of one end of the baffle is a beveled angle structure.

[0008] Preferably, the interior of one end of the bottom of the support arm is rotatably connected to the outer wall of the adjusting rod, the outer wall surfaces at both ends of the adjusting rod are provided with threads, and the directions of the threads on the outer walls at both ends of the adjusting rod are opposite to each other, the outsides of the two ends of the adjusting rod are respectively threadedly connected to the two baffles through threads, and a knob is welded on the end of the adjusting rod.

[0009] Preferably, a controller is installed on the side of the first bracket by bolts, and the controller is electrically connected to the drive motor, the first connecting shaft, the second connecting shaft and the third connecting shaft respectively. Micro motors are installed inside the first connecting shaft, the second connecting shaft and the third connecting shaft, and the controller is used to control the driving operation of the overall device.

[0010] Preferably, two guide rails are welded to the bottom of the mounting base, both ends of the guide rails are welded to the connecting blocks, and the outsides of the two guide rails are respectively slidably connected to the top of the slider.

[0011] Preferably, the controller module internally includes a signal receiving unit, an image processing unit, a control logic unit, a drive control unit, and a sensor feedback unit; The signal receiving unit is used to receive the signal transmitted by the recognition camera, and the signal may include the position and angle information of the line; The image processing unit is used to process the image captured by the recognition camera to extract useful information, such as the position and angle of the line; The control logic unit is used to calculate the adjustment amount required for the angle adjustment and the translation adjustment according to the information provided by the image processing unit; The drive control unit is used to output corresponding control signals to the actuator according to the instructions of the control logic unit to adjust the angle and position; The sensor feedback unit is used to monitor the actual position and angle of the angle adjustment mechanism and the translation mechanism in real time, and provide feedback signals to the control logic unit to form a closed-loop control.

[0012] Preferably, the sensor feedback unit includes an angle sensor and a position sensor, the angle sensor is installed inside the first connecting shaft, the second connecting shaft and the third connecting shaft, and the position sensor is installed inside the slider.

[0013] Preferably, the method steps are as follows: S01. Signal reception: Start the signal receiving unit to receive the signal from the recognition camera; the recognition camera captures the ground marking image and converts it into a digital signal containing position and angle information; S02. Image preprocessing: The image processing unit receives the original image signal from the signal receiving unit; performs necessary preprocessing on the image, including denoising, contrast enhancement, and color correction, to improve the accuracy of subsequent processing; S03. Feature extraction: In the image processing unit, the image processing algorithm is applied to extract key features in the image, such as the position and angle of the line; edge detection and feature matching technology are used to accurately determine the feature points of the line; S04. Control decision: The control logic unit analyzes the information provided by the image processing unit, such as the deviation between the current stroke position and the predetermined position; and calculates the amount of adjustment required for the angle and horizontal position based on the deviation; S05. Execution adjustment: The drive control unit outputs a control signal to the corresponding actuator according to the calculation result of the control logic unit; the drive motor and the micro motor of the actuator respond to the control signal to adjust the position and angle; S06. Feedback monitoring: The sensor feedback unit monitors the actual position and angle in real time; the angle sensor and position sensor collect feedback information and transmit it to the control logic unit; S07. Closed-loop control: The control logic unit compares the actual position and angle information provided by the sensor feedback unit with the predetermined value; if there is a deviation, the control logic unit recalculates the adjustment amount and loops to step S05 for adjustment until the predetermined marking position and angle are reached, thereby achieving closed-loop control.

[0014] Preferably, the angle adjustment in S05 is that the micro motor inside the first connecting shaft drives the first bracket to rotate around the axial direction of the first connecting shaft to achieve angle adjustment of the first bracket, and then the micro motor inside the second connecting shaft drives the second bracket to rotate to achieve angle adjustment of the second bracket, and the micro motor inside the third connecting shaft rotates to achieve angle adjustment of the recognition camera and the marking nozzle installed on the fixed base.

[0015] Preferably, the horizontal position adjustment in S05 is to drive the threaded rod to rotate by a driving motor, and the threaded rod can drive the slider to move while rotating, so that the slider can slide along the guide rail direction, thereby realizing the horizontal position adjustment of the recognition camera and the marking nozzle installed on the fixed seat.

[0016] The present invention provides a device for intelligent identification and positioning of ground markings and a control method thereof. It has the following beneficial effects: (1) An intelligent identification and positioning device for ground marking and a control method thereof, the device uses a recognition camera to capture ground marking images and converts them into digital signals containing position and angle information. The signal receiving unit inside the controller receives these signals, and performs preprocessing and feature extraction through the image processing unit to accurately determine the exact position and angle of the marking. The control logic unit calculates the required adjustment amount based on the extracted feature information, and outputs the control signal to the actuator through the drive control unit to achieve precise adjustment of the marking equipment. This closed-loop control mechanism ensures high precision and high efficiency of marking.

[0017] (2) An intelligent identification and positioning device for ground marking and a control method thereof, wherein the actuator of the device includes a drive motor and a plurality of micro motors, which are respectively installed inside the first connecting shaft, the second connecting shaft and the third connecting shaft. Through the instructions of the controller, these motors can automatically adjust the angle and position of the marking device without manual intervention. In particular, through the rotation of the micro motor, the first bracket, the second bracket and the identification camera can be accurately adjusted in angle, and the horizontal position of the slider can be adjusted by driving the threaded rod to rotate by the drive motor.

[0018] (3) This intelligent identification and positioning device for ground marking and its control method, because the device adopts an automated control mechanism, the marking equipment can work stably on uneven ground or in complex environments, maintaining the consistency and accuracy of the lines. At the same time, automated operation reduces the exposure of humans to dangerous environments and improves the safety of operations.

[0019] (4) This is an intelligent identification and positioning device for ground marking and its control method. The positioning mechanism drives the telescopic rod downward through a spring, so that the connecting seat pushes the support arm, so that the baffle fits tightly against the ground. When the positioning mechanism adjusts the angle, the connection between the support arm and the connecting seat can rotate adaptively to ensure that the flat nozzle nozzle always remains in a horizontal state to achieve horizontal positioning and avoid affecting the uniformity of marking due to the rotation of the nozzle. The steel ball design at the bottom of the baffle helps to reduce the friction between the baffle and the ground and reduce wear. In addition, when the mechanism encounters a speed bump, the surface of the speed bump will lift the baffle along the beveled surface at the bottom of the baffle, and the telescopic rod will automatically contract under the action of the spring, so that the baffle can quickly and automatically fit with the ground after crossing the speed bump, ensuring that the mechanism passes the speed bump smoothly.

[0020] (5) This intelligent identification and positioning device for ground marking and its control method, when the flat nozzle nozzle performs the color spraying and marking operation, thanks to the setting of the baffles on both sides, effectively prevents the paint spray from spreading to both sides, ensures the neatness of the edge of the ground marking, and thus improves the positioning accuracy. In addition, by rotating the knob, the adjustment rod connected to it can be driven to rotate. The rotation of the adjustment rod drives the two baffles to move synchronously through the threaded structure at both ends, so as to adjust the distance between the baffles, and then conveniently adjust the width of the ground marking to meet different marking requirements.

[0021] This solves the problem of inconsistent marking quality and low efficiency due to differences in operator skills and physical strength, as well as lack of precise control methods, and difficulty in maintaining line accuracy and consistency in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a front view structural schematic diagram of the present invention; Figure 3 It is a side view structural schematic diagram of the present invention; Figure 4 It is a structural schematic diagram of the scribing mechanism of the present invention; Figure 5 Schematic diagram of the baffle structure of the present invention Figure 6 This is a schematic diagram of a controller module of the present invention; Figure 7 It is a schematic diagram of the steps of the method of the present invention.

[0023] In the figure, 1. mounting base; 2. connecting block; 3. driving motor; 4. sliding block; 5. threaded rod; 6. first connecting axis; 7. controller; 701. signal receiving unit; 702. image processing unit; 703. control logic unit; 704. driving control unit; 705. sensor feedback unit; 8. first bracket; 9. second connecting axis; 10. fixing seat; 101. docking seat; 102. telescopic rod; 103. spring; 104. connecting seat; 105. supporting arm; 106. baffle; 107. flat nozzle; 109. adjusting rod; 110. knob; 111. limiting rod; 11. second bracket; 12. identification camera; 13. third connecting axis; 14. guide rail; 15. marking mechanism. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] See also Figure 1-5 The embodiment of the present invention provides a technical solution: a device for intelligent identification and positioning of ground marking and a control method thereof, comprising a mounting base 1, a controller 7, a first bracket 8 and a fixing base 10, wherein connecting blocks 2 are welded at both ends of the mounting base 1, a driving motor 3 is installed on one side of one connecting block 2 by screws, a threaded rod 5 is sleeved on the outside of the output end of the driving motor 3, one end of the threaded rod 5 is rotatably connected to the connecting block 2, a slider 4 is arranged on the outside of the threaded rod 5, and the top surface of the slider 4 is in sliding contact with the bottom of the mounting base 1; a first connecting shaft 6 is arranged at the bottom of the slider 4, one end of the top of the first connecting shaft 6 is connected to the bottom of the slider 4 by screws, the bottom of the first connecting shaft 6 is connected to one end of the top of the first bracket 8, a second connecting shaft 9 is arranged on one side of the bottom of the first bracket 8, one end of the second connecting shaft 9 is connected to one end of the bottom of the first bracket 8 by screws, a second bracket 11 is arranged on the other end of the second connecting shaft 9, a third connecting shaft 13 is installed on the other end of the second bracket 11, a recognition camera 12 is installed on the other end of the third connecting shaft 13, and a fixing base 10 is arranged on the other side of the recognition camera 12. A controller 7 is installed on the side of the first bracket 8 by bolts. The controller 7 is electrically connected to the drive motor 3, the first connecting shaft 6, the second connecting shaft 9 and the third connecting shaft 13 respectively. Micro motors are installed inside the first connecting shaft 6, the second connecting shaft 9 and the third connecting shaft 13. The controller 7 is used to control the driving operation of the entire device. Two guide rails 14 are welded to the bottom of the mounting base 1. The two ends of the guide rails 14 are welded to the connecting block 2, and the outsides of the two guide rails 14 are respectively slidably connected to the top of the slider 4.

[0026] The marking mechanism includes a docking seat 101, the bottom of the docking seat 101 is welded to the top of the telescopic rod 102, two telescopic rods 102 are provided, and springs 103 are set on the outside of the two telescopic rods 102, one end of the bottom of the telescopic rod 102 is welded to the connecting seat 104, and one end of the bottom of the connecting seat 104 is rotatably connected to one end of the top of the support arm 105, and a flat-mouthed nozzle 107 is installed on the top of one end of the support arm 105 by screws, and baffles 106 are provided on both sides of the nozzle, one end of the baffle 106 is slidably connected to the outer wall of the limiting rod 111, and one end of the limiting rod 111 is welded to the support arm 105, so a steel ball is embedded in the bottom of the baffle 106, and the steel ball is in sliding contact with the inside of the baffle 106, and the bottom of one end of the baffle 106 is a beveled angle structure. When the positioning mechanism is adjusted to the left and right angles, the telescopic rod 102 can be extended downward under the action of the spring 103, so that the connecting seat 104 can be pushed downward through the support arm 105. The two baffles 106 are moved, so that the two baffles 106 can always fit with the ground. At the same time, the connection between the support arm 105 and the connecting seat 104 can be adaptively rotated as the positioning mechanism adjusts the angle left and right, so that the flat-mouth nozzle 107 at one end of the support arm 105 can always remain horizontal, thereby achieving the effect of horizontal positioning, avoiding the nozzle from rotating as the adjustment mechanism rotates, which affects the uniformity of the marking. At the same time, the steel balls at the bottom of the baffle 106 are helpful to reduce the friction between the baffle 106 and the ground, reducing the wear on the baffle 106. In addition, when the mechanism passes over the speed bump, the surface of the speed bump will push the baffle 106 upward along the oblique cut surface at the bottom of one end of the baffle 106, so that the telescopic rod 102 can automatically retract, and when passing over the speed bump, the spring 103 can push the baffle 106 to automatically fit with the ground, so that the mechanism can smoothly pass over the speed bump.

[0027] The inside of one end of the bottom of the support arm 105 is rotatably connected to the outer wall of the adjusting rod 109, and the outer wall surfaces at both ends of the adjusting rod 109 are provided with threads, and the threads of the outer walls at both ends of the adjusting rod 109 are in opposite directions. The outer ends of the adjusting rod 109 are threadedly connected to the two baffles 106 through threads respectively, and a knob 110 is welded at the end of the adjusting rod 109. When the flat nozzle nozzle 107 sprays paint for marking, due to the presence of the baffles 106 on both sides, the paint spray sprayed from the nozzle is prevented from diffusing to both sides, so that the edge of the ground marking can be kept neat, which is conducive to improving the positioning accuracy. In addition, by rotating the knob 110, the knob 110 can drive the adjusting rod 109 to rotate. When the adjusting rod 109 rotates, the two baffles 106 can be driven to move through the threads at both ends, thereby adjusting the distance between the two baffles 106, so that the width of the ground marking can be easily adjusted.

[0028] The controller 7 module includes a signal receiving unit 701, an image processing unit 702, a control logic unit 703, a drive control unit 704, and a sensor feedback unit 705; the signal receiving unit 701 is used to receive the signal transmitted by the recognition camera 12, and the signal may contain the position and angle information of the line; the image processing unit 702 is used to process the image captured by the recognition camera 12 and extract useful information, such as the position and angle of the line; the control logic unit 703 is used to calculate the adjustment amount required for angle adjustment and translation adjustment according to the information provided by the image processing unit 702; the drive control unit 704 is used to output the corresponding control signal to the actuator according to the instruction of the control logic unit 703 to adjust the angle and position; the sensor feedback unit 705 is used to monitor the actual position and angle of the angle adjustment mechanism and the translation mechanism in real time, and provide feedback signals to the control logic unit 703 to form a closed-loop control. The sensor feedback unit 705 includes an angle sensor and a position sensor, the angle sensor is installed inside the first connecting shaft 6, the second connecting shaft 9 and the third connecting shaft 13, and the position sensor is installed inside the slider 4.

[0029] See also Figure 6-7 , a method for controlling a ground line marking intelligent identification and positioning device, the method steps are as follows: S01. Signal reception: Start the signal receiving unit 701 to receive the signal from the recognition camera 12; the recognition camera 12 captures the ground line drawing image and converts it into a digital signal containing position and angle information; S02. Image preprocessing: the image processing unit 702 receives the original image signal from the signal receiving unit 701; performs necessary preprocessing on the image, including denoising, contrast enhancement, and color correction, to improve the accuracy of subsequent processing; S03. Feature extraction: in the image processing unit 702, the image processing algorithm is applied to extract the key features in the image, such as the position and angle of the line drawing; edge detection and feature matching technology are used to accurately determine the feature points of the line drawing; S04. Control decision: the control logic unit 703 analyzes the information provided by the image processing unit 702, such as the deviation between the current line drawing position and the predetermined position; Calculate the required adjustment amount for the angle and horizontal position based on the deviation; S05. Execute adjustment: the drive control unit 704 outputs a control signal to the corresponding actuator according to the calculation result of the control logic unit 703; the drive motor 3 and the micro motor of the actuator respond to the control signal to adjust the position and angle; S06. Feedback monitoring: the sensor feedback unit 705 monitors the actual position and angle in real time; the angle sensor and the position sensor collect feedback information and transmit it to the control logic unit 703; S07. Closed-loop control: the control logic unit 703 compares the actual position and angle information provided by the sensor feedback unit 705 with the predetermined value; if there is a deviation, the control logic unit 703 recalculates the adjustment amount and loops to step S05 for adjustment until the predetermined marking position and angle are reached to achieve closed-loop control.

[0030] The angle adjustment in S05 is that the micro motor inside the first connecting shaft 6 drives the first bracket 8 to rotate around the axial direction of the first connecting shaft 6 to achieve angle adjustment of the first bracket 8, and then the micro motor inside the second connecting shaft 9 drives the second bracket 11 to rotate, thereby achieving angle adjustment of the second bracket 11, and the micro motor inside the third connecting shaft 13 rotates to achieve angle adjustment of the recognition camera 12 and the marking nozzle installed on the fixed seat 10.

[0031] The horizontal position adjustment in S05 is to drive the threaded rod 5 to rotate by driving the motor 3. The threaded rod 5 can drive the slider 4 to move while rotating, so that the slider 4 can slide along the guide rail 14, thereby realizing the horizontal position adjustment of the recognition camera 12 and the marking nozzle installed on the fixed seat 10.

[0032] First, the recognition camera 12 installed on the third connecting shaft 13 captures the ground line image, and converts the image into a digital signal and transmits it to the signal receiving unit 701 in the controller 7; after the signal receiving unit 701 receives the signal, the image processing unit 702 pre-processes the received original image, including denoising, contrast enhancement and color correction, to improve the accuracy of subsequent processing; then, the image processing unit 702 applies an image processing algorithm to extract key features in the image, such as the position and angle of the line, and uses edge detection and feature matching technology to accurately determine the feature points of the line; the control logic unit 703 analyzes the deviation between the current line position and the predetermined position based on the extracted feature information, and calculates the adjustment amount required for the angle and translation; the drive control unit 704, according to the instruction of the control logic unit 703, The control signal is output to the actuator. The drive motor 3 in the actuator responds to the control signal and drives the slider 4 to slide along the guide rail 14 through the threaded rod 5, so as to adjust the horizontal position of the recognition camera 12 and the marking nozzle. At the same time, the micro motors inside the first connecting shaft 6, the second connecting shaft 9 and the third connecting shaft 13 respond to the control signal and drive the corresponding brackets to rotate to achieve angle adjustment. The sensor feedback unit 705 monitors the actual position and angle in real time, collects feedback information, and transmits it to the control logic unit 703 to form a closed-loop control. The control logic unit 703 compares the actual position and angle information fed back by the sensor with the predetermined value. If there is a deviation, the adjustment amount is recalculated and the adjustment step is executed in a loop until the predetermined marking position and angle are reached, so as to achieve high-precision and high-efficiency ground marking operations.

[0033] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A device for intelligent identification and positioning of ground markings, characterized in that: The invention comprises a mounting base (1), a controller (7), a first bracket (8) and a fixing base (10), wherein connecting blocks (2) are welded at both ends of the mounting base (1), a driving motor (3) is mounted on one side of one of the connecting blocks (2) by means of screws, a threaded rod (5) is sleeved on the outside of the output end of the driving motor (3), one end of the threaded rod (5) is rotatably connected to the connecting block (2), a slider (4) is arranged on the outside of the threaded rod (5), and the top surface of the slider (4) is in sliding contact with the bottom of the mounting base (1); A first connecting shaft (6) is provided at the bottom of the slider (4), one end of the top of the first connecting shaft (6) is connected to the bottom of the slider (4) by means of screws, the bottom of the first connecting shaft (6) is connected to one end of the top of a first bracket (8), a second connecting shaft (9) is provided at one side of the bottom of the first bracket (8), one end of the second connecting shaft (9) is connected to one end of the bottom of the first bracket (8) by means of screws, a second bracket (11) is provided at the other end of the second connecting shaft (9), a third connecting shaft (13) is installed at the other end of the second bracket (11), an identification camera (12) is installed at the other end of the third connecting shaft (13), a fixing seat (10) is provided at the other side of the identification camera (12), and a marking mechanism (15) is installed on the surface of the fixing seat (10).

2. According to claim 1, a device for intelligent identification and positioning of ground markings, characterized in that: The marking mechanism comprises a docking seat (101), the bottom of the docking seat (101) is welded to the top of the telescopic rod (102), two telescopic rods (102) are provided, springs (103) are sleeved on the outside of the two telescopic rods (102), one end of the bottom of the telescopic rod (102) is welded to the connecting seat (104), one end of the bottom of the connecting seat (104) is rotatably connected to one end of the top of the support arm (105), a flat nozzle (107) is installed on the top of one end of the support arm (105) by screws, baffles (106) are provided on both sides of the nozzle, one end of the baffle (106) is slidably connected to the outer wall of the limiting rod (111), one end of the limiting rod (111) is welded to the support arm (105), so that a steel ball is embedded in the bottom of the baffle (106), and the steel ball is in sliding contact with the inside of the baffle (106), and the bottom of one end of the baffle (106) is in a beveled angle structure.

3. According to claim 2, a device for intelligent identification and positioning of ground markings, characterized in that: The interior of one end of the bottom of the support arm (105) is rotatably connected to the outer wall of the adjustment rod (109); threads are provided on the outer wall surfaces at both ends of the adjustment rod (109); and the threads at the outer walls at both ends of the adjustment rod (109) are in opposite directions; the exteriors at both ends of the adjustment rod (109) are respectively threadedly connected to the two baffles (106) via threads; and knobs (110) are welded to the ends of the adjustment rod (109).

4. The intelligent identification and positioning device for ground marking according to claim 1, characterized in that: A controller (7) is installed on the side of the first bracket (8) by means of bolts. The controller (7) is electrically connected to the drive motor (3), the first connecting shaft (6), the second connecting shaft (9) and the third connecting shaft (13) respectively. Micro motors are installed inside the first connecting shaft (6), the second connecting shaft (9) and the third connecting shaft (13). The controller (7) is used to control the driving operation of the entire device.

5. The intelligent identification and positioning device for ground marking according to claim 1, characterized in that: Two guide rails (14) are welded to the bottom of the mounting base (1), two ends of the guide rails (14) are welded to the connecting block (2), and the outsides of the two guide rails (14) are respectively slidably connected to the top of the slider (4).

6. The intelligent identification and positioning device for ground marking according to claim 1, characterized in that: The controller (7) module internally comprises a signal receiving unit (701), an image processing unit (702), a control logic unit (703), a drive control unit (704), and a sensor feedback unit (705); The signal receiving unit (701) is used to receive a signal transmitted by a recognition camera (12), the signal may contain position and angle information of a stroke; The image processing unit (702) is used to process the image captured by the recognition camera (12) to extract useful information, such as the position and angle of the line; The control logic unit (703) is used to calculate the adjustment amount required for the angle adjustment and the translation adjustment according to the information provided by the image processing unit (702); The driving control unit (704) is used to output corresponding control signals to the actuator according to the instructions of the control logic unit (703) to adjust the angle and position; The sensor feedback unit (705) is used to monitor the actual position and angle of the angle adjustment mechanism and the translation mechanism in real time, and provide feedback signals to the control logic unit (703) to form a closed-loop control.

7. The intelligent identification and positioning device for ground marking according to claim 4, characterized in that: The sensor feedback unit (705) comprises an angle sensor and a position sensor, the angle sensor being installed inside the first connecting shaft (6), the second connecting shaft (9) and the third connecting shaft (13), and the position sensor being installed inside the slider (4).

8. A method for controlling a ground line marking intelligent identification and positioning device according to any one of claims 1 to 7, characterized in that: The method steps are as follows: S01. Signal reception: starting the signal receiving unit (701) to receive a signal from the recognition camera (12); the recognition camera (12) captures the ground line image and converts it into a digital signal containing position and angle information; S02. Image preprocessing: The image processing unit (702) receives the original image signal from the signal receiving unit (701); performs necessary preprocessing on the image, including denoising, contrast enhancement, and color correction, to improve the accuracy of subsequent processing; S03. Feature extraction: In the image processing unit (702), an image processing algorithm is applied to extract key features in the image, such as the position and angle of the line; edge detection and feature matching techniques are used to accurately determine the feature points of the line; S04. Control decision: The control logic unit (703) analyzes the information provided by the image processing unit (702), such as the deviation between the current stroke position and the predetermined position; and calculates the amount of adjustment required for the angle and horizontal position according to the deviation; S05. Execution adjustment: The drive control unit (704) outputs a control signal to the corresponding actuator according to the calculation result of the control logic unit (703); the drive motor (3) and the micro motor of the actuator respond to the control signal to adjust the position and angle; S06. Feedback monitoring: The sensor feedback unit (705) monitors the actual position and angle in real time; the angle sensor and the position sensor collect feedback information and transmit it to the control logic unit (703); S07. Closed-loop control: The control logic unit (703) compares the actual position and angle information provided by the sensor feedback unit (705) with the predetermined value; if there is a deviation, the control logic unit (703) recalculates the adjustment amount and loops to step S (05) to make adjustments until the predetermined marking position and angle are reached, thereby achieving closed-loop control.

9. A method for controlling a ground line marking intelligent identification and positioning device according to claim 8, characterized in that: The angle adjustment in S05 is to drive the first bracket (8) to rotate around the axial direction of the first connecting shaft (6) through the micro motor inside the first connecting shaft (6), thereby achieving angle adjustment of the first bracket (8), and then drive the second bracket (11) to rotate through the micro motor inside the second connecting shaft (9), thereby achieving angle adjustment of the second bracket (11), and through the rotation of the micro motor inside the third connecting shaft (13), the angle adjustment of the recognition camera (12) and the marking nozzle installed on the fixing base (10) is achieved.

10. A method for controlling a ground line marking intelligent identification and positioning device according to claim 8, characterized in that: The horizontal position adjustment in S05 is to drive the threaded rod (5) to rotate by the driving motor (3), and the threaded rod (5) can drive the slider (4) to move while rotating, so that the slider (4) can slide along the guide rail (14), thereby realizing the horizontal position adjustment of the recognition camera (12) and the marking nozzle installed on the fixed seat (10).

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