Road marking robot device and large character spraying marking method

Abstract

The invention discloses a road marking robot device and a large character spraying marking method.The road marking robot device comprises a robot spraying system, a driving system, a supporting platform and a box body part, the spraying system is installed on the supporting platform, and the driving system is connected with the supporting platform; the Cartesian coordinate robot technology is applied to the design of the spraying system, the spraying head can move along a controllable track, spraying of needed marking characters is completed, the same driving system is composed of four steering wheels, multiple movement modes of the robot can be achieved through a four-rotation four-drive structure, and the spraying efficiency is improved. The robot has excellent trafficability and cross-country ability so as to adapt to various road surface scenes, the marking robot is further provided with a laser radar and a man-machine interaction module, the robot can be controlled to run according to a preset track, and after the robot reaches a designated position, a spraying system is used for drawing a needed road surface marking line. And automation and intellectualization of lofting and spraying work of the mark are achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of road marking, and particularly relates to a road marking robot device and a large-character spraying and marking method. Background Art

[0002] With the rapid growth of the motor vehicle ownership in China and the continuous expansion of the highway network, road traffic safety issues have become increasingly prominent. Against this background, the traffic sign line system can effectively guide the distribution of vehicle flows and standardize the management of driving behaviors by using visual sign elements such as scientifically configured lines, arrows, and words, thus ensuring the orderly operation of the traffic system. Therefore, a standardized traffic sign line system is an effective technical means to solve traffic safety problems.

[0003] However, at present, the traditional manual marking method has inherent defects such as high labor intensity, low construction efficiency, and difficult-to-guarantee marking quality, and it has been difficult to meet the current rapidly growing road marking construction requirements. At the same time, most of the spraying equipment on the market is mainly for small areas, and the single spraying width is usually in the range of 10 - 30 cm, which is difficult to meet the spraying requirements for large characters. In order to spray large characters, it is often necessary to use segmented spraying or splicing templates, which not only brings difficulties in alignment and error accumulation, affecting the overall aesthetics and accuracy of the characters, but also significantly increases the construction cost and workload, affecting the spraying efficiency and quality. Therefore, it is particularly important to design a road marking robot device that is suitable for spraying characters of different sizes and realizes automation and intelligence. Summary of the Invention

[0004] The purpose of the present invention is to provide a road marking robot device and a large-character spraying and marking method to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A road marking robot device, including a support platform and a box body part, the box body part is fixed on the support platform, a spraying system is installed on the support platform, the spraying system can drive the nozzles inside it to move along three directions of the X, Y, and Z axes, a driving system is installed at the bottom of the support platform for driving the whole device to move freely, and a human-machine interaction module and a lidar are installed on the box body part.

[0006] Preferably, the spraying system includes a synchronous belt slide table module, an X-direction ball screw slide table, and a Z-direction ball screw slide table. The X-direction ball screw slide table is installed on the synchronous belt slide table module through two right-angle fixing blocks, and the Z-direction ball screw slide table is installed on the X-direction ball screw slide table through a connecting plate.

[0007] Preferably, the synchronous belt slide module includes a floor, a module, a slide, a small coupling, a transmission shaft, a large coupling, and a rotating motor. The transmission shaft is connected to the two modules through two small couplings, and the rotating motor is connected to one of the modules through a large coupling. The slide is installed above the module and cooperates with the synchronous belt on the module. The floor is installed below the module through bolts.

[0008] Preferably, the X-direction ball screw slide includes a large ball screw, a bottom plate profile one, a sliding panel one, a coupling one, and a rotating motor one. One end of the large ball screw is connected to the rotating motor one through a coupling, and the other end is installed in a circular hole on the left side plate of the bottom plate profile one. The sliding panel one is installed on the bottom plate profile one through the shaft hole on it cooperating with the shaft on the bottom plate profile one.

[0009] Preferably, the Z-direction ball screw slide includes a bottom plate profile two, a small ball screw, a sliding panel two, a coupling two, a rotating motor two, and a nozzle. One end of the small ball screw is connected to the rotating motor two through a coupling two, and the other end is installed in a circular hole on the left side plate of the bottom plate profile two. The sliding panel two is installed on the bottom plate profile two through the shaft hole on it cooperating with the shaft on the bottom plate profile two. At the same time, the nozzle is installed on the sliding panel two through screws.

[0010] Preferably, the drive system includes a steering motor, a damping spring, a drive wheel, a steering wheel, and a connecting plate. The steering motor is connected to the steering wheel through bolts. The steering wheel is fixed at the upper end of the connecting plate through threaded connection. A damping spring is arranged in the connecting plate. The extension shaft of the drive wheel cooperates with the shaft hole arranged on the connecting plate to form a whole.

[0011] Preferably, the box body part includes a large box body and a small box body. The human-computer interaction module and the lidar are installed at the upper end of the small box body. The small box body is installed at the upper end of the large box body. The large box body is installed on the support platform. The box bodies are all fixed through bolts.

[0012] In addition to the above road marking robot device, there is also a method for large character spraying and marking. This method uses this device, and the steps are as follows:

[0013] Step 1: Preparation work: Use an image processing device to evenly divide the large character spraying trajectory into multiple square grids to generate sub-trajectories within the grids.

[0014] Step 2: Spraying the sub-trajectory within a single grid area: Transmit the sub-trajectories within each grid to the road marking robot device through the human-computer interaction module. Use the lidar and the drive system to control the robot to reach the first grid area, and then control the nozzle to spray the sub-trajectory within a single grid.

[0015] Step 3: Drive the robot to different working areas and complete the spraying of all sub-trajectories: First, the robot will use the four-wheel drive and four-steering system to move along a horizontal straight trajectory. After the lidar detects that the robot has reached the next grid area, the drive system will enter the parking mode. Then, the spraying system will spray the character part of this area. After the spraying is completed, the robot will continue to move to the next grid area. After completing the spraying of the last grid area on this straight trajectory, relying on the powerful steering ability of the four-wheel drive and four-steering system, the robot chassis can rotate smoothly by 90 degrees. Then, drive the robot to move vertically and control the robot to accurately move to the next column of positions to be sprayed. After reaching the designated position, the chassis rotates 90 degrees again to achieve the translation of the robot's position in the vertical direction. Then, the robot immediately resumes the horizontal straight-line traveling state and moves in the opposite direction of the previous row to continue the area spraying operation. By continuously repeating this workflow, the robot can methodically complete the spraying task of some characters in each row and column of the square grid area, and finally stitch together the sprayed parts to achieve the spraying of large characters.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] (1) The present invention applies the Cartesian robot technology to the design of the spraying system. By assembling the X and Z-direction ball screw slides and the Y-direction synchronous belt module, the spraying system is built, enabling the nozzle to perform linear motion in the X, Y, and Z three-axis orthogonal directions, thereby achieving precise positioning at any point in space. And through the human-machine interaction module, the motion trajectory of the characters to be sprayed by the nozzle can be transmitted to the spraying system, so as to control the nozzle to complete the spraying of the specified characters, realizing the automation of lofting and marking spraying work. At the same time, since the nozzle can move back and forth arbitrarily in the X, Y, and Z three-axis directions, it can control the nozzle to re-spray the positions with uneven spraying and low scribing accuracy, thereby improving the scribing accuracy.

[0018] (2) The present invention applies the four-wheel drive and four-steering structure to the design of the drive system. Through the structural design of independent drive and independent steering, the structure of the robot drive system can be greatly simplified and made more compact. And the four-wheel drive and four-steering structure has multiple motion modes, capable of realizing in-situ rotation and omnidirectional translation, so that the robot can complete the movement of various complex trajectories, ensuring its excellent passability and cross-country performance, thus adapting to various road surface scenarios. At the same time, since the four steering motors are independent, acceleration planning can be performed for steering and interpolation can be carried out according to Ackermann's flexible curve, making the steering smoother and the control more flexible, ensuring that the robot will not jump and deviate during the movement process, thus meeting the high-precision requirements.

[0019] (3) The present invention can achieve precise positioning of the line marking robot by using lidar. The robot is controlled by the drive system to reach the designated position, and then the spraying system is used to control the nozzle to accurately complete the line marking operation along the predetermined trajectory, realizing the automatic spraying of various characters and patterns. This technical solution can effectively solve the technical problems such as relying on template construction and large workload in the existing line marking process. Compared with the traditional line marking method, it greatly improves the work efficiency and the quality of the line marking, and realizes the automation and intelligence of the line marking work. At the same time, the present invention can divide the large characters to be sprayed into multiple parts and distribute them into multiple square areas. The drive system combined with lidar positioning is used to control the robot to reach each designated area and spray the character part in that area. Finally, the sprayed parts are spliced into a whole to complete the spraying task of the large characters, solving the problem of difficult spraying of large characters at present. Description of the Drawings

[0020] Figure 1 It is a schematic diagram of the overall structure of a road line marking robot device of the present invention;

[0021] Figure 2 For the present invention Figure 1 It is a schematic diagram of the structure of the spraying system in the present invention;

[0022] Figure 3 For the present invention Figure 2 It is a schematic diagram of the structure of the synchronous belt module in the present invention;

[0023] Figure 4 For the present invention Figure 2 It is a schematic diagram of the structure of the X-direction ball screw slide in the present invention;

[0024] Figure 5 For the present invention Figure 2 It is a schematic diagram of the structure of the Z-direction ball screw slide in the present invention;

[0025] Figure 6 For the present invention Figure 1 It is a schematic diagram of the structure of the drive system in the present invention;

[0026] Figure 7 For the present invention Figure 1 It is a schematic diagram of the structure of the box part in the present invention;

[0027] Figure 8 It is a schematic diagram of the large character spraying and line marking process.

[0028] In the figure: 1. Spraying system; 11. Synchronous belt slide table module; 111. Floor feet; 112. Module; 113. Slide table; 114. Small coupling; 115. Transmission shaft; 116. Large coupling; 117. Rotating motor; 12. X-direction ball screw slide table; 121. Large ball screw; 122. First bottom plate profile; 123. First sliding panel; 124. First coupling; 125. First rotating motor; 13. Connecting plate; 14. Z-direction ball screw slide table; 141. Second bottom plate profile; 142. Small ball screw; 143. Second sliding panel; 144. Second coupling; 145. Second rotating motor; 146. Nozzle; 15. Right-angle fixing block; 2. Driving system; 21. Steering motor; 22. Vibration damping spring; 23. Driving wheel; 24. Steering wheel; 25. Connecting plate block; 3. Support platform; 4. Box part; 41. Large box; 42. Small box; 43. Human-machine interaction module; 44. Lidar. Detailed implementation manners

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0030] Please refer to Figure 1-7 , the present invention provides a technical solution: a road marking robot device, including a spraying system 1, a driving system 2, a support platform 3 and a box part 4. The spraying system 1 is installed on the support platform 3, the driving system 2 is connected to the support platform 3, and the box part 4 is also fixed on the support platform 3.

[0031] In this embodiment, preferably, the spraying system 1 includes a synchronous belt slide table module 11, an X-direction ball screw slide table 12, and a Z-direction ball screw slide table 14. The X-direction ball screw slide table 12 is installed on the slide table 113 of the synchronous belt slide table module 11 through two right-angle fixing blocks 15, so that it can follow the slide table 113 to achieve reciprocating motion in the Y direction, and the Z-direction ball screw slide table 14 is installed on the X-direction ball screw slide table 12 through a connecting plate 13;

[0032] The synchronous belt slide module 11 includes a floor footing 111, a module 112, a slide 113, a small coupling 114, a transmission shaft 115, a large coupling 116, and a rotating motor 117. The slide 113 is installed on the module 112 by threaded connection. The transmission shaft 115 is connected to the two modules 112 respectively through two small couplings 114. At the same time, the right module 112 is connected to the extension shaft of the rotating motor 117 through the large coupling 116, ensuring that the torque output by the rotating motor 117 can be transmitted to the two modules 112, so as to realize the reciprocating movement of the slide 113 along the Y direction by using synchronous belt transmission. The floor footing 111 is installed under the module 112 by bolts;

[0033] The X-direction ball screw slide 12 includes a large ball screw 121, a bottom plate profile 122, a sliding panel 123, a coupling 124, and a rotating motor 125. The sliding panel 123 is installed on the bottom plate profile 122 by matching the shaft hole on it with the shaft on the bottom plate profile 122. One end of the large ball screw 121 is connected to the rotating motor 125 through the coupling 124, and the other end is installed in the round hole on the left side plate of the bottom plate profile 122. The rotating motor 125 can transmit the torque to the large ball screw 121 through the coupling 124, so as to drive the sliding panel 123 to reciprocate along the X direction on the bottom plate profile 122;

[0034] The Z-direction ball screw slide 14 includes a bottom plate profile 142, a small ball screw 142, a sliding panel 143, a coupling 144, a rotating motor 145, and a nozzle 146. One end of the small ball screw 142 is connected to the rotating motor 145 through the coupling 144, and the other end is installed in the round hole on the left side plate of the bottom plate profile 142. The sliding panel 143 is installed on the bottom plate profile 142 by matching the shaft hole on it with the shaft on the bottom plate profile 142. At the same time, the nozzle 146 is installed on the sliding panel 143 by screws. The rotating motor 145 can transmit the torque to the small ball screw 142 through the coupling 144, so as to drive the sliding panel 143 to reciprocate along the Y direction on the bottom plate profile 142;

[0035] In this embodiment, preferably, the drive system 2 includes a steering motor 21, a shock-absorbing spring 22, a drive wheel 23, a steering wheel 24, and a connecting plate 25. The steering motor 21 is connected to the steering wheel 24 by bolts. The steering wheel 24 is fixed to the upper end of the connecting plate 25 by threaded connection. The shock-absorbing spring 22 is arranged in the connecting plate 25. The extension shaft of the drive wheel 23 is matched with the shaft hole arranged on the connecting plate 25 to form a whole. A hub motor is arranged in the drive wheel 23 to provide power for the drive wheel 23;

[0036] In this embodiment, preferably, the box body part 4 includes a large box body 41 and a small box body 42. The human-machine interaction module 43 and the lidar 44 are installed on the upper end of the small box body 42. The small box body 42 is installed on the upper end of the large box body 41, and the large box body 41 is installed on the support platform 3. The box bodies are fixed to each other by using bolts.

[0037] Working principle: When using this road marking robot device, first, as shown in Figure 1-7 , the marking robot can be placed on the road surface to be marked. Start the steering motor 21 in the drive system 2 to adjust the position of the steering wheel 24 so that the four drive wheels 23 are parallel to each other. Then start the hub motor in the drive wheel 23 and cooperate with the steering motor 21 to control the robot to move along the set straight-line trajectory. At the same time, the shock-absorbing springs 22 on the drive system 2 can reduce the vibration and impact generated during the movement of the robot, ensuring the smooth movement of the robot. And the lidar 44 on it can be used to achieve the precise positioning of the robot device. When the robot reaches the designated position, control the steering motor 21 to rotate so that the four drive wheels 23 are in an "X" shape to enter the parking mode, ensuring that the robot stops stably at this position without slipping. And the operation trajectory of the characters to be sprayed is transmitted to the spraying system 1 through the human-machine interaction module 43. Start the motors on the synchronous belt slide table module 11, the X-direction ball screw slide table 12, and the Z-direction ball screw slide table 14. Transmit the torque generated by the rotation of the motors to the synchronous belt and the ball screw through each coupling, and control the nozzle 146 to move in the X, Y, and Z axis directions according to the predetermined operation trajectory to complete the spraying task, realizing the automation and intelligence of the layout and marking spraying work. And the parking mode of the drive system 2 is not only applicable to flat road surfaces but also can ensure that the robot stops stably on slopes, thus completing some spraying work on slopes. At the same time, since the design of the spraying system 1 applies the Cartesian robot technology, it can accurately control the nozzle 146 to continuously and repeatedly spray on the positions with uneven spraying and low marking quality, significantly improving the marking accuracy and quality.

[0038] In addition, the present invention can solve the problem of difficult spraying of some large characters. First, divide the large characters into multiple square grid areas to achieve the grid division of the large characters. And because our marking robot is equipped with an advanced four-rotation four-wheel drive system, this system endows the marking machine with excellent movement flexibility and can achieve precise control in any direction. Therefore, the drive system 2 can be used to control the robot to reach each designated area, and the spraying system 1 can be used to control the nozzle 146 to complete the spraying of each part of the large characters in this area. Finally, splice the sprayed parts together to form a complete large character, thus completing the required spraying task.

[0039] The specific process of spraying large characters is as follows: During actual operation, the robot first uses a four-wheel drive and four-rotation system to move along a horizontal straight-line trajectory. After the lidar 44 detects that the robot has reached the divided grid area, the drive system 2 will enter the parking mode. Then, the spraying system 1 sprays the character part of this area. After the spraying is completed, the robot continues to move to the next grid area. After completing the spraying of the last grid area on this straight-line trajectory, relying on the powerful steering ability of the four-wheel drive and four-rotation system, the robot chassis can rotate smoothly by 90 degrees. Then, the robot is driven to move vertically, and the robot is precisely controlled to move to the next column to be sprayed. After reaching the specified position, the chassis rotates 90 degrees again to achieve the horizontal translation of the robot's position in the vertical direction. Then, the robot immediately resumes the horizontal straight-line travel state and moves in the opposite direction of the previous row, continuing the area spraying operation. By continuously repeating this work process, the robot can methodically complete the spraying task of some characters in each square grid area of each row and column, and finally piece together each sprayed part to achieve the spraying of large characters, ensuring the efficiency and accuracy of the operation.

[0040] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A road marking robot device, comprising a support platform (3) and a box portion (4), wherein the box portion (4) is fixed on the support platform (3), characterized in that: The support platform (3) is equipped with a spraying system (1), which can drive the internal nozzle (146) thereof to move along the three directions of the X, Y and Z axes. The bottom of the support platform (3) is equipped with a driving system (2) for driving the entire device to move freely. The box part (4) is equipped with a human-machine interaction module (43) and a laser radar (44).

2. A road marking robot device according to claim 1, characterized in that: The spraying system (1) comprises a synchronous belt slide module (11), an X-direction ball screw slide (12), and a Z-direction ball screw slide (14); the X-direction ball screw slide (12) is mounted on the synchronous belt slide module (11) via two right-angle fixing blocks (15), and the Z-direction ball screw slide (14) is mounted on the X-direction ball screw slide (12) via a connecting plate (13).

3. A road marking robot device according to claim 2, characterized in that: The synchronous belt slide module (11) comprises a foot (111), a module (112), a slide (113), a small coupling (114), a transmission shaft (115), a large coupling (116), and a rotating motor (117); the transmission shaft (115) is connected to the two modules (112) via two small couplings (114); the rotating motor (117) is connected to one of the modules (112) via the large coupling (116); the slide (113) is installed above the module (112) and cooperates with the synchronous belt on the module (112); the foot (111) is installed below the module (112) via bolts.

4. A road marking robot device according to claim 3, characterized in that: The X-direction ball screw slide (12) comprises a large ball screw (121), a bottom plate profile (122), a sliding panel (123), a coupling (124) and a rotating motor (125); one end of the large ball screw (121) is connected to the rotating motor (125) via the coupling (124), and the other end is mounted in a circular hole on the left side plate of the bottom plate profile (122); the sliding panel (123) is mounted on the bottom plate profile (122) by matching the shaft on the bottom plate profile (122) via the shaft hole on the sliding panel (123).

5. The road marking robot device according to claim 4, characterized in that: The Z-direction ball screw slide (14) comprises a bottom plate profile 2 (141), a small ball screw (142), a sliding panel 2 (143), a coupling 2 (144), a rotating motor 2 (145) and a nozzle (146); one end of the small ball screw (142) is connected to the rotating motor 2 (145) via the coupling 2 (144), and the other end is mounted in a circular hole on the left side plate of the bottom plate profile 2 (141); the sliding panel 2 (143) is mounted on the bottom plate profile 2 (141) by matching the shaft on the bottom plate profile 2 (141) via the shaft hole thereon; and the nozzle (146) is mounted on the sliding panel 2 (143) via screws.

6. The road marking robot device according to claim 5, characterized in that: The driving system (2) comprises a steering motor (21), a damping spring (22), a driving wheel (23), a steering wheel (24) and a connecting plate (25); the steering motor (21) is connected to the steering wheel (24) by bolts; the steering wheel (24) is fixed to the upper end of the connecting plate (25) by threaded connection; a damping spring (22) is arranged in the connecting plate (25); an extended shaft of the driving wheel (23) cooperates with a shaft hole arranged in the connecting plate (25) to form a whole.

7. The road marking robot device according to claim 1, characterized in that: The box part (4) comprises a large box (41) and a small box (42), the human-machine interaction module (43) and the laser radar (44) are installed on the upper end of the small box (42), the small box (42) is installed on the upper end of the large box (41), and the large box (41) is installed on the supporting platform (3), and the boxes are fixed by using bolts.

8. A method for spraying and marking large characters, characterized in that: The road marking robot device according to claims 1 to 7 is used, comprising the following steps: Step 1: Preparation: Use image processing equipment to evenly divide the large character spray trajectory into multiple square grids to generate sub-trajectories within multiple grids. Step 2: spraying the sub-trajectories in a single grid area: the sub-trajectories in each grid are transmitted to the road marking robot device through the human-machine interaction module (43), the laser radar (44) and the drive system (2) are used to control the robot to reach the first grid area, and then the nozzle (146) is controlled to spray the sub-trajectories in the single grid. Step 3: Drive the robot to different working areas and complete the spraying of all sub-trajectories: The robot will first use the four-turn four-wheel drive system to move along the horizontal straight track. After the laser radar (44) detects that the robot has reached the next grid area, the drive system (2) will enter the parking mode, and then the spraying system (1) will spray the character part of the area. After the spraying is completed, the robot continues to move to the next grid area. After the spraying of the last grid area on the straight track is completed, the robot chassis can be smoothly rotated 90 degrees with the powerful steering ability of the four-turn four-wheel drive system. Then the robot is driven to move in the vertical direction and the robot is controlled to move accurately to the next column to be sprayed. After reaching the specified position, the chassis rotates 90 degrees again to achieve the translation of the robot's position in the vertical direction. After that, the robot immediately resumes the horizontal straight line state, moves in the opposite direction of the previous row, and continues the regional spraying operation. By repeating this workflow continuously, the robot can systematically complete the partial character spraying tasks in the square grid areas of each row and column, and finally splice the sprayed parts together to achieve the spraying of large characters.

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