A cricket ground marking robot with boundary rope adjustment

Abstract

The application relates to a cricket ground marking robot with boundary rope adjustment, which comprises a vehicle body and a walking module arranged at the bottom of the vehicle body, the vehicle body is provided with an RTK mobile station, a control module, an obstacle avoidance module, a spraying module and a boundary rope adjustment module, a collision avoidance device is arranged at the front end of the vehicle body, a display device is arranged at the rear end of the vehicle body, and an inertial navigation module is arranged at the bottom of the vehicle body; the spraying module comprises a liquid tank, a pressure pump, a nozzle and a line width adjustment device. The marking robot of the application is additionally provided with the boundary rope adjustment module on the basis of marking, so that the position of the boundary rope can be adjusted by using the boundary rope adjustment module when the boundary of the cricket ground needs to be adjusted, the structure is simple, the use is convenient, the boundary rope adjustment module is connected with a roller by using a driving motor, the rope moving efficiency is greatly improved, and the problems of manual rope moving and low efficiency are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of sports field marking, in particular to a cricket field marking robot with boundary rope adjustment. BACKGROUND

[0002] In life, sports fields are places for people to exercise, such as basketball courts, badminton courts, etc. Different lines are usually drawn in different sports fields, such as boundary lines, three-point lines, free-throw lines, etc. in basketball courts. The traditional marking method usually includes the following steps: 1. Marking, using a colored pencil or other tool to draw various markings or frames on the sports field; 2. Taping, taping the rubber strip equidistantly on both sides of the first step marking as the center line, as the boundary of the paint; 3. Painting, painting in the middle of the taped rubber strip; 4. Removing the rubber strip to ensure the boundary is neat. In actual application, the above marking operation is usually completed manually, which is time-consuming and labor-intensive, and the task is heavy, and the marking efficiency is low.

[0003] At present, there are three common methods for marking sports fields. One is a semi-automatic cart, which is plagued by positioning accuracy, making it difficult to achieve the standard of the standard competition field. The other is manual marking, which is complex and time-consuming, making it difficult for workers to meet the field usage standards within the specified time. Manual marking is also costly and less accurate. For example, the process of marking a cricket field, a football field, or a basketball court is tedious and time-consuming. With the improvement of various competition quality, the use of the field has also been improved, and the previous marking method cannot meet the current competition standards. The last method is an intelligent marking robot, but the intelligence of this robot is low and cannot meet the purpose of timely adjustment of the boundary rope of the sports field. Therefore, a robot is needed that can mark the boundary of the sports field and efficiently mark the boundary rope in real time. SUMMARY

[0004] To solve the above problems of the prior art, the present application provides a cricket field marking robot with boundary rope adjustment, which can achieve the purpose of boundary rope adjustment while marking. In addition to the intelligent marking method provided to solve the problems of manual marking, such as being tedious, having low work efficiency, and consuming a lot of time, the present application also provides a method for adjusting the boundary rope of a cricket field.

[0005] Specifically, the application provides a cricket field marking robot with boundary rope adjustment, which comprises a vehicle body and a walking module arranged at the bottom of the vehicle body, an RTK mobile station, a control module, an obstacle avoidance module, a spraying module and a boundary rope adjustment module are arranged on the vehicle body, a collision avoidance device is arranged at the front end of the vehicle body, a display device is arranged at the rear end of the vehicle body, an inertial navigation module is arranged at the bottom of the vehicle body.

[0006] The spraying module comprises a liquid tank, a pressure pump, a nozzle and a line width adjustment device; the first end of the pressure pump is connected with the liquid tank through a conduit, the second end of the pressure pump is connected with the nozzle through a conduit, baffles are arranged on both sides of the nozzle, and the line width adjustment device is arranged on a cross beam in front of the nozzle; the line width adjustment device can adjust the width of the baffles on both sides of the nozzle, so as to adjust the marking width.

[0007] The boundary rope adjustment module is installed at the bottom of the vehicle body, and comprises two groups of driving units and a mounting plate; the mounting plate is fixed to the bottom of the vehicle body, a driving flat wheel is rotatably connected to the mounting plate, an adjustable groove wheel is arranged in the mounting plate, and the distance between the adjustable groove wheels of the two groups of driving units can be adjusted; each group of driving units comprises a driving flat wheel and an adjustable groove wheel, the two adjustable groove wheels are connected through a connecting plate, the side surface of the connecting plate is provided with an adjusting bolt, the bolt of the adjusting bolt is fixedly connected with the connecting plate after penetrating through the mounting plate, and rotating the adjusting bolt can drive the connecting plate to move, so as to further drive the adjustable groove wheels to move, and the distance between the two adjustable groove wheels of the two groups of driving units is adjusted.

[0008] The obstacle avoidance module is arranged on the front side of the vehicle body in motion, and is used for detecting obstacles on the advancing route in motion; the obstacle avoidance module is provided with an obstacle avoidance radar, and the obstacle avoidance radar is connected with the control module; when an obstacle in front is detected, the obstacle avoidance radar feeds back the obstacle information to the control module, and the control module controls the walking module to stop moving.

[0009] The collision avoidance device comprises a collision avoidance beam and a limit switch, and the limit switch is connected with the control module; when the collision avoidance device touches an obstacle, the limit switch sends information to the control module, and the control module controls the walking module to stop moving.

[0010] The RTK mobile station is arranged on the top of the vehicle body and is connected with a man-machine interaction module in a wireless mode; the man-machine interaction module is used for importing the graphics of a drawn pattern, so as to set the position coordinates of the RTK mobile station.

[0011] Preferably, the vehicle body is further provided with an emergency stop button for emergency stop in an emergency situation.

[0012] Preferably, the liquid tank is provided with a filling port, and the filling port is provided with a sealing cover.

[0013] Preferably, the display device is used to display the real-time electrical energy of the vehicle body, making it easy to observe the electrical energy of the vehicle body.

[0014] Preferably, the walking module includes two driving wheels arranged in the front and two universal wheels arranged in the rear, and the driving wheels are driven by means of a driving motor.

[0015] Preferably, the line width adjustment device is a set screw, which is installed on the beam in front of the nozzle and is used to adjust the width of the baffles on both sides of the nozzle, thereby controlling the marking width.

[0016] Preferably, the present invention also provides a boundary rope adjustment method, which comprises the following steps:

[0017] S1. Calculate the reverse movement distance of the robot. This reverse movement distance can offset the distance lost after the rope is moved. The fitting curve obtained by calculation is as follows:

[0018] y=0.01x 2 +3.09x+0.03;

[0019] Among them, y is the reverse moving distance, and x is the distance between two adjacent lanes;

[0020] S2. Adjust the boundary rope. The specific adjustment method is as follows:

[0021] Set the marking robot to adjust the boundary rope in a counterclockwise direction. Calculate the intersection point A based on the two curve equations before and after the boundary rope adjustment. Set the starting point before the boundary rope adjustment to B and the end point after the boundary rope adjustment to C, so that the arc length AB is equal to the arc length AC.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] (1) The marking robot of the present invention is provided with a boundary rope adjustment module on the basis of marking. When the boundary of the cricket field needs to be adjusted, the boundary rope adjustment module can be used to adjust the position of the boundary rope. The structure is simple and easy to use.

[0024] (2) The boundary rope adjustment module of the present invention uses a driving motor connected to a roller, which greatly improves the efficiency of rope movement and solves the problems of manual rope movement and its low efficiency.

[0025] (3) The present invention is equipped with an obstacle avoidance module and an anti-collision device, which can avoid obstacles in time and prevent obstacles from causing damage to the robot. It can also plan the obstacle route in advance and record it, reducing time and improving work efficiency.

[0026] (4) The boundary rope adjustment route calculated by the application can be called in similar boundary rope adjustment, and the application is convenient to use. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a perspective view of the application;

[0028] Figure 2 is a front view of the application;

[0029] Figure 3 is a left view of the application;

[0030] Figure 4 is a left view of the application;

[0031] Figure 5 is a three-dimensional axonometric view of the application;

[0032] Figure 6 is one of the boundary rope adjustment schematic views of the application;

[0033] Figure 7 is a schematic view of the installation of the adjustable fluted roller of the application;

[0034] Figure 8 is a schematic view of the specific structure of the adjustable fluted roller of the application.

[0035] Some of the drawings in the drawings are described as follows:

[0036] 1 - inertial navigation module, 2 - battery, 3 - control module, 4 - emergency stop button, 5 - pressurizing pump, 6 - liquid tank, 7 - nozzle, 8 - set screw, 9 - baffle, 10 - driving flat wheel, 11 - adjustable fluted roller, 12 - adjusting bolt, 13 - anti-collision device, 14 - obstacle avoidance module, 15 - RTK mobile station, 16 - display device, 17 - universal wheel, 18 - driving wheel, 19 - anti-collision beam, 20 - limit switch, 21 - paint spraying switch, 22 - boundary rope adjustment module, 23 - indicator light, 24 - filler port; 221 - mounting plate, 222 - connecting plate, 111 - slot. DETAILED DESCRIPTION

[0037] The exemplary embodiments, features and aspects of the application will be described in detail below with reference to the accompanying drawings. The same reference signs in the drawings represent functionally identical or similar elements. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

[0038] The embodiments of the application will be described in detail below with reference to the accompanying drawings, mainly introducing the structural features, working modes and main functions of the embodiments.

[0039] Specifically, the application provides an intelligent sports field marking robot, such as Figures 1 to 5As shown, it comprises a vehicle body and a walking module arranged at the bottom of the vehicle body, the vehicle body is provided with an RTK mobile station 15, a battery 2, a control module 3, an obstacle avoidance module 14, a spraying module and a boundary rope adjustment module 22, the front end of the vehicle body is provided with an anti-collision device 13, the rear end of the vehicle body is provided with a display device 16, and the bottom of the vehicle body is provided with an inertial navigation module 1.

[0040] As shown in the figure, Figure 1 The inertial navigation module 1 is installed at the chassis at the bottom of the mobile robot, and the RTK mobile station 15 is installed at the top of the vehicle body and connected with the human-computer interaction module in a wireless manner. The interaction terminal is used to import the graphics of the drawn pattern and set the position coordinates of the RTK mobile station 15. At the same time, the obstacle points can also be preset on the interaction terminal. The specific operation needs to control the vehicle body to drive to the position with the obstacle point and mark the position coordinates at the same time. In this way, the vehicle body can avoid the obstacles marked in advance when working.

[0041] The obstacle avoidance radar 14 is installed at the front side of the vehicle body and used to detect the obstacles on the advancing route when advancing. The obstacle avoidance radar 14 is connected with the control module 3. When detecting the obstacles in front, the obstacle avoidance radar 14 feeds back the information to the control module 3 in time, and the control module 3 controls the driving motor to stop rotating to avoid the vehicle body colliding with the obstacles. The emergency stop button 4 is used for emergency stop in emergency situations to avoid accidents.

[0042] The anti-collision device 13 comprises an anti-collision beam 19 and a limit switch 20. The anti-collision beam 19 is mainly used to reduce the damage of the mobile robot when colliding with obstacles during rework. The limit switch 20 is used to feed back the collision information to the control module 3. When the mobile robot collides with the obstacles, the anti-collision beam 19 will be squeezed, which will trigger the limit switch 20 inside the anti-collision beam 19 and feed back the information to the control module 3 to control the mobile robot to stop.

[0043] The display device 16 is used to display the real-time electric energy of the vehicle body, which is convenient for observing the electric quantity of the vehicle body. The vehicle body can be charged in time when the electric quantity is insufficient to avoid power failure causing the mobile robot to stop working. The mobile robot adopts 4-wheel support. The front two wheels are driving wheels 18 which are driven to rotate by driving motors. The rear two wheels are universal wheels 17. The universal wheels 17 move together with the driving wheels 18. The rear wheels adopt the universal wheels 17 to make the turning more convenient during advancing and also can smoothly pass through the complex road surface. The indicator light 23 is used to observe the working condition of the mobile robot. When the mobile robot works normally, the indicator light 23 is green. When the liquid in the mobile robot is less, the indicator light 23 is orange. When the mobile robot fails, the indicator light 23 is red.

[0044] The spraying module comprises a liquid tank 6, a pressurizing pump 5, a nozzle 7 and a line width adjusting device. One end of the pressurizing pump 5 is connected with the liquid tank 6 through a conduit, the liquid tank 6 is sealed, and the spraying module is controlled by a paint spraying switch 21 on the top of the mobile robot. In this embodiment, the line width adjusting device is a set screw 8, which is installed on the crossbeam in front of the nozzle 7 and is used to adjust the width between the two side baffles 9 of the nozzle 7, thereby controlling the line width.

[0045] The baffles 9 are rotatably installed on the two sides of the nozzle 7 and can swing up and down freely when obstacles are encountered during the movement, thereby controlling the line width.

[0046] The boundary rope adjusting module 22 is installed on the bottom of the vehicle body, as shown in Figs. Figure 7 and Figure 8 The mechanism comprises two groups of driving units and a mounting plate 221, the two groups of driving units are used to pull and place the boundary rope, each group of driving units comprises one driving flat wheel 10 and one adjustable groove wheel 11. The mounting plate 221 is fixed to the bottom of the vehicle body, the driving flat wheel 10 is rotatably connected with the mounting plate 221 and is driven to rotate by a driving motor, the adjustable groove wheel 11 is arranged inside the mounting plate 221, the distance between the two adjustable groove wheels 11 of the two groups of driving units can be adjusted, the two adjustable groove wheels 11 are connected by a connecting plate 222, the side surface of the connecting plate 222 is provided with an adjusting screw 12, the screw of the adjusting screw 12 is fixedly connected with the connecting plate 222 after penetrating through the mounting plate 221, and rotating the adjusting screw 12 can drive the connecting plate 222 to move, thereby further driving the adjustable groove wheel 11 to move, so as to adjust the distance between the two adjustable groove wheels 11 of the two groups of driving units. The two ends of the adjustable groove wheel 11 are provided with slot openings 111 for the boundary rope to pass through.

[0047] In use, the gap between the two adjustable groove wheels 11 of the two groups of driving units can be adjusted by the adjusting screw 12 on the side surface of the adjustable groove wheel 11. In work, the rope is sent between the two adjustable groove wheels 11, the driving flat wheel 10 is driven to rotate by the driving motor, then the rope is wound into the track by the friction force, and the rope is delivered out from the other end, and the movement track of the mobile robot is the shape after the rope is adjusted. In addition, the boundary rope adjusting module 22 can also be freely disassembled according to the use purpose. If the boundary rope adjustment is not needed, the boundary rope adjusting module 22 can not be installed, and at this time the robot can be used as a simple line drawing robot. If both line drawing and boundary rope adjustment are needed, the boundary rope adjusting module 22 can be installed, and the boundary rope can be adjusted while the line drawing is completed.

[0048] The application also provides a boundary rope adjusting method, which comprises the following steps:

[0049] As Figure 6 shown, the robot starts to move the rope, because the boundary rope in the node before the rope is moved longer than the length after the rope is moved, resulting in the possibility of the boundary rope gathering when the robot gradually moves to the node. In order to prevent the boundary rope from gathering when the robot moves the rope, the following calculates and designs the robot rope moving track, so that the length of the boundary rope from the starting point to the node is equal, so the robot needs to move backward for a distance to offset the missing distance after moving the rope. Set the shape of the boundary rope as an ellipse, the long axis length is 2a=150m, the short axis length is 2b=120m, and the boundary rope length is L=440m. When moving from the fourth lane to the first lane, the robot needs to cross x3=3 lanes, and the direction moving distance is L3=9.39m. Similarly, the x 2= 2, L2=6.25m, x1=1, L1=3.13m.

[0050] The expression of the robot reverse motion fitting curve calculated by Lagrange interpolation is:

[0051] y=0.01x 2 +3.09x+0.03;

[0052] When the robot moves the rope, the number of lanes to be crossed is input into the interactive terminal 1, and the control module 3 calculates the distance to be moved backward according to the derived analytical expression.

[0053] The above-described embodiments are only preferred embodiments of the present application, and do not limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements to the technical solutions of the present application made by those skilled in the art shall fall within the protection scope of the present application.

Claims

1. A cricket field marking robot with boundary rope adjustment, characterized by: The vehicle comprises a vehicle body and a walking module arranged at the bottom of the vehicle body. The vehicle body is provided with an RTK mobile station, a control module, an obstacle avoidance module, a spraying module and a boundary rope adjustment module. The front end of the vehicle body is provided with an anti-collision device, the rear end of the vehicle body is provided with a display device, and the bottom of the vehicle body is provided with an inertial navigation module. The spraying module includes a liquid tank, a pressure pump, a nozzle, and a line width adjustment device; the first end of the pressure pump is connected to the liquid tank via a conduit, and the second end of the pressure pump is connected to the nozzle via a conduit; baffles are provided on both sides of the nozzle; the line width adjustment device is provided on a beam in front of the nozzle, and the line width adjustment device can adjust the width of the baffles on both sides of the nozzle, thereby adjusting the line width; The boundary rope adjustment module is installed at the bottom of the vehicle body, and the boundary rope adjustment module includes two groups of drive units and a mounting plate. The mounting plate is fixed to the bottom of the vehicle body, the active flat wheel is rotatably connected to the mounting plate, and the adjustable sheave is arranged inside the mounting plate. The distance between the adjustable sheaves of the two groups of drive units can be adjusted. Each group of drive units includes a active flat wheel and an adjustable sheave. The two adjustable sheaves are connected by means of a connecting plate. An adjusting bolt is provided on the side of the connecting plate. The bolt of the adjusting bolt passes through the mounting plate and is fixedly connected to the connecting plate. Rotating the adjusting bolt can drive the connecting plate to move, thereby further driving the adjustable sheave to move, and adjusting the distance between the two adjustable sheaves of the two groups of drive units; The obstacle avoidance module is arranged at the front side of the vehicle body and is used to detect obstacles on the forward route during travel. The obstacle avoidance module is provided with an obstacle avoidance radar, which is connected to the control module. When an obstacle is detected in front, the obstacle avoidance radar feeds back obstacle information to the control module, and the control module controls the travel module to stop moving. The anti-collision device includes an anti-collision beam and a limit switch. The limit switch is connected to the control module. When the anti-collision device touches an obstacle, the limit switch sends information to the control module, and the control module controls the walking module to stop moving. The RTK mobile station is arranged on the top of the vehicle body and is connected to the human-computer interaction module via a wireless method. The human-computer interaction module is used to import the graphics of the drawn pattern so as to set the position coordinates of the RTK mobile station; The method and steps for adjusting the boundary rope using the cricket field marking robot with boundary rope adjustment function are as follows: S1. Calculate the reverse movement distance of the robot. This reverse movement distance can offset the distance lost after the rope is moved. The fitting curve obtained by calculation is as follows: y=0.01x 2 +3.09x+0.03; Among them, y is the reverse moving distance, and x is the distance between two adjacent lanes; S2. Adjust the boundary rope. The specific adjustment method is as follows: Set the marking robot to adjust the boundary rope in a counterclockwise direction. Calculate the intersection point A based on the two curve equations before and after the boundary rope adjustment. Set the starting point before the boundary rope adjustment to B and the end point after the boundary rope adjustment to C, so that the arc length AB is equal to the arc length AC.

2. The cricket field marking robot with boundary line adjustment according to claim 1, characterized in that: The vehicle body is also provided with an emergency stop button for emergency stopping in case of emergencies.

3. The cricket field marking robot with boundary line adjustment according to claim 1, characterized in that: The liquid box is provided with a filling port, and the filling port is provided with a sealing cover.

4. The cricket field marking robot with boundary line adjustment according to claim 1, characterized in that: The display device is used to display the real-time electric energy of the vehicle body, making it easy to observe the electric energy of the vehicle body.

5. The cricket field marking robot with boundary line adjustment according to claim 1, characterized in that: The walking module includes two driving wheels arranged in the front and two universal wheels arranged in the rear, and the driving wheels are driven by means of a driving motor.

6. The cricket field marking robot with boundary line adjustment according to claim 1, characterized in that: The line width adjustment device is a set screw, which is installed on the beam in front of the nozzle and is used to adjust the width of the baffles on both sides of the nozzle, thereby controlling the line width.

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