A roadbed layout marking robot

Abstract

The present application relates to a kind of roadbed layout marking robot, including chassis system, blanking mechanism and navigation system and control system, chassis system includes chassis, suspension and pivot, suspension can be rotated relative to chassis around pivot axis, and pivot can be fixed relative to suspension or move in the direction of left and right wheels connection line.This application robot chassis system in suspension can swing, can make the wheels that sink into pit and pothole touch ground, can make robot smoothly travel on uneven road section, blanking mechanism can automatically control powder scattering and realize automatic marking function with robot travel, navigation system can support GNSS and RTK centimeter level positioning, height measurement, inclination measurement, built-in inertial navigation and 4G full network, Bluetooth / WIFI and multi-protocol radio, can automatically plan path, control system controls the coordinated work of each system of robot, controls robot to automatically travel and carry out marking operation according to set path, marking precision is high, linear smooth, save manpower, high efficiency.

Description

Technical Field

[0001] This invention relates to the technical field of road construction equipment, specifically to a roadbed layout and marking robot. Background Technology

[0002] The regulations mainly specify the key points for the construction of roadbed, including cut roadbed, embankment roadbed, cut-embankment junction treatment, backfilling of abutments, and temporary drainage. During roadbed construction, the foundation surface needs to be marked with lines to indicate the boundaries of the construction area, facilitating subsequent construction.

[0003] Among the related technologies, there are two types of devices that can be used for roadbed layout and marking: hand-pushed marking carts and marking robots. Hand-pushed marking carts are pushed by people to mark lines, which is low in cost but has poor marking accuracy. Marking robots, on the other hand, can be electrically driven to mark lines and can travel along a preset path to ensure the accuracy of the marking.

[0004] With the development of surveying and mapping science and technology and autonomous driving technology, layout robots can obtain accurate position and heading angle information using GNSS and real-time kinematic (RTK) positioning technology, and autonomously plan their travel paths. Utilizing servo motor control algorithms on a wheeled mobile chassis, the robot can accurately move forward, backward, and turn. The robot's marking actuator needs to evenly and controllably apply powder (lime or putty powder) to the road surface. The powder spreading mechanism can automatically open and close without leakage or interruption of material application. Marking primarily uses straight lines, curves, solid lines, and dashed lines. The equipment can automatically detect the weight of remaining powder in the raw material bin, facilitating monitoring of construction progress.

[0005] Because the road surface to be marked usually has many potholes of varying depths, when the robot moves on the potholes, one of its wheels may become suspended in the air, reducing the robot's fulcrum and making it prone to tipping over. Summary of the Invention

[0006] Based on the above description, the present invention provides a roadbed layout and marking robot to solve the problem in related technologies where one wheel is easily suspended in the air when the robot travels on a potholed road surface, resulting in a reduction of the robot's fulcrum and making it prone to tilting.

[0007] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: This application provides a roadbed layout and marking robot, and the technical solution adopted is as follows: A roadbed layout and marking robot includes a chassis system, the chassis system comprising: Chassis; The suspension is located below the chassis and is used to connect the chassis and the left and right wheels; A pivot axis, the axis of which is parallel to the front-rear direction of the robot, the pivot axis connects the chassis and the suspension and is located between the left and right wheels, the suspension can rotate relative to the chassis around the axis of the pivot axis, and the pivot axis can move or be fixed relative to the suspension in the direction of the line connecting the left and right wheels; A drive mechanism, which connects the suspension and the pivot, is used to drive the pivot to move relative to the suspension in the direction connecting the left and right wheels, or to fix the pivot relative to the suspension in the direction connecting the left and right wheels.

[0008] Preferably, the pivot is connected to the chassis and the suspension via a connecting assembly, the connecting assembly allowing the pivot to move relative to the chassis in a direction parallel to the ground and perpendicular to its axis.

[0009] Preferably, a limiting structure is provided between the pivot and the suspension and the chassis, which is suitable for limiting the relative movement of the suspension and the chassis in a direction perpendicular to the axis of the pivot.

[0010] Preferably, the connection structure includes: Multiple first connecting plates are disposed on the suspension. The plane of the first connecting plate is perpendicular to the axis of the rotating shaft. The multiple first connecting plates are spaced apart along the axial direction of the rotating shaft. The first connecting plate is provided with a first connecting groove extending along the direction of the line connecting the left and right wheels. The rotating shaft passes through the first connecting groove and can move relative to the first connecting plate along the length direction of the first connecting groove. Multiple second connecting plates are disposed on the chassis. The plane of the second connecting plate is perpendicular to the axis of the rotating shaft. The multiple second connecting plates are spaced apart along the axis of the rotating shaft. A second connecting groove is formed on the second connecting plate. The second connecting groove extends in a direction parallel to the ground and perpendicular to the axis of the rotating shaft. The rotating shaft passes through the second connecting groove and can move relative to the second connecting plate along the length direction of the second connecting groove.

[0011] Preferably, the limiting structure includes: A gear, which is coaxial with the rotating shaft and is encircled outside the rotating shaft, and the gear and the rotating shaft can rotate relative to each other; A first rack is fixed to the suspension and its length direction is parallel to the length direction of the first connecting groove; the first rack meshes with the gear. The second rack is fixed to the chassis and its length direction is parallel to the length direction of the second connecting groove. The second rack meshes with the gear.

[0012] Preferably, the drive mechanism includes: Multiple pulleys, whose axes are parallel to the rotating shaft and rotatably connected to the suspension; A belt connecting multiple said pulleys, the belt including a drive section parallel to the direction of the line connecting the left and right wheels, a rotating shaft connected to the drive section, the rotating shaft being rotatable relative to the belt and fixed relative to the belt in the direction of the line connecting the left and right wheels; An electric motor, which is connected to the suspension, is used to drive either of the pulleys to rotate.

[0013] Preferably, the plurality of first connecting plates and the plurality of second connecting plates are arranged alternately.

[0014] Preferably, the suspension is provided with spring shock absorbers at both ends of the suspension along the line connecting the left and right wheels and between them and the chassis. The two ends of the spring shock absorbers are respectively hinged to the chassis and the suspension, and the hinge axis is parallel to the axis of the rotating shaft.

[0015] Preferably, it further includes a feeding mechanism, which includes a hopper, the hopper being disposed on the chassis and having a plurality of sieve holes at the bottom, a horizontally axial brush roller being disposed at the bottom of the hopper, the brush roller being rotatably connected to the hopper, and being adapted to cover the sieve holes by pressing against the inner wall of the hopper with the brush roller, and to allow the powder to leak out from the sieve holes when the brush roller rotates, and the chassis having a feeding port for the powder leaking out from the sieve holes to pass through.

[0016] Preferably, a pressure sensor for measuring the weight of the hopper is provided between the hopper and the chassis.

[0017] Compared with the prior art, the technical solution of this application has the following beneficial technical effects: In the line-marking robot of this application, a pivot is set between the chassis and the suspension in the chassis system. The suspension can rotate relative to the chassis around the pivot axis with the pivot as the fulcrum. The distance between the left and right wheels on the suspension and the chassis in the direction perpendicular to the ground is variable. When passing through potholes, the suspension can swing to make the wheels stuck in the potholes touch the ground, ensuring that both wheels are in contact with the ground to maintain chassis stability. The pivot can be moved or fixed relative to the suspension along the line connecting the left and right wheels. When both wheels are traveling on a normal road surface, the left and right wheels are at the same height and the line connecting the left and right wheels is parallel to the ground. The position of the pivot does not affect the robot's normal movement. When passing through potholes, the robot can detect and predict the location of potholes in the road ahead through a vision or radar system. Based on the position of the pothole on the left and right sides of the robot, the relative position of the pivot and suspension is adjusted by the drive mechanism. This moves the pivot away from the wheel that has entered the pothole, increasing the maximum distance the wheel can move away from the chassis in the direction perpendicular to the ground. This ensures that the wheel can touch the ground within the pothole, thus maintaining the robot's balance by ensuring that both wheels are in contact with the ground. Due to the relative movable configuration of the pivot and suspension, with a fixed distance between the suspension and the chassis, the maximum distance between one wheel and the chassis when the suspension swings is not limited by the distance between the suspension and the chassis. This ensures that the wheel stuck in the pothole can touch the ground. Therefore, the distance between the suspension and the chassis can be set smaller to improve the integration of the chassis system and the robot. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the roadbed layout and marking robot provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the chassis system in the roadbed layout and marking robot provided in an embodiment of the present invention; Figure 3 This is a front view schematic diagram of the chassis system in the roadbed layout and marking robot provided in an embodiment of the present invention; Figure 4 This is an exploded view of the chassis system in the roadbed layout and marking robot provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the roadbed layout and marking robot provided in an embodiment of the present invention after removing the outer shell; Figure 6 This is an exploded view of the roadbed layout and marking robot provided in an embodiment of the present invention after the outer shell has been removed; Figure 7 A bottom view of the material feeding mechanism in the roadbed layout and marking robot provided in an embodiment of the present invention; Figure 8 This is a cross-sectional schematic diagram of the material feeding mechanism in the roadbed layout and marking robot provided in an embodiment of the present invention.

[0019] The attached diagram lists the components represented by each number as follows: 1. Chassis; 101. Feed port; 2. Suspension; 3. Rotating shaft; 31. Limiting plate; 4. First connecting plate; 41. First connecting groove; 5. Second connecting plate; 51. Second connecting groove; 6. Gear; 7. First rack; 8. Second rack; 9. Drive mechanism; 91. Pulley; 92. Belt; 921. Drive section; 93. Motor; 10. Spring shock absorber; 11. Hopper; 111. Screen hole; 12. Brush roller; 13. Vibration motor; 14. Movable gate; 15. Electric push rod; 16. Pressure sensor; 17. High-precision positioning receiver; 18. VCU; 19. Industrial control computer; 20. Electronic control ECU; 21. Battery; 22. Cover shell. Detailed Implementation

[0020] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0022] It is understood that spatial relation terms such as "below," "under," "below," "below," "above," "above," etc., can be used here to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that, in addition to the orientation shown in the figure, spatial relation terms also include different orientations of the device in use and operation. For example, if the device in the figure is flipped, the element or feature described as "below" or "below" of the other element or feature will be oriented "above" the other element or feature. Therefore, the exemplary terms "below" and "below" can include both upper and lower orientations. Furthermore, the device may also include other orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptive terms used herein will be interpreted accordingly.

[0023] It should be noted that when one element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediary element. In the following embodiments, "connection" should be understood as "electrical connection," "communication connection," etc., if the connected circuits, modules, units, etc., have the transmission of electrical signals or data between them.

[0024] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” or “having,” etc., specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0025] Reference Figure 1-8 As shown in the figure, this application provides a roadbed layout and marking robot, which includes a chassis system, a material feeding mechanism, a navigation system, and a control system.

[0026] The chassis system includes a chassis 1 and a suspension 2. The suspension 2 is located below the chassis 1 and is used to connect the chassis 1 and the left and right wheels.

[0027] Reference Figure 1-4 As shown, the suspension 2 is spaced apart from the suspension 1 in a direction perpendicular to the ground. The suspension 2 is connected to the chassis 1 through the pivot 3. The axis of the pivot 3 is parallel to the robot's direction of travel and is located between the left and right wheels. The suspension 2 can rotate relative to the chassis 1 around the axis of the pivot 3, and the pivot 3 can move or be fixed relative to the suspension 2 in the direction of the line connecting the left and right wheels.

[0028] With the above configuration, suspension 2 can rotate relative to chassis 1 around axis 3 with pivot 3 as the fulcrum. The distance between the left and right wheels on suspension 2 and chassis 1 in the direction perpendicular to the ground is variable. When passing through potholes, the swinging of suspension 2 can allow the wheel stuck in the pothole to touch the ground, ensuring that both wheels are in contact with the ground to maintain the stability of chassis 1. When both wheels are traveling on a normal road surface, the left and right wheels are at the same height, and the line connecting the left and right wheels is parallel to the road surface. Pivot 3 can move horizontally relative to suspension 2 without affecting the robot's normal movement. However, when passing through potholes, the drive mechanism 9 adjusts the relative position of pivot 3 and suspension 2, moving pivot 3 away from one wheel. This increases the maximum distance that wheel can move away from chassis 1 in the direction perpendicular to the ground, ensuring that when that wheel is stuck in a pothole, it can touch the ground within the pothole, thus ensuring the robot's balance by ensuring that both wheels are in contact with the ground.

[0029] Because the pivot 3 and the suspension 2 are relatively movable, meaning the fulcrum position of the suspension 2 on the chassis 1 is adjustable, under the premise that the distance between the suspension 2 and the chassis 1 is fixed, the maximum distance between one wheel and the chassis 1 when the suspension 2 swings is not limited by the distance between the suspension 2 and the chassis 1, so as to ensure that the wheel can touch the ground when it is stuck in a pothole. Therefore, the distance between the suspension 2 and the chassis 1 can be set to be smaller, so as to improve the integration of the suspension 2 system and the integration of the robot.

[0030] Reference Figure 2-4 As shown, the pivot 3 is further connected to the chassis 1 and the suspension 2 via a connecting assembly. The connecting assembly allows the pivot 3 to move relative to the chassis 1 in a direction parallel to the ground and perpendicular to its axis. Furthermore, a limiting structure is provided between the pivot 3 and the suspension 2 and the chassis 1, which is suitable for limiting the relative movement of the suspension 2 and the chassis 1 in a direction perpendicular to the axis of the pivot 3.

[0031] Reference Figure 2-4 As shown, specifically, the connection structure includes multiple first connecting plates 4 and multiple second connecting plates 5. The first connecting plates 4 are mounted on the suspension 2, and the plane of the first connecting plates 4 is perpendicular to the axis of the rotating shaft 3. The multiple first connecting plates 4 are spaced apart along the axial direction of the rotating shaft 3. The first connecting plates 4 have a first connecting groove 41 extending along the direction of the line connecting the left and right wheels. The rotating shaft 3 passes through the first connecting groove 41 and can move relative to the first connecting plate 4 along the length direction of the first connecting groove 41. The second connecting plates 5 are mounted on the chassis 1, and the plane of the second connecting plates 5 is perpendicular to the axis of the rotating shaft 3. The multiple second connecting plates 5 are spaced apart along the axial direction of the rotating shaft 3. The second connecting plates 5 have a second connecting groove 51 extending in a direction parallel to the ground and perpendicular to the axis of the rotating shaft 3. The rotating shaft 3 passes through the second connecting groove 51 and can move relative to the second connecting plate 5 along the length direction of the second connecting groove 51.

[0032] Reference Figure 2-4 As shown, in this embodiment, the middle of the suspension 2 is recessed away from the chassis 1 to form a recessed portion. Multiple first connecting plates 4 are disposed within the recessed portion and integrally formed with the suspension 2, while multiple second connecting plates 5 are integrally formed with the chassis 1 and extend into the recessed portion. To reduce the axial length of the pivot 3, the multiple first connecting plates 4 and multiple second connecting plates 5 are staggered, and the pivot 3 passes through multiple first connecting plates 4 and multiple second connecting plates 5. In this embodiment, there are four first connecting plates 4 and four second connecting plates 5. Two adjacent second connecting plates 5 are located between two adjacent first connecting plates 4 and respectively abut against those two first connecting plates 4. Additionally, two adjacent second connecting plates 5 are located between another two adjacent first connecting plates 4 and respectively abut against those two first connecting plates 4. Thus, the multiple first connecting plates 4 and multiple second connecting plates 5 mutually limit each other in the axial direction of the pivot 3, fixing the suspension 2 and chassis 1 relatively in the axial direction of the pivot 3. Simultaneously, limiting plates 31 are connected to both ends of the second pivot 3 to restrict the axial movement of the pivot 3 relative to the suspension 2 and chassis 1.

[0033] Reference Figure 2-4As shown, the limiting structure further includes a gear 6, a first rack 7, and a second rack 8. The gear 6 is coaxial with the rotating shaft 3 and is encircled outside the rotating shaft 3. The gear 6 and the rotating shaft 3 can rotate relative to each other. The first rack 7 is fixed on the suspension 2 and its length direction is parallel to the length direction of the first connecting groove 41. The first rack 7 meshes with the gear 6. The second rack 8 is fixed on the chassis 1 and its length direction is parallel to the length direction of the second connecting groove 51. The second rack 8 meshes with the gear 6.

[0034] Reference Figure 2-4 As shown, in this embodiment, multiple first racks 7 are provided, and their number is the same as the number of first connecting plates 4. The multiple first racks 7 and multiple first connecting plates 4 are integrally formed in a one-to-one correspondence. Multiple second racks 8 are provided, and their number is the same as the number of second connecting plates 5. The multiple second racks 8 and multiple second connecting plates 5 are integrally formed in a one-to-one correspondence. Correspondingly, the gear 6 extends axially and passes through the multiple first connecting plates 4 and the multiple second connecting plates 5, and meshes with the multiple first racks 7 and the multiple second racks 8.

[0035] Through the above configuration, the cooperation of the first connecting plate 4 and its first connecting groove 41 enables the relative movement of the shaft 3 and the suspension 2. The cooperation of the second connecting plate 5 and its second connecting groove 51 enables the relative movement of the shaft 3 and the chassis 1. Through the cooperation of the gear 6, the first rack 7, and the second rack 8, the shaft 3 can only move relative to the chassis 1 and the suspension 2 when the suspension 2 rotates around the shaft 3 until the direction connecting the left and right wheels is parallel to the ground, that is, when the first connecting groove 41 and the second connecting groove 51 are parallel, and the first rack 7 and the second rack 8 are parallel. Only then can the gear 6 rotate relative to the first rack 7 and the second rack 8, that is, the shaft 3 can move relative to the chassis 1 and the suspension 2 along the direction connecting the left and right wheels. In other states, the shaft 3, the chassis 1, and the suspension 2 are restricted from relative movement in a plane perpendicular to the axis of the shaft 3. The suspension 2 can only be swayed by rotating around the axis of the shaft 3, thereby improving the stability of the suspension 2 system.

[0036] Reference Figure 3-4As shown, the drive mechanism 9 further includes multiple pulleys 91, a belt 92, and a motor 93. The axis of the pulleys 91 is parallel to the shaft 3 and rotatably connected to the suspension 2. The belt 92 connects the multiple pulleys 91 and includes a drive section 921 parallel to the direction of the line connecting the left and right wheels. The shaft 3 is connected to the drive section 921 and can rotate relative to the belt 92, but is fixed relative to the belt 92 in the direction of the line connecting the left and right wheels. The motor 93 is fixedly connected to the suspension 2 and is used to drive any one of the pulleys 91 to rotate. In this embodiment, there are three pulleys 91 arranged in a triangular pattern. The belt 92 between two pulleys 91 serves as the drive section 921. A connecting block is fixed on the drive section 921, and one end of the shaft 3 is rotatably connected to the connecting block. The motor 93 drives the pulleys 91 to rotate, which in turn drives the belt 92 to rotate, thereby driving the connecting block and the shaft 3 to move along the direction of the line connecting the left and right wheels, realizing the adjustment of the fulcrum of the suspension 2 and enabling automatic control.

[0037] Reference Figure 2-4 As shown, furthermore, spring shock absorbers 10 are provided at both ends of the suspension 2 along the line connecting the left and right wheels and between them and the chassis 1. The two ends of the spring shock absorbers 10 are hinged to the chassis 1 and the suspension 2, respectively, with the hinge axis parallel to the axis of the rotating shaft 3. Specifically, holes for the spring shock absorbers 10 to pass through are provided on the chassis 1, and a shock absorber bracket is installed above the holes. One end of the shock absorber is hinged to the suspension 2, and the other end passes through the holes and connects to the shock absorber bracket. This reduces the space occupied by the spring shock absorbers 10 between the chassis 1 and the suspension 2, resulting in higher integration. The spring shock absorbers 10 provide shock absorption, improving the stability of the robot's movement.

[0038] Reference Figure 1 and Figure 5-6 As shown, in this embodiment, the robot includes two front wheels and two rear wheels. The two front wheels are connected to the suspension 2 by universal wheels, and the two rear wheels are connected to the chassis 1 by servo hub motors 93. The robot moves by generating driving force through the two rear wheels, and the robot can turn by controlling the differential speed operation of the two rear wheels through the control system.

[0039] Reference Figure 1 and Figure 5-8 As shown, the feeding mechanism is used to sprinkle powder on the path the robot travels. It includes a hopper 11, which is located on a chassis 1 and has multiple sieve holes 111 at the bottom. Inside the hopper 11, there is a horizontally axial brush roller 12 at the bottom. The brush roller 12 is rotatably connected to the hopper 11 and is adapted to cover the sieve holes 111 by pressing against the inner wall of the hopper 11. When the brush roller 12 rotates, the powder leaks out from the sieve holes 111. The chassis 1 is provided with a feeding port 101 for the powder leaking out from the sieve holes 111 to pass through.

[0040] Reference Figure 5-8As shown, specifically, the upper part of the hopper 11 is a cylindrical structure with a larger space for storing powder. The lower part of the hopper 11 is funnel-shaped, and sieve holes 111 are opened at the bottom of the funnel-shaped structure at the bottom of the hopper 11, so that the powder can be concentrated and leaked out of the sieve holes 111 for marking. In order to avoid the powder from accumulating in the hopper 11 and being unable to complete the feeding, a vibrating motor 1393 is provided on the outer wall of the hopper 11 to vibrate the hopper to loosen the powder and facilitate feeding. The brush roller 12 is located inside the funnel-shaped structure at the bottom of the hopper 11. Both ends are rotatably connected to the hopper 11 via bearings. A motor 93 is installed outside the hopper 11. The motor 93 is connected to the brush roller 12 via a coupling to drive the brush roller 12 to rotate. The loose bristles of the brush roller 12 cover the sieve holes 111. When the brush roller 12 is stationary, the powder is not easy to leak out of the sieve holes 111. However, when the motor 93 drives the brush roller 12 to rotate, the brush roller 12 can disperse the powder at the bottom of the hopper 11 and sweep the powder from the bottom of the hopper 11 into the sieve holes 111, allowing the powder to leak out smoothly.

[0041] Reference Figure 7-8 As shown, a discharge port 101 is provided on the chassis 1. The lower end of the hopper 11 extends through the discharge port 101 to the bottom of the chassis 1 to reduce the height of the robot. A protective cover is provided at the bottom of the chassis 1 to prevent damage to the discharge structure of the hopper 11. A hole is provided on the protective cover directly below the screen hole 111 to allow the powder to fall to the ground.

[0042] Reference Figure 7-8 As shown, when the brush roller 12 is stationary, the vibration during the robot's movement can easily cause powder leakage. Therefore, a movable gate 14 for opening or closing the screen holes 111 is also provided at the bottom of the hopper 11. The movable gate 14 is driven to move by the electric push rod 15 to realize the opening and closing function of the screen holes 111, so as to avoid powder leakage when no lines are drawn.

[0043] Reference Figure 6-7 As shown, a pressure sensor 16 for measuring the weight of the hopper 11 is further provided between the hopper 11 and the chassis 1. Specifically, the hopper 11 is connected to the chassis 1 via a mounting bracket, and four pressure sensors 16 are located between the mounting bracket and the chassis 1. These four pressure sensors 16 are arranged in a rectangular pattern in the horizontal plane and are at the same height. The hopper 11 exerts pressure on the pressure sensors 16 through the mounting bracket. By processing the pressure data, the weight of the hopper 11 and the weight of the powder inside the hopper 11 can be obtained, allowing for timely replenishment when the powder is insufficient.

[0044] Reference Figure 5-6 As shown, the navigation system includes a high-precision positioning receiver 17, which is mounted on the chassis 1 and supports GNSS and RTK centimeter-level positioning, elevation measurement, tilt measurement, built-in inertial navigation and 4G full network connectivity, Bluetooth / WIFI and multi-protocol radio, for measurement operations.

[0045] Reference Figure 5-6 As shown, the control system includes a VCU18, an industrial computer 19, and an electronic control unit (ECU) 20. The VCU18 is the control unit of the chassis 1, communicating with various electronic devices via a CAN bus to monitor vehicle status (speed, temperature, etc.), collect the operating status of each control unit, and send vehicle operation status control commands to the power system, the power battery system 21, and the on-board accessory power system. The industrial computer 19 connects various sensors, actuators, and other external devices, and then controls the operation of these devices according to preset control algorithms and commands. It collects field data, processes, stores, and analyzes this data, monitors equipment operating status and environmental parameters, and communicates with other devices. The ECU 20 controls the operation of warning lights, the vibrating motor 1393 of the hopper 11, the powder mixing motor 93, the miniature electric push rod 15, the cooling fan, etc.

[0046] Reference Figure 1 As shown, the robot further includes a cover shell 22, which includes the feeding mechanism, control system, battery 21 and circuit structure, etc., to protect the electrical structure from damage. At the same time, the cover shell 22 has a feeding port for adding powder into the hopper 11 and a maintenance port for repairing the equipment, and corresponding movable covers that can be opened or closed are provided.

[0047] The robot described in this application has the following advantages: 1. The robot of this application can automatically measure and use powder to automatically mark lines when laying out roadbeds. The marking accuracy is high, the line is smooth, and it saves manpower and is highly efficient.

[0048] 2. Because commercially available hot-melt paint and cold-spray paint for line marking are only suitable for hardened road surfaces and cannot be used for roadbed marking, the robot proposed in this application can save surveyors and solve the problems of difficult accuracy control, low efficiency, and difficulty in marking complex curves in traditional manual line marking.

[0049] 3. In order to reduce the labor intensity of construction workers and improve the quality of line marking, the robot of this application can automatically calculate the coordinates of the layout points by importing CAD drawings of the construction section and mark them on the construction site. It can automatically perform line marking operations, support drawing editing and conversion, and the equipment can be remotely controlled.

[0050] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A subgrade layout marking robot, characterized in that, Includes a chassis (1) system, the chassis system comprising: Chassis (1); Suspension (2), which is located below the chassis (1) for connecting the chassis (1) and the left and right wheels; A rotating shaft (3) has its axis parallel to the front-rear direction of the robot. The rotating shaft (3) connects the chassis (1) and the suspension (2) and is located between the left and right wheels. The suspension (2) can rotate relative to the chassis (1) around the axis of the rotating shaft (3), and the rotating shaft (3) can move or be fixed relative to the suspension (2) in the direction of the line connecting the left and right wheels. A drive mechanism (9) connects the suspension (2) and the pivot (3) for driving the pivot (3) to move relative to the suspension (2) in the direction of the left and right wheel line, or for fixing the pivot (3) relative to the suspension (2) in the direction of the left and right wheel line. The pivot (3) is connected to the chassis (1) and the suspension (2) via a connecting assembly, which allows the pivot (3) to move relative to the chassis (1) in a direction parallel to the ground and perpendicular to its axis; The connection component includes: Multiple first connecting plates (4) are disposed on the suspension (2). The plane of the first connecting plate (4) is perpendicular to the axis of the rotating shaft (3). The multiple first connecting plates (4) are spaced apart along the axial direction of the rotating shaft (3). A first connecting groove (41) extending along the direction of the left and right wheel connection is provided on the first connecting plate (4). The rotating shaft (3) passes through the first connecting groove (41) and can move relative to the first connecting plate (4) along the length direction of the first connecting groove (41). Multiple second connecting plates (5) are disposed on the chassis (1). The plane of the second connecting plate (5) is perpendicular to the axis of the rotating shaft (3). The multiple second connecting plates (5) are spaced apart along the axial direction of the rotating shaft (3). A second connecting groove (51) is provided on the second connecting plate (5). The second connecting groove (51) extends in a direction parallel to the ground and perpendicular to the axis of the rotating shaft (3). The rotating shaft (3) passes through the second connecting groove (51) and can move relative to the second connecting plate (5) along the length direction of the second connecting groove (51). In this arrangement, multiple first connecting plates (4) and multiple second connecting plates (5) are staggered.

2. The subgrade layout marking robot according to claim 1, characterized in that: A limiting structure is provided between the pivot (3) and the suspension (2) and the chassis (1), which is suitable for limiting the relative movement of the suspension (2) and the chassis (1) in a direction perpendicular to the axis of the pivot (3).

3. The roadbed layout and marking robot according to claim 2, characterized in that, The limiting structure includes: Gear (6), which is coaxial with the rotating shaft (3) and is encircled outside the rotating shaft (3), and the gear (6) and the rotating shaft (3) can rotate relative to each other; The first rack (7) is fixed on the suspension (2) and its length direction is parallel to the length direction of the first connecting groove (41). The first rack (7) meshes with the gear (6). The second rack (8) is fixed on the chassis (1) and its length direction is parallel to the length direction of the second connecting groove (51). The second rack (8) meshes with the gear (6).

4. The roadbed layout and marking robot according to claim 1, characterized in that, The drive mechanism (9) includes: Multiple pulleys (91) are rotatably connected to the suspension (2) with their axes parallel to the rotating shaft (3); A belt (92) is connected to a plurality of said pulleys (91). The belt (92) includes a drive section (921) parallel to the direction of the line connecting the left and right wheels. The rotating shaft (3) is connected to the drive section (921). The rotating shaft (3) is rotatable relative to the belt (92) and is fixed relative to the belt (92) in the direction of the line connecting the left and right wheels. An electric motor (93), which is connected to the suspension (2), is used to drive any of the pulleys (91) to rotate.

5. The roadbed layout and marking robot according to claim 1, characterized in that: The suspension (2) has spring shock absorbers (10) at both ends of the suspension (2) along the line connecting the left and right wheels and between the suspension (1) and the chassis (1). The two ends of the spring shock absorbers (10) are hinged to the chassis (1) and the suspension (2) respectively, and the hinge axis is parallel to the axis of the rotating shaft (3).

6. The roadbed layout and marking robot according to claim 1, characterized in that: It also includes a feeding mechanism, which includes a hopper (11) on the chassis (1) and a plurality of sieve holes (111) at the bottom. A horizontal brush roller (12) is provided at the bottom of the hopper (11). The brush roller (12) is rotatably connected to the hopper (11) and is adapted to cover the sieve holes (111) by pressing the brush roller (12) against the inner wall of the hopper (11). When the brush roller (12) rotates, the powder leaks out from the sieve holes (111). The chassis (1) is provided with a feeding port (101) for the powder leaking out from the sieve holes (111) to pass through.

7. The roadbed layout and marking robot according to claim 6, characterized in that: A pressure sensor (16) for measuring the weight of the hopper (11) is provided between the hopper (11) and the chassis (1).

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