Intelligent road marking robot

Abstract

The invention relates to the technical field of marking equipment, and provides an intelligent road marking robot which comprises a moving mechanism, the moving mechanism comprises a chassis, and a sweeping and dust blowing mechanism, a primer spraying mechanism, a marking mechanism, a glass bead spreading mechanism, a navigation positioning mechanism and an air source device are installed on the chassis. According to the road marking device, functional modules of automatic sweeping and dust blowing, primer spraying, precise marking, glass bead spreading and the like are integrated, and high-precision navigation positioning and dynamic obstacle avoidance technologies are combined, so that the problems of high dependence on manpower, unstable quality and limited construction efficiency and flexibility in the existing road marking process are effectively solved. Specifically, the intelligent lineation robot achieves full-process automatic operation from pretreatment to final lineation, manual intervention is greatly reduced, lineation quality and consistency are ensured, meanwhile, construction efficiency and operation safety are remarkably improved, and the intelligent lineation robot adapts to construction requirements in various complex environments.

Description

Technical Field

[0001] The present invention relates to the technical field of road marking equipment, and in particular to an intelligent road road marking robot. Background Art

[0002] Road marking, as an important part of transportation infrastructure construction, refers to the process of drawing various traffic signs such as lane dividers, parking spaces, and guide arrows on transportation facilities such as highways, parking lots, and airport runways. These signs are not only crucial for guiding vehicles and pedestrians to pass correctly, but also play an irreplaceable role in improving traffic flow efficiency and reducing traffic accidents. In traditional methods, in order to ensure the accuracy and durability of the lines, road marking operations rely heavily on manual operations.

[0003] However, in the current practice of road marking, although the application of mechanized equipment has significantly improved work efficiency, reduced labor intensity, and improved work accuracy to a certain extent, in some key processes that require high precision, such as marking and spraying primer, manual operation is still required to ensure the final quality. This practice not only increases labor costs, but also may lead to unstable quality due to the uneven skill levels of personnel, and also limits the further improvement of construction efficiency and flexibility to a certain extent.

[0004] The purpose of the present invention is to solve the problems of high reliance on manual labor, unstable quality, and limited construction efficiency and flexibility in the existing road marking process. Summary of the invention

[0005] The purpose of the present invention is to solve the problems of high reliance on manual labor, unstable quality, and limited construction efficiency and flexibility in the existing road marking process. The present invention adopts the following technical solutions:

[0006] A road intelligent marking robot comprises a mobile mechanism, the mobile mechanism comprises a chassis, and a cleaning and dust blowing mechanism, a primer spraying mechanism, a marking mechanism, a glass bead spreading mechanism, a navigation and positioning mechanism, and an air source device are installed on the chassis;

[0007] The cleaning and dust blowing mechanism comprises a cleaning mechanism and a dust blowing mechanism, wherein the cleaning mechanism comprises a connecting frame, a hinged rod is installed on one side of the connecting frame, one end of the hinged rod is hinged to the connecting frame, a first motor is installed on the other end of the hinged rod, a disc-type sweeping brush is installed on the rotor of the first motor, a first push-pull member is hinged to one side of the hinged rod, one end of the first push-pull member is hinged to the connecting frame, and the dust blowing mechanism is arranged on one side of the cleaning mechanism, and the dust blowing mechanism is used to blow away particles and dust on the road;

[0008] The primer spraying mechanism includes a primer storage box, a primer spray head, and a pump body. The primer storage box is used to store the primer. The primer storage box is provided with a flip cover. The pump body is provided with a liquid inlet and a liquid outlet. The liquid inlet of the pump body is connected to the primer storage box through a pipe body. The liquid outlet of the pump body is connected to the primer spray head through a pipe body. A first positioning mechanism is installed on one side of the chassis. The first positioning mechanism is used to adjust the position of the primer spray head.

[0009] The marking mechanism includes a hot melt mechanism and a scraping mechanism, the hot melt mechanism includes a paint bucket, the paint bucket is used to store paint, an electric heating device is installed at the bottom of the paint bucket, the top of the paint bucket is covered with a bucket cover, the bucket cover is installed with a stirring device, the stirring device is used to stir the paint in the paint bucket, a paint outlet is opened on one side of the paint bucket, a guide bucket is installed on the paint outlet, a sealing door is provided at one end of the guide bucket, the sealing door is slidably connected to the guide bucket, a second push-pull member is installed on one side of the sealing door, and the second push-pull member is fixedly connected to the paint bucket;

[0010] The scraping mechanism comprises a second connecting frame, the second connecting frame is equipped with a third push-pull member, one end of the third push-pull member is equipped with a scraping bucket, one side of the scraping bucket is equipped with a heating and heat preservation device, the heating and heat preservation device is used to heat the scraping bucket, and the bottom of the scraping bucket is equipped with a scraping bucket switch mechanism;

[0011] The glass bead spreading mechanism comprises a material storage box, one side of which is connected to the air source device through a pipe body, the material storage box is equipped with a material delivery pipe, one end of which is equipped with a cylinder, the cylinder is connected to the material storage box through the material delivery pipe, a spreader is installed at one end of the cylinder, and a second positioning mechanism is provided on one side of the cylinder, the second positioning mechanism is used for the position of the spreader;

[0012] The navigation and positioning mechanism is used for positioning the robot and dynamically avoiding obstacles.

[0013] According to the intelligent road marking robot as described above, the first positioning mechanism includes a first connecting frame, the outer shell of the first connecting frame is provided with a second sliding frame, the second sliding frame is slidably connected to the first connecting frame, a first sliding frame is installed on one side of the second sliding frame, a first sliding rod is sleeved in the first sliding frame, the first sliding rod is slidably connected to the first sliding frame, the base glue nozzle is installed at one end of the first sliding rod, one side of the first sliding frame and one side of the second sliding frame are both sleeved with a first positioning pin, the first positioning pin is threadedly connected to one side of the first sliding frame and the second sliding frame.

[0014] In the intelligent road marking robot as described above, the stirring device includes a second motor installed on the barrel cover, the rotor of the second motor is equipped with a connecting rod, one end of the connecting rod passes through the barrel cover and is arranged in the paint barrel, at least one stirring blade is installed at one end of the connecting rod, and a filter screen is installed on the top of the paint barrel.

[0015] In the intelligent road marking robot as described above, a third connecting frame is installed on one side of the scraping bucket, a first longitudinal rod is installed on one side of the third connecting frame, a sleeve is provided on the outer shell of the first longitudinal rod, the sleeve is slidably connected to the first longitudinal rod, the first longitudinal rod is fixedly connected to the scraping bucket, a second positioning pin is provided on one side of the sleeve, and the second positioning pin is threadedly connected to the sleeve.

[0016] As described above, the intelligent road marking robot, the scraper bucket switch mechanism includes a support rod, one end of the support rod is hinged with a fourth push-pull member, one end of the fourth push-pull member is hinged with an L-shaped frame, the L-shaped frame is hinged with the scraper bucket, both ends of the L-shaped frame are provided with a groove body, a slider is provided in the groove body, the slider is slidably connected to the groove body, a slide plate is fixedly connected to one side of the slider, a concave member is provided on the top of the slide plate, guide rails are provided on both sides of the slide plate, the slide plate is slidably connected to the guide rails, a bevel cutting section is provided on one side of the slide plate, an L-shaped block is installed on one side of the concave member, and a scraper is installed on one side of the L-shaped block.

[0017] In the intelligent road marking robot as described above, a feed port is arranged on the top of the storage box, and a guide plate is arranged on the top of the storage box, and one end of the guide plate is inclined toward the feed port of the storage box.

[0018] In the intelligent road marking robot as described above, a pneumatic valve is installed in the cylinder, and an air pipe joint is provided at the other end of the cylinder, and the air pipe joint is connected to the air source device through a pipe body.

[0019] According to the intelligent road marking robot as described above, the second positioning mechanism includes a second longitudinal rod, the cylinder is fixedly connected to the second longitudinal rod, a fourth sliding frame is disposed on the outer surface of the second longitudinal rod, the fourth sliding frame is slidably connected to the second longitudinal rod, a third sliding frame is fixedly connected to one side of the fourth sliding frame, a fourth connecting frame is sleeved in the third sliding frame, the fourth connecting frame is slidably connected to the third sliding frame, a third positioning pin is sleeved in one side of the third sliding frame and one side of the fourth sliding frame, and the third positioning pin is threadedly connected to the third sliding frame and the fourth sliding frame.

[0020] In the intelligent road marking robot as described above, the navigation and positioning mechanism includes an RTK antenna, a lighting lamp, a ranging sensor, a 3D laser radar, a binocular 3D camera, and an ultrasonic radar. The RTK antenna, the lighting lamp, and the binocular 3D camera are all arranged on one side of the chassis, the ranging sensor is arranged on the other side of the chassis, the 3D laser radar is arranged on the left side of the chassis, and the ultrasonic radar is installed on the front, left, and rear sides of the chassis.

[0021] In the intelligent road marking robot as described above, a control cabinet is installed on the chassis, and the control cabinet is used to control the coordinated work of various mechanisms. A battery is installed at the bottom of the chassis, and the battery is used to provide power to various mechanisms. A driving wheel of a driving motor is installed at the bottom of the chassis, a universal wheel is installed on one side of the bottom of the chassis, and a warning light is installed on one side of the chassis.

[0022] Implementing the embodiments of the present invention has the following beneficial effects:

[0023] 1. In the present invention, by integrating functional modules such as automated cleaning and dust blowing, primer spraying, precise marking and glass bead spreading, and combining high-precision navigation positioning and dynamic obstacle avoidance technology, the existing road marking process effectively solves the problems of high dependence on manual labor, unstable quality, and limited construction efficiency and flexibility. Specifically, the intelligent marking robot realizes the full process automation from pre-processing to final marking, greatly reduces manual intervention, ensures the quality and consistency of marking, and significantly improves construction efficiency and operation safety, adapting to the construction needs in a variety of complex environments.

[0024] In summary, the present invention solves the problems of high reliance on manual labor, unstable quality, and limited construction efficiency and flexibility in the existing road marking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 It is a schematic diagram of the overall structure of an intelligent road marking robot of the present invention.

[0027] Figure 2 It is a structural schematic diagram of a cleaning and dust blowing mechanism of an intelligent road marking robot according to the present invention.

[0028] Figure 3 It is a structural schematic diagram of a cleaning and dust blowing mechanism of an intelligent road marking robot of the present invention from another angle.

[0029] Figure 4 It is a structural schematic diagram of a primer spraying mechanism of an intelligent road marking robot according to the present invention.

[0030] Figure 5 It is a structural schematic diagram of a primer spraying mechanism of an intelligent road marking robot from another angle of the present invention.

[0031] Figure 6 It is a structural schematic diagram of a road marking mechanism of an intelligent road marking robot according to the present invention.

[0032] Figure 7 It is a schematic structural diagram of a marking mechanism of an intelligent road marking robot from another angle of the present invention.

[0033] Figure 8 It is a structural schematic diagram of a hot-melt mechanism of an intelligent road marking robot according to the present invention.

[0034] Fig. 9 It is a structural schematic diagram of a scraping mechanism of an intelligent road marking robot according to the present invention.

[0035] Fig.10 It is an exploded view of a scraping mechanism of an intelligent road marking robot according to the present invention.

[0036] Fig.11 The present invention is a schematic structural diagram of a glass bead spreading mechanism of an intelligent road marking robot.

[0037] Fig.12 It is a structural schematic diagram of a glass bead spreading mechanism of an intelligent road marking robot from another angle of the present invention.

[0038] Fig.13 yes Fig.12 Schematic diagram of the structure after enlargement at A. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] like Figures 1 to 13 As shown, the present invention proposes an intelligent road marking robot, comprising a mobile mechanism 1, the mobile mechanism 1 comprising a chassis 11, the chassis 11 is equipped with a cleaning and dust blowing mechanism 2, a primer spraying mechanism 3, a marking mechanism 4, a glass bead spreading mechanism 5, a navigation positioning mechanism 6, and an air source device 14;

[0041] The cleaning and dust blowing mechanism 2 includes a cleaning mechanism 21 and a dust blowing mechanism 22, the cleaning mechanism 21 includes a connecting frame 215, a hinged rod 213 is installed on one side of the connecting frame 215, one end of the hinged rod 213 is hinged to the connecting frame 215, a first motor 212 is installed on the other end of the hinged rod 213, the first motor 212 is a brushless gear reduction motor, a rotor of the first motor 212 is installed with a disc sweeping brush 211, a first push-pull member 214 is hinged to one side of the hinged rod 213, one end of the first push-pull member 214 is hinged to the connecting frame 215, the dust blowing mechanism 22 is arranged on one side of the cleaning mechanism 21, the dust blowing mechanism 22 is used to blow away particles and dust on the road, the dust blowing mechanism 22 includes a fan 222, the fan 222 is fixedly connected to the chassis 11, a baffle 221 is installed on one side of the fan 222, and a plurality of through holes are opened on one side of the baffle 221;

[0042] The primer spraying mechanism 3 includes a primer storage box 31, a primer spray head 33, and a pump body 35. The primer storage box 31 is used to store the primer. The primer storage box 31 is provided with a flip cover 311. The pump body 35 is provided with a liquid inlet and a liquid outlet. The liquid inlet of the pump body 35 is connected to the primer storage box 31 through a pipe body, and the liquid outlet of the pump body 35 is connected to the primer spray head 33 through a pipe body. The pump body 35 is a gear pump. A first positioning mechanism is installed on one side of the chassis 11. The first positioning mechanism is used to adjust the position of the primer spray head 33.

[0043] The marking mechanism 4 includes a hot melt mechanism 41 and a scraping mechanism 42. The hot melt mechanism 41 includes a paint bucket 411. The paint bucket 411 is used to store paint. An electric heating device is installed at the bottom of the paint bucket 411. A temperature sensor and a liquid level sensor are arranged in the paint bucket 411. The top of the paint bucket 411 is covered with a bucket cover 412. The bucket cover 412 includes a horizontal plate 4121. Both sides of the horizontal plate 4121 are installed with flaps 4122. The flaps 4122 are hinged to the horizontal plate 4121. The barrel cover 412 is equipped with a stirring device 413, and the stirring device 413 is used to stir the paint in the paint barrel 411. A paint outlet 417 is opened on one side of the paint barrel 411, and a guide bucket 416 is installed on the paint outlet 417. A sealing door 415 is provided at one end of the guide bucket 416, and the sealing door 415 is slidably connected to the guide bucket 416. A second push-pull member 414 is installed on one side of the sealing door 415, and the second push-pull member 414 is fixedly connected to the paint barrel 411;

[0044] The scraping mechanism 42 includes a second connecting frame 421, the second connecting frame 421 is equipped with a third push-pull member 422, a scraping bucket 423 is installed at one end of the third push-pull member 422, a paint remaining amount detection device 427 is installed at one end of the second connecting frame 421, and the paint remaining amount detection device 427 is one of an ultrasonic level meter, a radar level meter, and an optical level sensor. The scraping bucket 423 is arranged below one end of the guide bucket 416, and the bottom of the scraping bucket 423 is inclined to one side, and the bottom of the scraping bucket 423 is an open design. A heating and heat preservation device 426 is installed on one side of the scraping bucket 423, and the heating and heat preservation device 426 is used to heat the scraping bucket 423. The heating and heat preservation device 426 is an electric heating tube, and a scraping bucket switch mechanism 424 is installed at the bottom of the scraping bucket 423;

[0045] The glass bead spreading mechanism 5 comprises a material storage box 51, one side of the material storage box 51 is connected with the air source device 14 through a pipe body, the material storage box 51 is installed with a material delivery pipe 52, one end of the material delivery pipe 52 is installed with a cylinder 54, the cylinder 54 is connected with the material storage box 51 through the material delivery pipe 52, one end of the cylinder 54 is installed with a spreader 53, one side of the cylinder 54 is provided with a second positioning mechanism, the second positioning mechanism is used for the position of the spreader 53;

[0046] The navigation and positioning mechanism 6 is used for positioning the robot and dynamically avoiding obstacles.

[0047] Before marking, the cleaning and dust blowing mechanism 2 is started, and the disc sweeping brush 211 of the cleaning mechanism 21 is driven to rotate by the first motor 212 to remove larger particles and garbage on the road. The first motor 212 drives the sweeping brush to achieve multi-speed adjustment for sweeping. The cleaning mechanism 21 is equipped with a pitch control structure to adjust the ground pressure and angle of the disc sweeping brush 211. Specifically, the hinged rod 213 in the cleaning mechanism 21 allows the angle between the connecting frame 215 and the first motor 212 to change. By adjusting the position or angle of the hinged rod 213, the pitching movement of the entire disc sweeping brush 211 can be achieved, that is, the height difference between the front end and the rear end of the cleaning mechanism can be changed. This ability is achieved by the first push-pull member 214, which can be pushed and pulled within a certain range, so that the disc sweeping brush 211 rotates around the hinge point, thereby changing the pitch state of the disc sweeping brush 211. When the cleaning mechanism is pitched, it is actually changing the pressure applied by the disc sweeping brush 211 to the ground. If a greater cleaning force is required, the brush can be made to fit the ground more closely by increasing the pitch angle, thereby increasing the friction between the brush and the ground; conversely, if the cleaning force is to be reduced, the pitch angle is reduced to reduce the pressure of the brush on the ground. Subsequently, the fan 222 of the dust blowing mechanism 22 generates an airflow to blow tiny dust and debris away from the road surface to ensure that the surface of the marking is clean. The fan 222 adopts a high-speed brushless speed-adjustable fan, which can adjust the speed in multiple gears to match the optimal air volume according to real-time needs. After the cleaning is completed, the primer spraying mechanism 3 starts to work, and the pump body 35 extracts the primer in the primer storage box 31, and sprays it evenly on the cleaned road surface through the primer nozzle 33, providing a bonding basis for subsequent marking. A DC brushless integrated motor magnetic drive gear pump is used, and the spraying flow rate can be changed by adjusting the motor speed to match different primer dosage requirements. The hot melt mechanism 41 heats the paint in the paint bucket 411 to a suitable temperature, and the stirring device 413 ensures that the paint is evenly mixed. When the set temperature is reached, the paint flows out through the paint outlet 417 and the guide bucket 416, and is finally applied to the road surface by the scraping bucket 423 of the scraping mechanism 42 to form the required marking line. During this process, the paint remaining amount detection device 427 continuously monitors the remaining amount of paint to ensure the continuity of the operation. Specifically, the temperature of the paint bucket is detected in real time by the temperature sensor, and the electric heating tube is automatically controlled to be turned on or off. The stirring device 413 stirs continuously to avoid uneven heating of the paint and facilitate the discharge of the paint. The liquid level sensor can detect the paint capacity in real time, thereby avoiding overfilling during the process of filling the paint and avoiding insufficient residual material during the operation. In the scraping mechanism 42, a paint remaining amount detection device 427 is installed on the second connecting frame 421 to monitor the remaining amount of paint in real time. This function ensures that the operator can understand the paint inventory in time to avoid construction interruption due to lack of material. The paint flows into the scraping bucket 423 through the guide bucket 416. The bottom of the scraping bucket 423 is designed to be open and tilted to one side, which helps the paint to be smoothly spread on the road surface.When the robot moves, the bottom edge of the scraping bucket 423 is close to the ground. As the robot moves forward, the paint is evenly scraped into lines of predetermined width and thickness. In order to prevent the paint from cooling and solidifying too quickly during the scraping process, the scraping bucket 423 is equipped with a heating and heat preservation device 426, which can continuously provide heat to the scraping bucket to ensure that the paint maintains appropriate fluidity during the entire construction period. A scraping bucket switch mechanism 424 is installed at the bottom of the scraping bucket 423, which can control the opening and closing of the scraping bucket, thereby accurately controlling when to start and stop the outflow of the paint. The third push-pull member 422 can realize the overall lifting and lowering of the scraping device. The third push-pull member 422 is a kind of cylinder, hydraulic cylinder, and electric push rod. It is lowered to touch the ground during operation and raised during non-operation transportation for easy transportation. In order to improve the reflective effect at night, before the new line is cooled, the glass beads in the storage box 51 are transmitted to the spreader 53 via the feed pipe 52 and the cylinder 54, and the glass beads are evenly spread on the line. The storage box 51 uses air source pressurized pushing to increase the fluidity of the glass beads. During the whole process, the navigation and positioning mechanism 6 provides the robot with accurate position information and dynamically adjusts the driving path according to the surrounding environment to avoid obstacles.

[0048] Further, as a preferred embodiment of the present invention but not limited thereto, the first positioning mechanism includes a first connecting frame 34, the outer cover of the first connecting frame 34 is provided with a second sliding frame 37, the second sliding frame 37 is slidably connected to the first connecting frame 34, a first sliding frame 36 is installed on one side of the second sliding frame 37, a first sliding rod 32 is sleeved in the first sliding frame 36, the first sliding rod 32 is slidably connected to the first sliding frame 36, the bottom glue nozzle 33 is installed at one end of the first sliding rod 32, a first positioning pin is sleeved in one side of the first sliding frame 36 and one side of the second sliding frame 37, and the first positioning pin is threadedly connected to one side of the first sliding frame 36 and the second sliding frame 37. The first connecting frame 34 is a basic support member of the entire positioning mechanism, which is fixed on the chassis 11 and provides a mounting platform for subsequent sliding components. The second sliding frame 37 is sleeved on the first connecting frame 34, and a sliding connection is formed between the two, allowing the second sliding frame 37 to slide left and right along the first connecting frame 34 to adjust the position of the bottom glue nozzle 33. The first slide frame 36 is installed on one side of the second slide frame 37, and a guide groove is provided inside to accommodate and guide the sliding of the first slide rod 32. This allows the base glue nozzle 33 to be adjusted in the up and down directions. The first positioning pins are respectively arranged on one side of the first slide frame 36 and the second slide frame 37, and are threadedly connected to the first slide frame 36 and the second slide frame 37. The function of the positioning pin is to lock the sliding component after the position adjustment is completed to prevent it from being displaced during the construction process, thereby ensuring the stability of the nozzle position. The design of the first adjustment mechanism allows the base glue nozzle 33 to be adjusted in multiple dimensions to adapt to different types of construction requirements and complex and changeable road conditions.

[0049] Further, as a preferred embodiment of the present invention but not limited thereto, the stirring device 413 includes a second motor 4131 mounted on the barrel cover 412, the second motor 4131 is a brushless gear reduction motor, the rotor of the second motor 4131 is equipped with a connecting rod 4132, one end of the connecting rod 4132 passes through the barrel cover 412 and is arranged in the paint bucket 411, one end of the connecting rod 4132 is equipped with at least one stirring blade 4133, and the top of the paint bucket 411 is equipped with a filter screen 418. The filter screen 418 is used to filter the filling paint, thereby reducing the risk of particle blockage. The second motor 4131 is mounted on the barrel cover 412, providing the rotational power required to drive the stirring process, and can achieve precise adjustment of the stirring speed and time. The rotor of the motor 4131 is directly connected to one end of the connecting rod 4132. When the motor is started, it will drive the connecting rod 4132 to rotate together. As the connecting rod 4132 rotates, the stirring blade 4133 will stir the paint in the paint bucket 411 to avoid uneven heating of the paint.

[0050] Furthermore, as a preferred embodiment of the present invention but not a limitation, a third connecting frame 425 is installed on one side of the scraping bucket 423, and a first longitudinal rod 4251 is installed on one side of the third connecting frame 425. The first longitudinal rod 4251 is outerly provided with a sleeve 4252, and the sleeve 4252 is slidably connected to the first longitudinal rod 4251. The first longitudinal rod 4251 is fixedly connected to the scraping bucket 423, and a second positioning pin is sleeved on one side of the sleeve 4252, and the second positioning pin is threadedly connected to the sleeve 4252. The third connecting frame 425 can support the scraping bucket 423. The first longitudinal rod 4251 is outerly provided with a sleeve 4252, and the two are slidably connected. The sleeve 4252 can slide freely along the axial direction on the first longitudinal rod 4251, thereby allowing the position of the scraping bucket 423 to be adjusted as needed. When the position of the scraping bucket 423 needs to be fixed, the second positioning pin can be tightened to press it against the first longitudinal rod 4251 to prevent the sleeve 4252 from sliding further; on the contrary, the second positioning pin can be loosened to unlock it, allowing the position to be adjusted again. Through this design and use in conjunction with the third push-pull member 422, the height or angle of the scraping bucket 423 can be adjusted to meet different construction needs.

[0051] Further, as a preferred embodiment of the present invention but not limited thereto, the scraper switch mechanism 424 includes a support rod 42410, one end of the support rod 42410 is hinged with a fourth push-pull member 4241, one end of the fourth push-pull member 4241 is hinged with an L-shaped frame 4242, the L-shaped frame 4242 is hinged with the scraper 423, both ends of the L-shaped frame 4242 are provided with a groove 4243, a slider 4246 is arranged in the groove 4243, and the slider 4246 is provided in the groove 4243. 46 is slidably connected to the trough body 4243, a slide plate 4247 is fixedly connected to one side of the slider 4246, a concave piece 4248 is provided on the top of the slide plate 4247, guide rails 4245 are provided on both sides of the slide plate 4247, the slide plate 4247 is slidably connected to the guide rails 4245, a bevel section is provided on one side of the slider 4247, an L-shaped block 4249 is installed on one side of the concave piece 4248, and a scraper 4244 is installed on one side of the L-shaped block 4249. When the scraping bucket 423 needs to be opened to release the paint, the L-shaped frame 4242 is pushed by the fourth push-pull member 4241, and the L-shaped frame 4242 swings accordingly, prompting the slider 4246 to slide along the trough body 4243, the slider 4246 drives the slider 4247 to slide on the guide rail 4245, and the scraper 4244 moves to the open position, so that the paint can flow out of the scraping bucket 423. When the scraping bucket 423 is opened to release the paint, the scraper 4244 scrapes the paint flat. On the contrary, when the scraping bucket 423 needs to be closed, the fourth push-pull member 4241 retracts to exert a reverse force, thereby driving the L-shaped frame 4242 to reset. At this time, the slider 4246 and the slide plate 4247 also move with it until the scraper 4244 completely covers the opening of the scraping bucket 423 to prevent the paint from flowing out.

[0052] Further, as a preferred embodiment of the present invention but not limiting, a feed port is provided at the top of the storage box 51, and a guide plate 511 is provided at the top of the storage box 51, and one end of the guide plate 511 is inclined toward the feed port of the storage box 51. The design of the guide plate 511 allows the glass beads to slide naturally toward the feed port along the inclined surface, so that the glass beads can smoothly enter the storage box 51, reducing the impact force that may be generated when the glass beads fall directly into the storage box 51, and avoiding waste and pollution caused by splashing or rebounding of materials.

[0053] Further, as a preferred embodiment of the present invention but not limited thereto, the second positioning mechanism includes a second longitudinal rod 59, the cylinder 54 is fixedly connected to the second longitudinal rod 59, the second longitudinal rod 59 is provided with a fourth sliding frame 58, the fourth sliding frame 58 is slidably connected to the second longitudinal rod 59, a third sliding frame 57 is fixedly connected to one side of the fourth sliding frame 58, a fourth connecting frame 56 is provided inside the third sliding frame 57, the fourth connecting frame 56 is slidably connected to the third sliding frame 57, a third positioning pin is provided inside one side of the third sliding frame 57 and a third positioning pin is threadedly connected to the third sliding frame 57 and the fourth sliding frame 58. The second positioning mechanism is used to realize the flexible adjustment and fixation of the spreader 53 in space, specifically, the fourth sliding frame 58 is provided on the second longitudinal rod 59 and forms a sliding connection therewith. This means that the fourth sliding frame 58 can move freely along the axial direction on the second longitudinal rod 59, thereby changing its position relative to the cylinder 54. The third slide frame 57 is fixedly connected to one side of the fourth slide frame 58. The two slide frames work together to provide multi-dimensional adjustment capabilities. The third slide frame 57 is sleeved with a fourth connecting frame 56, and the two are slidably connected, allowing the third slide frame 57 to move along the fourth connecting frame 56, so that the spreader 53 can be adjusted in different directions. The third positioning pins are respectively installed on one side of the third slide frame 57 and the fourth slide frame 58, and these positioning pins are threadedly connected to the corresponding slide frames. When the position needs to be fixed, the third positioning pin can be rotated to press it against the second longitudinal rod 59 or the fourth connecting frame 56 to prevent further sliding; loosening the positioning pin allows the position to be readjusted.

[0054] Further, as a preferred embodiment of the present invention but not limited thereto, the navigation and positioning mechanism 6 includes an RTK antenna 61, an illuminator 62, a distance sensor 63, a 3D laser radar 64, a binocular 3D camera 65, and an ultrasonic radar 66. The RTK antenna 61, the illuminator 62, and the binocular 3D camera 65 are all arranged on one side of the chassis 11, the distance sensor 63 is arranged on the left side of the chassis 11, the 3D laser radar 64 is arranged on the left side of the chassis 11, and the ultrasonic radar 66 is installed on the front, left, and rear sides of the chassis 11. The RTK antenna 61 is arranged on one side of the chassis 11 to receive differential GPS signals and achieve centimeter-level high-precision positioning. The illuminator 62 is also arranged on one side of the chassis 11 to provide sufficient lighting conditions to ensure that the binocular 3D camera 65 and other visual sensors can still work normally in low-light environments. The binocular 3D camera 65 is located on one side of the chassis 11, and is arranged side by side with the RTK antenna 61 and the illuminator 62. It can not only capture a three-dimensional image of the surrounding environment for obstacle avoidance, but also collect operating road condition information in real time to provide support for subsequent data analysis and decision-making. The ranging sensor 63 is installed on the other side of the chassis 11, responsible for measuring the distance from the robot to a fixed reference object (such as a curbstone, tunnel retaining wall), and helps to perform precise marking operations in a coordinate-free environment. The 3D laser radar 64 is set on the left side of the chassis 11 to generate a high-resolution three-dimensional point cloud map of the surrounding environment and achieve millimeter-level precise positioning, which is particularly suitable for tasks that require high accuracy, such as marking and continuation. The ultrasonic radar 66 is installed on the front, left and rear sides of the chassis 11 to form a full-range dynamic obstacle avoidance system. These sensors can detect obstacles around the robot in real time to ensure safe operation.

[0055] Further, as a preferred embodiment of the present invention but not limiting, a control cabinet is installed on the chassis 11, and the control cabinet is used to control the coordinated work of various mechanisms. A battery 15 is installed at the bottom of the chassis 11, and the battery 15 is used to provide power for various mechanisms. A driving wheel of a driving motor is installed at the bottom of the chassis 11, a universal wheel 13 is installed on one side of the bottom of the chassis 11, and a warning light 12 is installed on one side of the chassis 11. The control cabinet is installed on the upper part of the chassis 11. The control cabinet is responsible for coordinating and managing the workflow of various mechanisms, and realizes precise control and automated operation of various components through pre-programmed algorithms and real-time data processing. The battery 15 is installed at the bottom of the chassis 11 to provide a stable power supply for the entire system, ensuring that the robot can continue to work for a long time after a single charge.

[0056] Embodiment 1:

[0057] The present invention provides an intelligent road marking robot, comprising a mobile mechanism 1, the mobile mechanism 1 comprising a chassis 11, on which are mounted a cleaning and dust blowing mechanism 2, a primer spraying mechanism 3, a marking mechanism 4, a glass bead spreading mechanism 5, a navigation and positioning mechanism 6, and an air source device 14, wherein the air source device is an air pump;

[0058] The cleaning and dust blowing mechanism 2 includes a cleaning mechanism 21 and a dust blowing mechanism 22. The cleaning mechanism 21 includes a connecting frame 215. A hinged rod 213 is installed on one side of the connecting frame 215. One end of the hinged rod 213 is hinged to the connecting frame 215. A first motor 212 is installed on the other end of the hinged rod 213. The first motor 212 is a brushless gear reduction motor. A disc sweeping brush 211 is installed on the rotor of the first motor 212. A first push-pull member 214 is hinged to one side of the hinged rod 213. One end of the first push-pull member 214 is hinged to the connecting frame 215. The dust blowing mechanism 22 is arranged on one side of the cleaning mechanism 21. The dust blowing mechanism 22 is used to blow away particles and dust on the road. The dust blowing mechanism 22 includes a fan 222. The fan 222 is fixedly connected to the chassis 11. A baffle 221 is installed on one side of the fan 222. A plurality of through holes are opened on one side of the baffle 221.

[0059] The primer spraying mechanism 3 includes a primer storage box 31, a primer nozzle 33, and a pump body 35. The primer storage box 31 is used to store the primer. The primer storage box 31 is provided with a flip cover 311. The pump body 35 is provided with a liquid inlet and a liquid outlet. The liquid inlet of the pump body 35 is connected to the primer storage box 31 through a pipe body, and the liquid outlet of the pump body 35 is connected to the primer nozzle 33 through a pipe body. The pump body 35 is a gear pump. A first positioning mechanism is installed on one side of the chassis 11. The first positioning mechanism is used to adjust the position of the primer nozzle 33. The first positioning mechanism includes The first connecting frame 34 is provided with a second sliding frame 37 on the outer sleeve of the first connecting frame 34, and the second sliding frame 37 is slidably connected to the first connecting frame 34. A first sliding frame 36 is installed on one side of the second sliding frame 37, and a first sliding rod 32 is sleeved in the first sliding frame 36, and the first sliding rod 32 is slidably connected to the first sliding frame 36. The bottom glue nozzle 33 is installed at one end of the first sliding rod 32. A first positioning pin is sleeved on one side of the first sliding frame 36 and one side of the second sliding frame 37, and the first positioning pin is threadedly connected to one side of the first sliding frame 36 and the second sliding frame 37. The first connecting frame 34 is used as the basic support member of the entire positioning mechanism, which is fixed on the chassis 11 and provides a mounting platform for subsequent sliding components. The second sliding frame 37 is sleeved on the outer sleeve of the first connecting frame 34, and a sliding connection is formed between the two, allowing the second sliding frame 37 to slide left and right along the first connecting frame 34 to adjust the position of the bottom glue nozzle 33. The first sliding frame 36 is installed on one side of the second sliding frame 37, and a guide groove is provided inside to accommodate and guide the sliding of the first sliding rod 32. This allows the base glue spray head 33 to be adjusted in the up and down directions. The first positioning pins are respectively arranged on one side of the first sliding frame 36 and the second sliding frame 37, and are threadedly connected to the first sliding frame 36 and the second sliding frame 37. The function of the positioning pin is to lock the sliding component after the position adjustment is completed to prevent it from shifting during the construction process and ensure the stability of the spray head position. The design of the first adjustment mechanism allows the base glue spray head 33 to be adjusted in multiple dimensions to adapt to different types of construction requirements and complex and changeable road conditions;

[0060] The marking mechanism 4 includes a hot melt mechanism 41 and a scraping mechanism 42. The hot melt mechanism 41 includes a paint bucket 411. The paint bucket 411 is used to store paint. An electric heating device is installed at the bottom of the paint bucket 411. A temperature sensor and a liquid level sensor are arranged in the paint bucket 411. The top of the paint bucket 411 is covered with a bucket cover 412. The bucket cover 412 includes a horizontal plate 4121. Both sides of the horizontal plate 4121 are equipped with flaps 4122. The flaps 4122 are hinged to the horizontal plate 4121. The bucket cover 412 is equipped with a stirring device. The paint bucket 411 is provided with a stirring device 413, and the stirring device 413 is used to stir the paint in the paint bucket 411. The stirring device 413 includes a second motor 4131 installed on the bucket cover 412. The second motor 4131 is a brushless gear reduction motor. The rotor of the second motor 4131 is equipped with a connecting rod 4132. One end of the connecting rod 4132 passes through the bucket cover 412 and is arranged in the paint bucket 411. One end of the connecting rod 4132 is equipped with at least one stirring blade 4133. The top of the paint bucket 411 is equipped with a filter screen 418. The filter screen 418 is used to filter the added paint, thereby reducing the risk of particle blockage. The second motor 4131 is installed on the bucket cover 412, providing the rotational power required to drive the stirring process, and can achieve precise adjustment of the stirring speed and time. The rotor of the motor 4131 is directly connected to one end of the connecting rod 4132. When the motor is started, it drives the connecting rod 4132 to rotate together. As the connecting rod 4132 rotates, the stirring blade 4133 stirs the paint in the paint bucket 411 to prevent uneven heating of the paint. A paint outlet 417 is provided on one side of the paint bucket 411. A guide bucket 416 is installed on the paint outlet 417. A sealing door 415 is provided at one end of the guide bucket 416. The sealing door 415 is slidably connected to the guide bucket 416. A second push-pull member 414 is installed on one side of the sealing door 415. The second push-pull member 414 is fixedly connected to the paint bucket 411.

[0061] The scraping mechanism 42 includes a second connecting frame 421, on which a third push-pull member 422 is installed, a scraping bucket 423 is installed at one end of the third push-pull member 422, a third connecting frame 425 is installed on one side of the scraping bucket 423, a first longitudinal rod 4251 is installed on one side of the third connecting frame 425, a sleeve 4252 is provided on the outer sleeve of the first longitudinal rod 4251, the sleeve 4252 is slidably connected to the first longitudinal rod 4251, the first longitudinal rod 4251 is fixedly connected to the scraping bucket 423, a second positioning pin is provided on one side of the sleeve 4252, and the second positioning pin is threadedly connected to the sleeve 4252. The third connecting frame 425 can support the scraping bucket 423. The first longitudinal rod 4251 is provided with a sleeve 4252, and the two are slidably connected. The sleeve 4252 can slide freely along the axial direction on the first longitudinal rod 4251, so that the position of the scraping bucket 423 can be adjusted as needed. When the position of the scraping bucket 423 needs to be fixed, the second positioning pin can be tightened to press the first longitudinal rod 4251 to prevent the sleeve 4252 from sliding further; on the contrary, the second positioning pin can be loosened to unlock the lock, allowing the position to be adjusted again. By using this design in conjunction with the third push-pull member 422, the height or angle of the scraping bucket 423 can be adjusted to meet different construction requirements. A paint remaining amount detection device 427 is installed at one end of the second connecting frame 421. The paint remaining amount detection device 427 is one of an ultrasonic level meter, a radar level meter, and an optical level sensor. The scraping bucket 423 is arranged below one end of the guide bucket 416. The bottom of the scraping bucket 423 is inclined to one side. The bottom of the scraping bucket 423 is an open design. One side of the scraping bucket 423 is installed There is a heating and heat preservation device 426, which is used to heat the scraping bucket 423. The heating and heat preservation device 426 is an electric heating tube. A scraping bucket switch mechanism 424 is installed at the bottom of the scraping bucket 423. The scraping bucket switch mechanism 424 includes a support rod 42410, one end of the support rod 42410 is hinged with a fourth push-pull member 4241, one end of the fourth push-pull member 4241 is hinged with an L-shaped frame 4242, the L-shaped frame 4242 is hinged with the scraping bucket 423, and both ends of the L-shaped frame 4242 are provided with a groove 4243, a slider 4246 is provided in the groove body 4243, the slider 4246 is slidably connected to the groove body 4243, a slide plate 4247 is fixedly connected to one side of the slider 4246, a concave piece 4248 is provided on the top of the slide plate 4247, guide rails 4245 are provided on both sides of the slide plate 4247, the slide plate 4247 is slidably connected to the guide rails 4245, a bevel section is provided on one side of the slide plate 4247, an L-shaped block 4249 is installed on one side of the concave piece 4248, and a scraper 4244 is installed on one side of the L-shaped block 4249.When the scraping bucket 423 needs to be opened to release the paint, the L-shaped frame 4242 is pushed by the fourth push-pull member 4241, and the L-shaped frame 4242 swings accordingly, prompting the slider 4246 to slide along the groove body 4243, and the slider 4246 drives the slide plate 4247 to slide on the guide rail 4245, and the scraper 4244 moves to the open position, so that the paint can flow out of the scraping bucket 423. When the scraping bucket 423 is opened to release the paint, the scraper 4244 scrapes the paint flat. On the contrary, when the scraping bucket 423 needs to be closed, the fourth push-pull member 4241 retracts to apply a reverse force, thereby driving the L-shaped frame 4242 to reset. At this time, the slider 4246 and the slide plate 4247 also move with it until the scraper 4244 completely covers the opening of the scraping bucket 423 to prevent the paint from flowing out.

[0062] The glass bead spreading mechanism 5 includes a storage box 51, a feeding port is arranged on the top of the storage box 51, a guide plate 511 is arranged on the top of the storage box 51, and one end of the guide plate 511 is inclined toward the feeding port of the storage box 51. The design of the guide plate 511 allows the glass beads to naturally slide toward the feeding port along the inclined surface, so that the glass beads can smoothly enter the storage box 51, reducing the impact force that may be generated when the glass beads fall directly into the storage box 51, and avoiding waste and pollution caused by material splashing or rebounding. One side of the storage box 51 is connected to the air source device 14 through a pipe body, and the storage box 51 is equipped with a conveying pipe 52, and one end of the conveying pipe 52 is equipped with a cylinder 54, and the cylinder 54 is connected to the storage box 51 through the conveying pipe 52, and one end of the cylinder 54 is equipped with a spreader 53, and one side of the cylinder 54 is provided with a second adjustment mechanism, and the second adjustment mechanism is provided with a second adjustment mechanism. The positioning mechanism is used for the position of the spreader 53. The second positioning mechanism includes a second longitudinal rod 59, the barrel 54 is fixedly connected to the second longitudinal rod 59, the second longitudinal rod 59 is provided with a fourth sliding frame 58, the fourth sliding frame 58 is slidably connected to the second longitudinal rod 59, one side of the fourth sliding frame 58 is fixedly connected to the third sliding frame 57, the third sliding frame 57 is provided with a fourth connecting frame 56, the fourth connecting frame 56 is slidably connected to the third sliding frame 57, one side of the third sliding frame 57 and one side of the fourth sliding frame 58 are both provided with a third positioning pin, and the third positioning pin is threadedly connected to the third sliding frame 57 and the fourth sliding frame 58. The second positioning mechanism is used to realize the flexible adjustment and fixation of the spreader 53 in space. Specifically, the fourth sliding frame 58 is provided on the second longitudinal rod 59 and forms a sliding connection therewith. This means that the fourth sliding frame 58 can move freely along the axial direction on the second longitudinal rod 59, thereby changing its position relative to the barrel 54. One side of the fourth sliding frame 58 is fixedly connected to the third sliding frame 57, and the two sliding frames work together to provide multi-dimensional adjustment capabilities. The third sliding frame 57 is sleeved with the fourth connecting frame 56, and the two are slidably connected, allowing the third sliding frame 57 to move along the fourth connecting frame 56, so that the spreader 53 can be adjusted in different directions. The third positioning pins are respectively installed on one side of the third sliding frame 57 and the fourth sliding frame 58, and these positioning pins are threadedly connected with the corresponding sliding frames. When the position needs to be fixed, the third positioning pin can be rotated to press it on the second longitudinal rod 59 or the fourth connecting frame 56 to prevent further sliding; loosening the positioning pin allows the position to be readjusted;

[0063] The navigation and positioning mechanism 6 is used for positioning the robot and dynamically avoiding obstacles. The navigation and positioning mechanism 6 includes an RTK antenna 61, an illuminator 62, a distance sensor 63, a 3D laser radar 64, a binocular 3D camera 65, and an ultrasonic radar 66. The RTK antenna 61, the illuminator 62, and the binocular 3D camera 65 are all arranged on one side of the chassis 11, the distance sensor 63 is arranged on the other side of the chassis 11, the 3D laser radar 64 is arranged on the left side of the chassis 11, and the ultrasonic radar 66 is installed on the front, left, and rear sides of the chassis 11. The RTK antenna 61 is arranged on one side of the chassis 11 to receive differential GPS signals and achieve centimeter-level high-precision positioning. The illuminator 62 is also arranged on one side of the chassis 11 to provide sufficient lighting conditions to ensure that the binocular 3D camera 65 and other visual sensors can still work normally in low-light environments. The binocular 3D camera 65 is located on one side of the chassis 11, and is arranged side by side with the RTK antenna 61 and the illuminator 62. It can not only capture three-dimensional images of the surrounding environment for obstacle avoidance, but also collect working road condition information in real time to provide support for subsequent data analysis and decision-making. The ranging sensor 63 is installed on the other side of the chassis 11, responsible for measuring the distance from the robot to fixed reference objects (such as curbs, tunnel retaining walls), to help perform precise marking operations in a coordinate-free environment. The 3D laser radar 64 is set on the left side of the chassis 11 to generate a high-resolution three-dimensional point cloud map of the surrounding environment and achieve millimeter-level precise positioning, which is particularly suitable for tasks that require high accuracy, such as line continuation. The ultrasonic radar 66 is installed on the front, left and rear sides of the chassis 11 to form an all-round dynamic obstacle avoidance system. These sensors can detect obstacles around the robot in real time to ensure safe operation;

[0064] A control cabinet is installed on the chassis 11. The control cabinet is used to control the coordinated work of various mechanisms. A battery 15 is installed at the bottom of the chassis 11. The battery 15 is used to provide power for various mechanisms. A driving wheel of a driving motor is installed at the bottom of the chassis 11. A universal wheel 13 is installed on one side of the bottom of the chassis 11. A warning light 12 is installed on one side of the chassis 11. The control cabinet is installed on the upper part of the chassis 11. The control cabinet is responsible for coordinating and managing the workflow of various mechanisms. Through pre-programmed algorithms and real-time data processing, it realizes precise control and automated operation of various components. The battery 15 is installed at the bottom of the chassis 11 to provide a stable power supply for the entire system, ensuring that the robot can continue to work for a long time after a single charge. The driving wheel of the driving motor is installed at the bottom of the chassis 11. These rollers are driven by the motor and are responsible for the movement and steering of the robot. The universal wheel 13 is installed on one side of the chassis 11 to assist the roller in steering operations. The warning light 12 is installed at the back of the chassis 11 to remind people around to pay attention to the existence and movement status of the robot, especially in low light or noisy environments.

[0065] Before marking, the cleaning and dust blowing mechanism 2 is started, and the disc sweeping brush 211 of the cleaning mechanism 21 is driven to rotate by the first motor 212 to remove larger particles and garbage on the road. The first motor 212 drives the sweeping brush to achieve multi-speed adjustment for sweeping. The cleaning mechanism 21 is equipped with a pitch control structure to adjust the ground pressure and angle of the disc sweeping brush 211. Specifically, the hinged rod 213 in the cleaning mechanism 21 allows the angle between the connecting frame 215 and the first motor 212 to change. By adjusting the position or angle of the hinged rod 213, the pitching movement of the entire disc sweeping brush 211 can be achieved, that is, the height difference between the front end and the rear end of the cleaning mechanism can be changed. This ability is achieved by the first push-pull member 214, which can be pushed and pulled within a certain range, so that the disc sweeping brush 211 rotates around the hinge point, thereby changing the pitch state of the disc sweeping brush 211. When the cleaning mechanism is pitched, it is actually changing the pressure applied by the disc sweeping brush 211 to the ground. If a greater cleaning force is required, the brush can be made to fit the ground more closely by increasing the pitch angle, thereby increasing the friction between the brush and the ground; conversely, if the cleaning force is to be reduced, the pitch angle is reduced to reduce the pressure of the brush on the ground. Subsequently, the fan 222 of the dust blowing mechanism 22 generates an airflow to blow tiny dust and debris away from the road surface to ensure that the surface of the marking is clean. The fan 222 adopts a high-speed brushless speed-adjustable fan, which can adjust the speed in multiple gears to match the optimal air volume according to real-time needs. After the cleaning is completed, the primer spraying mechanism 3 starts to work, and the pump body 35 extracts the primer in the primer storage box 31, and sprays it evenly on the cleaned road surface through the primer nozzle 33, providing a bonding basis for subsequent marking. A DC brushless integrated motor magnetic drive gear pump is used, and the spraying flow rate can be changed by adjusting the motor speed to match different primer dosage requirements. The hot melt mechanism 41 heats the paint in the paint bucket 411 to a suitable temperature, and the stirring device 413 ensures that the paint is evenly mixed. When the set temperature is reached, the paint flows out through the paint outlet 417 and the guide bucket 416, and is finally applied to the road surface by the scraping bucket 423 of the scraping mechanism 42 to form the required marking line. During this process, the paint remaining amount detection device 427 continuously monitors the remaining amount of paint to ensure the continuity of the operation. Specifically, the temperature of the paint bucket is detected in real time by the temperature sensor, and the electric heating tube is automatically controlled to be turned on or off. The stirring device 413 stirs continuously to avoid uneven heating of the paint and facilitate the discharge of the paint. The liquid level sensor can detect the paint capacity in real time, thereby avoiding overfilling during the process of filling the paint and avoiding insufficient residual material during the operation. In the scraping mechanism 42, a paint remaining amount detection device 427 is installed on the second connecting frame 421 to monitor the remaining amount of paint in real time. This function ensures that the operator can understand the paint inventory in time to avoid construction interruption due to lack of material. The paint flows into the scraping bucket 423 through the guide bucket 416. The bottom of the scraping bucket 423 is designed to be open and tilted to one side, which helps the paint to be smoothly spread on the road surface.When the robot moves, the bottom edge of the scraping bucket 423 is close to the ground. As the robot moves forward, the paint is evenly scraped into lines of predetermined width and thickness. In order to prevent the paint from cooling and solidifying too quickly during the scraping process, the scraping bucket 423 is equipped with a heating and heat preservation device 426, which can continuously provide heat to the scraping bucket to ensure that the paint maintains appropriate fluidity during the entire construction period. A scraping bucket switch mechanism 424 is installed at the bottom of the scraping bucket 423, which can control the opening and closing of the scraping bucket, thereby accurately controlling when to start and stop the outflow of the paint. The third push-pull member 422 can realize the overall lifting and lowering of the scraping device. The third push-pull member 422 is a kind of cylinder, hydraulic cylinder, and electric push rod. It is lowered to touch the ground during operation and raised during non-operation transportation for easy transportation. In order to improve the reflective effect at night, before the new line is cooled, the glass beads in the storage box 51 are transmitted to the spreader 53 via the feed pipe 52 and the cylinder 54, and the glass beads are evenly spread on the line. The storage box 51 uses air source pressurized pushing to increase the fluidity of the glass beads. During the whole process, the navigation and positioning mechanism 6 provides the robot with accurate position information and dynamically adjusts the driving path according to the surrounding environment to avoid obstacles.

[0066] Specifically, the working principle of the present invention is as follows:

[0067] The intelligent road marking robot achieves flexible movement through the motor-driven rollers and universal wheels 13 installed at the bottom of the chassis 11, ensuring that the robot can travel stably under different terrain conditions. The navigation and positioning mechanism 6 integrated on the chassis 11 includes an RTK antenna 61, a lighting lamp 62, a distance sensor 63, a 3D laser radar 64, a binocular 3D camera 65 and an ultrasonic radar 66, which work together to achieve centimeter-level high-precision positioning, environmental perception and dynamic obstacle avoidance. The RTK antenna 61 provides a differential GPS signal to ensure that the robot can accurately navigate over a large range; the binocular 3D camera 65 captures three-dimensional images in real time, assists in obstacle avoidance and collects operating road condition information; the 3D laser radar 64 generates a high-resolution point cloud map to meet the requirements of millimeter-level precise positioning; the distance sensor 63 and the ultrasonic radar 66 are used for marking operations and all-round obstacle detection in a coordinate-free environment, respectively.

[0068] After reaching the designated position, the cleaning and dust blowing mechanism 2 is first started, using the disc brush 211 to remove debris on the road, and the fan 222 to blow away particles, creating a clean working surface for subsequent processes. Then, the primer spraying mechanism 3 starts working: the primer in the primer storage box 31 is transported to the primer nozzle 33 via the pump body 35. Under the adjustment of the first positioning mechanism, the primer nozzle 33 can accurately adjust the position to ensure that the primer is evenly applied to the area to be marked. This process not only enhances the adhesion between the paint and the road surface, but also lays the foundation for the subsequent marking steps.

[0069] After the primer spraying is completed, the marking mechanism 4 takes over the operation. The paint bucket 411 in the hot melt mechanism 41 heats the paint to a suitable temperature, and the stirring device 413 ensures that the paint is evenly mixed. When marking is required, the paint flows into the scraping bucket 423, and the scraper 4244 scrapes the outflowing paint to ensure that the lines are smooth and beautiful. At the same time, the glass bead spreading mechanism 5 releases glass beads from the storage box 51, and spreads them evenly on the surface of the line through the spreader 53 to improve the night reflective performance. During the whole process, the control cabinet centrally manages the actions of each mechanism to ensure that all steps are connected in an orderly manner, and ultimately achieves efficient and accurate road marking operations.

[0070] In summary, the present invention solves the problems of high reliance on manual labor, unstable quality, and limited construction efficiency and flexibility in the existing road marking process.

[0071] It should be understood that the terms "first", "second", etc. are used in the present invention to describe various information, but such information should not be limited to these terms, and these terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, the "first" information may also be referred to as the "second" information, and similarly, the "second" information may also be referred to as the "first" information. In addition, the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0072] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A road intelligent marking robot, comprising a moving mechanism (1), characterized in that: The mobile mechanism (1) comprises a chassis (11), on which a cleaning and dust blowing mechanism (2), a primer spraying mechanism 3, a marking mechanism (4), a glass bead spreading mechanism (5), a navigation and positioning mechanism (6), and an air source device (14) are installed; The cleaning and dust blowing mechanism (2) comprises a cleaning mechanism (21) and a dust blowing mechanism (22); the cleaning mechanism (21) comprises a connecting frame (215); a hinged rod (213) is installed on one side of the connecting frame (215); one end of the hinged rod (213) is hinged to the connecting frame (215); a first motor (212) is installed on the other end of the hinged rod (213); a disc-type sweeping brush (211) is installed on the rotor of the first motor (212); a first push-pull member (214) is hinged to one side of the hinged rod (213); one end of the first push-pull member (214) is hinged to the connecting frame (215); the dust blowing mechanism (22) is arranged on one side of the cleaning mechanism (21); and the dust blowing mechanism (22) is used to blow away particles and dust on the road; The primer spraying mechanism 3 comprises a primer storage box (31), a primer spray head (33), and a pump body (35); the primer storage box (31) is used to store the primer; the primer storage box (31) is provided with a flip cover (311); the pump body (35) is provided with a liquid inlet and a liquid outlet; the liquid inlet of the pump body (35) is connected to the primer storage box (31) through a pipe body; the liquid outlet of the pump body (35) is connected to the primer spray head (33) through a pipe body; a first positioning mechanism is installed on one side of the chassis (11); the first positioning mechanism is used to adjust the position of the primer spray head (33); The marking mechanism (4) comprises a hot melt mechanism (41) and a scraping mechanism (42); the hot melt mechanism (41) comprises a paint bucket (411); the paint bucket (411) is used to store paint; an electric heating device is installed at the bottom of the paint bucket (411); a bucket cover (412) is installed at the top of the paint bucket (411); a stirring device (413) is installed on the bucket cover (412); the stirring device (413) is used to stir the paint in the paint bucket (411) The paint is stirred, a paint outlet (417) is provided on one side of the paint bucket (411), a guide bucket (416) is installed on the paint outlet (417), a sealing door (415) is provided on one end of the guide bucket (416), the sealing door (415) is slidably connected to the guide bucket (416), a second push-pull member (414) is installed on one side of the sealing door (415), and the second push-pull member (414) is fixedly connected to the paint bucket (411); The scraping mechanism (42) comprises a second connecting frame (421), the second connecting frame (421) is equipped with a third push-pull member (422), one end of the third push-pull member (422) is equipped with a scraping bucket (423), one side of the scraping bucket (423) is equipped with a heating and heat preservation device (426), the heating and heat preservation device (426) is used to heat the scraping bucket (423), and the bottom of the scraping bucket (423) is equipped with a scraping bucket switch mechanism (424); The glass bead spreading mechanism (5) comprises a material storage box (51), one side of the material storage box (51) is connected to the air source device (14) through a pipe body, the material storage box (51) is installed with a material delivery pipe (52), one end of the material delivery pipe (52) is installed with a cylinder (54), the cylinder (54) is connected to the material storage box (51) through the material delivery pipe (52), one end of the cylinder (54) is installed with a spreader (53), one side of the cylinder (54) is provided with a second positioning mechanism, the second positioning mechanism is used for the position of the spreader (53); The navigation and positioning mechanism (6) is used for positioning the robot and dynamically avoiding obstacles.

2. The intelligent road marking robot according to claim 1, characterized in that: The first positioning mechanism comprises a first connecting frame (34), the outer shell of the first connecting frame (34) is provided with a second sliding frame (37), the second sliding frame (37) is slidably connected to the first connecting frame (34), a first sliding frame (36) is installed on one side of the second sliding frame (37), a first sliding rod (32) is sleeved in the first sliding frame (36), the first sliding rod (32) is slidably connected to the first sliding frame (36), the base glue nozzle (33) is installed at one end of the first sliding rod (32), one side of the first sliding frame (36) and one side of the second sliding frame (37) are sleeved with a first positioning pin, the first positioning pin is threadedly connected to one side of the first sliding frame (36) and the second sliding frame (37).

3. The intelligent road marking robot according to claim 1, characterized in that: The stirring device (413) comprises a second motor (4131) mounted on the barrel cover (412); a connecting rod (4132) is mounted on the rotor of the second motor (4131); one end of the connecting rod (4132) passes through the barrel cover (412) and is arranged in the paint barrel (411); at least one stirring blade (4133) is mounted on one end of the connecting rod (4132); and a filter screen (418) is mounted on the top of the paint barrel (411).

4. The intelligent road marking robot according to claim 1, characterized in that: A third connecting frame (425) is installed on one side of the scraping bucket (423), and a first longitudinal rod (4251) is installed on one side of the third connecting frame (425). The first longitudinal rod (4251) is provided with a sleeve (4252) on its outer sleeve, and the sleeve (4252) is slidably connected to the first longitudinal rod (4251). The first longitudinal rod (4251) is fixedly connected to the scraping bucket (423), and a second positioning pin is sleeved on one side of the sleeve (4252), and the second positioning pin is threadedly connected to the sleeve (4252).

5. The intelligent road marking robot according to claim 1, characterized in that: The scraper bucket switch mechanism (424) comprises a support rod (42410), one end of the support rod (42410) is hinged with a fourth push-pull member (4241), one end of the fourth push-pull member (4241) is hinged with an L-shaped frame (4242), the L-shaped frame (4242) is hinged with the scraper bucket (423), both ends of the L-shaped frame (4242) are provided with a groove body (4243), a slider (4246) is arranged in the groove body (4243), and the slider (4246) is connected to the groove body (4243). ) is slidably connected, one side of the slider (4246) is fixedly connected with a slide plate (4247), a concave piece (4248) is provided on the top of the slide plate (4247), guide rails (4245) are provided on both sides of the slide plate (4247), the slide plate (4247) is slidably connected to the guide rails (4245), one side of the slide plate (4247) is provided with a bevel section, one side of the concave piece (4248) is installed with an L-shaped block (4249), and one side of the L-shaped block (4249) is installed with a scraper (4244).

6. The intelligent road marking robot according to claim 1, characterized in that: A feed opening is arranged at the top of the material storage box (51), and a guide plate (511) is arranged at the top of the material storage box (51), with one end of the guide plate (511) being inclined toward the feed opening of the material storage box (51).

7. The intelligent road marking robot according to claim 1, characterized in that: A pneumatic valve is installed in the cylinder (54), and an air pipe joint (55) is provided at the other end of the cylinder (54). The air pipe joint (55) is connected to the air source device (14) through a pipe body.

8. The intelligent road marking robot according to claim 1, characterized in that: The second positioning mechanism comprises a second longitudinal rod (59), the cylinder (54) is fixedly connected to the second longitudinal rod (59), a fourth sliding frame (58) is arranged outside the second longitudinal rod (59), the fourth sliding frame (58) is slidably connected to the second longitudinal rod (59), a third sliding frame (57) is fixedly connected to one side of the fourth sliding frame (58), a fourth connecting frame (56) is arranged inside the third sliding frame (57), the fourth connecting frame (56) is slidably connected to the third sliding frame (57), a third positioning pin is arranged inside one side of the third sliding frame (57) and one side of the fourth sliding frame (58), and the third positioning pin is threadedly connected to the third sliding frame (57) and the fourth sliding frame (58).

9. The intelligent road marking robot according to claim 1, characterized in that: The navigation and positioning mechanism (6) comprises an RTK antenna (61), an illumination light (62), a distance measuring sensor (63), a 3D laser radar device (64), a binocular 3D camera (65), and an ultrasonic radar (66); the RTK antenna (61), the illumination light (62), and the binocular 3D camera (65) are all arranged on one side of the chassis (11); the distance measuring sensor (63) is arranged on the left side of the chassis (11); the 3D laser radar device (64) is arranged on the left side of the chassis (11); and the ultrasonic radar (66) is installed on the front, left, and rear sides of the chassis (11).

10. The intelligent road marking robot according to claim 1, characterized in that: A control cabinet is installed on the chassis (11), and the control cabinet is used to control the coordinated operation of various mechanisms. A battery (15) is installed at the bottom of the chassis (11), and the battery (15) is used to provide power for various mechanisms. A driving wheel of a driving motor is installed at the bottom of the chassis (11). A universal wheel (13) is installed on one side of the bottom of the chassis (11). A warning light (12) is installed on one side of the chassis (11).

Images