Walking control method, scribing robot and scribing system

Abstract

The invention provides a walking control method, a scribing robot and a scribing system. The walking control method comprises the steps that laser is received through a receiver; the scribing robot is controlled to move towards the termination position, so that the scribing robot moves in the direction parallel to the laser and passes through the signal shielding area; and when the marking robot moves and passes through the signal shielding area, the marking robot is controlled to carry out marking. The laser is emitted from the ending position to the starting position through the emitter, so that the scribing robot can linearly move from the starting position to the ending position and complete scribing under the assistance of the laser, and it is ensured that the scribing robot can straightly conduct scribing along the shielding path; the problem that satellite navigation is prone to failure in a signal shielding area and cannot accurately walk in a straight line is solved, the scribing accuracy of the scribing robot is improved, and dependence on manual operation and system cost are reduced.

Description

Technical Field

[0001] The present application relates to the technical field of line marking robots, and in particular to a walking control method, a line marking robot and a line marking system. Background Art

[0002] A road marking robot is an autonomous robot equipped with a marking device. It automatically follows a pre-set path and uses the marking device to mark the road surface, achieving highly efficient road marking. However, the robot relies on satellite positioning signals during its autonomous movement. When the robot encounters areas with poor satellite signal quality, such as tree canopy, it can easily develop an S-shaped path, which is not intended to be a straight path, resulting in significant marking errors. Summary of the Invention

[0003] In view of the above, it is necessary to provide a walking control method, a marking robot and a marking system to improve the marking accuracy.

[0004] The first aspect of the present application provides a walking control method, which is applied to a marking robot, wherein the marking robot is used to work in cooperation with a transmitter, and the marking robot is provided with a receiver, and the transmitter is used to be placed at an end position and emit a laser in a specified direction; when the marking robot moves to a starting position, the laser is received by the receiver; wherein the starting position and the end position are spaced apart, and the line between the starting position and the end position is used to indicate an occlusion path, and the occlusion path is a planned path that is at least partially located in a signal occlusion area; when the receiver receives the laser, the marking robot is controlled to move toward the end position, so that the marking robot moves in a direction parallel to the laser and passes through the signal occlusion area; when the marking robot moves through the signal occlusion area, the marking robot is controlled to mark.

[0005] In some embodiments, the obstructed path is divided into a semi-obstructed path and a fully obstructed path, the end position and the starting position of the semi-obstructed path are both located outside the signal obstruction area, and the end position and the starting position of the fully obstructed path are both located inside the signal obstruction area; controlling the marking robot to mark during movement includes: controlling the marking robot to mark in a corresponding marking mode, wherein, when the obstructed path is a semi-obstructed path, the marking mode of the marking robot is an automatic marking mode; when the obstructed path is a fully obstructed path, the marking mode of the marking robot is a manual marking mode.

[0006] In some embodiments, controlling the marking robot to mark in an automatic marking mode includes: obtaining the real-time position of the marking robot; and controlling the marking robot to start or stop marking according to the real-time position on the semi-obstructed path.

[0007] In some embodiments, controlling the marking robot to mark in a manual marking mode includes: obtaining a remote switch instruction from an interactive terminal; and controlling the marking robot to start or stop marking according to the remote switch instruction.

[0008] In some embodiments, before the line marking robot moves to the starting position, the walking control method also includes: controlling the line marking robot to move to the starting position in a corresponding driving mode, wherein, when the obscured path is a semi-obscured path, the driving mode of the line marking robot is an automatic driving mode; when the obscured path is a fully obscured path, the driving mode of the line marking robot is a manual driving mode.

[0009] In some embodiments, the marking robot is provided with a marking device and a plurality of drive wheels spaced apart along a transverse direction, and the distance from the marking device to the geometric center of the plurality of drive wheels along the transverse direction is defined as an offset distance; controlling the marking robot to move toward the end position includes: determining a compensation parameter corresponding to the offset distance; obtaining a laser deviation of a receiver; obtaining a target speed of each drive wheel according to the laser deviation and the compensation parameter, and outputting a corresponding speed control instruction.

[0010] In some embodiments, the walking control method further includes: when the marking robot moves to the starting position, adjusting the orientation of the marking robot until the receiver receives the laser.

[0011] According to a second aspect of the present application, there is provided a marking robot for cooperating with a transmitter, the transmitter being arranged at an end position and emitting a laser in a specified direction; the marking robot comprising a robot body, a marking device and a receiver, the robot body having a control device, the control device comprising: a data acquisition module for receiving the laser through a receiver when the marking robot moves to a starting position; wherein the starting position and the end position are spaced apart, the line between the starting position and the end position is used to indicate an occlusion path, and the occlusion path is at least partially located in a signal occlusion area; a walking control module for controlling the marking robot to move toward the end position when the receiver receives the laser, so that the marking robot moves in a direction parallel to the laser and passes through the signal occlusion area; and a marking control module for controlling the marking robot to mark when the marking robot moves through the signal occlusion area.

[0012] In some embodiments, the marking device and the receiver are disposed on the same side of the robot body.

[0013] The third aspect of the present application provides a marking system, comprising a transmitter and a marking robot as provided in the second aspect, wherein the transmitter is used to be placed at a terminal position and emit a laser in a specified direction, and the marking robot is used to move along the laser and perform marking.

[0014] The walking control method, marking robot and marking system provided in the present application, when the marking robot needs to mark along an obstructed path, emits a laser from the end position to the starting position through a transmitter, so that the marking robot can move in a straight line from the starting position to the end position and complete the marking with the assistance of the laser, ensuring that the marking robot can mark straightly along the obstructed path, solving the problem that satellite navigation is prone to failure in signal obstruction areas and cannot move in a precise straight line, improving the marking accuracy of the marking robot, and reducing dependence on manual operation and system costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the state of the transmitter provided in this application emitting laser to the marking robot.

[0016] Figure 2 This is a schematic diagram of the structure of the marking robot provided in this application.

[0017] Figure 3 Schematic diagram of the path distribution of the line marking scenario provided in this application.

[0018] Figure 4 This is a flow chart of the walking control method provided in this application.

[0019] Figure 5 This is a schematic diagram of the marking robot provided in this application moving to the starting position and walking along a semi-obstructed path.

[0020] Figure 6 This is a schematic diagram of the marking robot provided in this application moving to the starting position and walking along a fully blocked path.

[0021] Figure 7 This is a schematic diagram of the structure of the control device provided in this application.

[0022] Figure 8 This is a schematic diagram of the structure of the marking system provided in this application.

[0023] Description of main component symbols 100. Marking robot; 10. Robot body; 20. Marking device; 30. Receiver; 40. Driving wheel; 50. Control device; 51. Data acquisition module; 52. Travel control module; 53. Marking control module; 200. Transmitter. DETAILED DESCRIPTION

[0024] In the description of the embodiments of this application, words such as "exemplary," "or," and "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "or," and "for example" is intended to present the relevant concepts in a concrete manner.

[0025] The terms "first" and "second" in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or precedence. The methods disclosed in the embodiments of this application or the methods shown in the flowcharts include one or more steps for implementing the methods. The order of execution of multiple steps may be interchangeable, and some steps may be deleted without departing from the scope of the claims.

[0026] In the related art, automatic line marking robots are usually equipped with a positioning and navigation module. The line marking robot obtains its own real-time position through the positioning and navigation module, walks along a pre-planned route according to the real-time position, and marks the line while walking to achieve automatic line marking. However, this type of line marking robot relies on satellite signals for positioning. When the line marking robot moves to an area with poor satellite signals, such as tree canopy obstruction, the line marking robot cannot accurately walk along the pre-planned route. In the automatic line marking scenario, there are many occasions where the line marking robot is required to draw a straight line. If the line marking robot moves to an area with poor satellite signals, the line marking robot that originally needs to take a straight path is likely to take an S-shaped curved path, causing the line marking robot to mark a straight line into a curve, resulting in a large line marking error.

[0027] There is also a semi-automatic hand-push road marking machine in the related art. The automatic hand-push road marking machine can be manually driven and marked by the user, but requires manual pushing throughout the process, which has the problems of long operation time and high labor cost.

[0028] There is also a related technology called a line-marking robot equipped with a laser radar. The line-marking robot can use the laser radar to scan the surrounding environment to build a navigation map and walk according to the contents of the map. However, there are problems with high hardware and development costs and complex system deployment.

[0029] To this end, the embodiments of the present application provide a walking control method, a marking robot and a marking system, which can utilize laser-assisted marking robots to achieve precise straight-line walking, thereby achieving the technical effect of improving marking accuracy and reducing labor and equipment costs.

[0030] Figure 1 This is a schematic diagram of the state of the transmitter provided in this application emitting laser to the marking robot. Figure 2 This is a schematic diagram of the structure of the marking robot provided in this application.

[0031] like Figure 1 and Figure 2 As shown, the marking system includes a marking robot 100 and a transmitter 200, wherein the transmitter 200 is a laser transmitter, which is placed at a specific position and emits laser in a specified direction. The marking robot 100 is used to move along the laser and perform marking.

[0032] In this embodiment, the marking robot 100 includes a robot body 10, a marking device 20, and a receiver 30. Both the marking device 20 and the receiver 30 are mounted on the robot body 10. The robot body 10 is used to carry the marking device 20 and the receiver 30 for movement. The marking device 20 is used to perform marking functions. The receiver 30 is a laser receiver that receives laser light emitted by the transmitter 200. The marking device 20 and the receiver 30 are mounted on the same side of the robot body 10.

[0033] Exemplarily, the marking device 20 comprises a spray nozzle, a pressure pump, a paint tank, and an on / off control valve. The paint tank is used to store marking paint, which can be road marking paint, farmland marking fluid, or the like. The spray nozzle is used to spray the paint onto the ground with a precise width and thickness. The on / off control valve receives control commands from an external control device and switches between on and off states. When the on / off control valve is open, the pressure pump pushes the paint in the paint tank toward the spray nozzle, causing it to spray. When the on / off control valve is closed, the spray nozzle stops spraying paint.

[0034] Exemplarily, the receiver 30 includes multiple units arranged in an array. The multiple receiving units can be divided into a central receiving unit and offset receiving units distributed on either side of the central receiving unit. When the transmitter 200 transmits a laser beam to the receiver 30, the laser beam may illuminate the central receiving unit and / or offset receiving units of the receiver 30. Based on the difference in signal strength between the central receiving unit and the offset receiving units, the laser beam offset can be calculated. The movement direction of the marking robot 100 is then corrected based on the laser beam offset, allowing the marking robot 100 to move along the laser line.

[0035] Exemplarily, the robot body 10 is provided with a plurality of drive wheels 40 and drive motors. The plurality of drive wheels 40 are spaced apart in a transverse direction perpendicular to the forward and backward directions of the marking robot 100. The plurality of drive motors are provided, each independently controlling the rotation of a corresponding drive wheel 40 to enable differential steering and straight-line travel between the different drive wheels 40. In this embodiment, there are two drive wheels 40, symmetrically distributed on the left and right sides of the robot body 10. The drive wheels 40 and drive motors can utilize integrated hub motors.

[0036] Exemplarily, the robot body 10 includes a control device 50, a navigation and positioning device, a communication device, and an energy device. The control device 50 is responsible for managing data analysis and control distribution for devices such as the receiver 30, the marking device 20, the navigation and positioning device, and the drive motor. The navigation and positioning device is equipped with an RTK (Real-time Kinematic) positioning antenna to provide global centimeter-level positioning. The communication module is used to establish remote communication with an interactive terminal, which can be a remote control device such as a remote controller, mobile phone, or computer. The energy device includes a battery pack and a battery management module, and is used to provide power to devices such as the receiver 30, the marking device 20, the control device 50, the navigation and positioning device, the communication device, and the drive motor.

[0037] The walking modes of the marking robot 100 provided in this application include automatic driving mode, manual driving mode and laser assisted mode. In automatic driving mode, the marking robot 100 obtains its own real-time position through RTK navigation positioning and moves along the planned path according to the real-time position. In manual driving mode, the user sends a remote control instruction to the marking robot 100 through the interactive terminal. The marking robot 100 obtains the remote control instruction and moves forward, backward or turns according to the remote control instruction. In laser assisted mode, the marking robot 100 receives the laser from the transmitter 200 through the receiver 30 and moves toward the transmitter 200, so that the marking robot 100 walks a straight path along the laser.

[0038] The marking robot 100 provided in this application has two marking modes: automatic marking mode and manual marking mode. In automatic marking mode, the marking robot 100 uses RTK navigation to obtain its real-time position. When the real-time position is on the path to be sprayed, it automatically sprays paint to mark the line. In manual marking mode, the user sends a remote switch command to the marking robot 100 through the interactive terminal. The marking robot 100 receives the remote switch command and starts or stops spraying paint according to the remote switch command.

[0039] In manual driving mode and manual marking mode, the user can determine whether the marking robot 100 has reached its end position or starting position through visual observation, image feedback, and position warning. Specifically, visual observation refers to the user directly observing the current position of the marking robot 100. Image feedback involves cameras positioned around the marking robot 100, which capture images of the environment surrounding the robot 100 and transmit them to an interactive terminal. The user then determines the current position of the marking robot 100 through the environmental images displayed on the interactive terminal. Position warning involves the placement of a warning device at the end position or starting position. The warning device comprises a sensor and an alarm. The sensor may be a distance sensor, radar, or the like, and the alarm may be an indicator light, an audio device, or the like. When the marking robot 100 reaches the end position or starting position, the sensor detects its approach, and the alarm issues an alarm through light, sound, or other means, promptly notifying the user that the marking robot 100 has arrived at the corresponding position.

[0040] In this embodiment, the marking system is pre-configured with a planned site map, which is digitally drawn in an RTK coordinate system. The site map includes a planned path and a graphic area. The planned path includes multiple path segments, with clearly defined start and end points, turning points, and path shape (straight or curved). The transmitter 200 is positioned on the planned straight path. The planned path can be pre-planned by the user according to the desired marking shape. The marking robot 100 simply moves along the planned path and marks the line to achieve the desired marking shape.

[0041] The graphic area is the location area in the site map that will affect the automatic walking of the marking robot 100, and the graphic area and the planned path may overlap. The graphic area includes a signal blocking area, an obstacle area, etc. Among them, the signal blocking area is an area where the satellite positioning signal is weak and overlaps with the straight line planned path. For example, the signal blocking area may be a tree canopy blocking area or an indoor area that the marking robot 100 walks in a straight line. The signal blocking area may cover the middle of a certain straight line planned path, or it may cover the entire straight line planned path. The obstacle area may be an area where there are obstacles such as walls and fences that the marking robot 100 needs to avoid when walking.

[0042] Define multiple planned paths as automatic paths and blocked paths. An automatic path can be a straight or curved path, and all positions on the automatic path do not pass through signal blocked areas. A blocked path is a straight path that at least partially passes through signal blocked areas.

[0043] Specifically, the obstructed path can be divided into a semi-obstructed path and a fully obstructed path. The middle portion of the semi-obstructed path passes through the signal obstruction area. That is, the starting point and end point of the semi-obstructed path do not pass through the signal obstruction area, and the part of the semi-obstructed path between the starting point and the end point passes through the signal obstruction area. All positions on the fully obstructed path are located within the signal obstruction area.

[0044] It is worth noting that the starting point and end point mentioned in this application are the two endpoints of the planned path. The specific locations of the starting point and end point can be defined according to the direction of travel of the marking robot 100 during walking. On the other hand, whether the starting point and end point mentioned in this application are located in / pass through the signal obstruction area refers to whether the distance between the starting point and end point and the signal obstruction area is less than a preset distance threshold. The specific value of the distance threshold can be set according to the error of actual navigation positioning.

[0045] The marking robot 100 walks and marks along the automatic path in the following manner: the marking robot 100 moves along the automatic path in the automatic driving mode, and marks along the automatic path in the automatic marking mode during the movement.

[0046] The end point of the obscured path is defined as the end position, and the starting point is defined as the start position. The marking robot 100 moves and marks along the semi-obscured path as follows: the transmitter 200 is pre-positioned at the end position of the semi-obscured path. The marking robot 100 moves to the start position of the semi-obscured path in autonomous driving mode, and the transmitter 200 emits a laser toward the marking robot 100. The laser passes through the signal-obstructed area and illuminates the marking robot 100. The marking robot 100 then moves in a straight line along the laser in laser-assisted mode until it reaches the end position. During this movement, the marking robot 100 marks along the semi-obscured path in automatic marking mode.

[0047] The marking robot 100 moves and marks along a fully obstructed path as follows: The transmitter 200 is pre-positioned at the end of the fully obstructed path. The robot 100 moves to the starting position of the fully obstructed path in manual driving mode, and the transmitter 200 emits a laser toward the robot 100. The laser illuminates the robot 100 within the signal obstruction area. The robot 100 then moves in a straight line along the laser in laser-assisted mode until it reaches the starting position. During this movement, the robot 100 marks along the fully obstructed path in manual marking mode.

[0048] For ease of understanding, a line drawing scenario is used as an example below, and the line drawing object may be a basketball court.

[0049] Please also refer to Figure 3The venue map includes planned paths and graphic areas. The planned paths reflect the specific outline of the basketball court and include planned paths L1, L2, L3, L4, L5, and L6. Planned paths L1, L2, L3, and L4 together form the rectangular outer frame of the basketball court, while planned paths L5 and L6 are curved lines within the basketball court.

[0050] The graphic area includes multiple signal-blocking areas, specifically signal-blocking area Q1 and signal-blocking area Q2. Signal-blocking area Q1 covers the middle of planned path L1, and signal-blocking area Q2 covers the entire planned path L3. Thus, planned path L1 is a semi-blocked path, and planned path L3 is a fully-blocked path. The end point of planned path L1 is end position E1, and the starting point of planned path L1 is starting position S1. The end point of planned path L3 is end position E2, and the starting point of planned path L3 is starting position S2.

[0051] During actual marking operations, the marking robot 100 can complete the travel and marking of planned paths L2, L4, L5, and L6 in both autonomous driving and automatic marking modes. Furthermore, if significant positioning errors occur near signal-blocked areas within each path, the robot can proceed with the marking process in both manual driving and manual marking modes.

[0052] When marking the planned path L1, the user can pre-position the transmitter 200A at the end position E1 and then control the marking robot 100 to move to the starting position S1 in autonomous driving mode. The transmitter 200A then emits a laser beam at the marking robot 100 at the end position E1. The marking robot 100 receives the laser beam via the receiver 30 and moves along the line of laser beam emitted by the transmitter 200A. During this process, the marking robot 100 performs marking and spraying in the automatic marking mode until it reaches the end position E1, completing the marking and spraying of the planned path L1.

[0053] When marking the planned path L3, the user can pre-position the transmitter 200B at the end position E2 and then control the marking robot 100 to move to the starting position S2 in manual driving mode. The transmitter 200B then emits a laser beam at the marking robot 100 at the end position E2. The marking robot 100 receives the laser beam via the receiver 30 and moves along the line of laser beam emitted by the transmitter 200B. During this process, the marking robot 100 performs marking and spraying in manual marking mode until it reaches the end position E2, completing the marking and spraying of the planned path L3.

[0054] Figure 4This is a flow chart of the walking control method provided in this application.

[0055] Please also refer to Figure 4 In this embodiment, the walking control method includes the following specific steps.

[0056] S101 . When the launcher 200 is at the end position, control the marking robot 100 to move to the start position.

[0057] The end position is spaced apart from the start position, and the line connecting the end position and the start position indicates the blocked path. The blocked path is a planned path that lies at least partially within the signal blocked area and extends in a straight line. The end position is the end point of the blocked path, and the start position is the starting point of the blocked path.

[0058] In this embodiment, the transmitter 200 is placed at the end position and transmits the laser light in a direction parallel to the shielding path toward the start position, so that the laser light can illuminate the receiver 30 at the start position.

[0059] S102 , receiving laser light through the receiver 30 .

[0060] When the marking robot 100 moves to the starting position, the laser is received by the receiver 30 .

[0061] S103: Control the marking robot 100 to move toward the end position.

[0062] When the receiver 30 receives the laser light, it controls the marking robot 100 to move toward the end position, moving parallel to the laser light and passing through the signal-blocked area. Specifically, the marking robot 100 moves along the laser light in laser-assisted mode until it reaches the end position, allowing the marking robot 100 to complete the blocked path in a straight line.

[0063] S104: Control the marking robot 100 to perform marking.

[0064] When the marking robot 100 moves through the signal blocking area, the marking robot 100 is controlled to mark the line, so that the marking robot 100 completes the marking operation of the blocked path.

[0065] Through the walking control method provided in the present application, when the marking robot 100 needs to mark along an obstructed path, the laser is emitted from the end position to the starting position through the transmitter 200, so that the marking robot 100 can move in a straight line from the starting position to the end position and complete the marking with the assistance of the laser, ensuring that the marking robot 100 can mark straightly along the obstructed path, solving the problem that satellite navigation is prone to failure in signal obstruction areas and cannot walk in a straight line accurately, improving the marking accuracy of the marking robot 100, and reducing dependence on manual operation and system costs.

[0066] In some embodiments, the occlusion path is divided into a semi-occlusion path and a fully-occluded path. The ending position and starting position of the semi-occlusion path are both located outside the signal occlusion area, and the ending position and starting position of the fully-occluded path are both located inside the signal occlusion area.

[0067] Step S101 specifically includes controlling the marking robot 100 to move to a starting position in a corresponding driving mode.

[0068] Among them, the driving mode corresponding to the semi-obstructed path is the automatic driving mode, and the driving mode corresponding to the fully obstructed path is the manual driving mode.

[0069] Figure 5 This is a schematic diagram of the marking robot provided in this application moving to the starting position and walking along a semi-obstructed path.

[0070] Please also refer to Figure 5 In the case where the obstructed path is a semi-obstructed path, the marking robot 100 is controlled to move to the starting position in the automatic driving mode. Specifically, the marking robot 100 obtains its real-time position through RTK navigation positioning and automatically moves to the starting position based on the path between the real-time position and the starting position.

[0071] It can be understood that the starting position of the semi-blocked path is located outside the signal blocking area. The marking robot 100 can receive a good satellite signal when it reaches the starting position. Therefore, navigation positioning can be used to accurately identify whether the marking robot 100 has reached the starting position. The automatic driving method can reduce manual operation and improve movement efficiency.

[0072] Figure 6 This is a schematic diagram of the marking robot provided in this application moving to the starting position and walking along a fully blocked path.

[0073] Please also refer to Figure 6If the obstructed path is fully obstructed, the marking robot 100 is controlled to move to the starting position in manual driving mode. Specifically, the user sends a remote control command to the marking robot 100 through the interactive terminal. The marking robot 100 receives the remote control command and moves forward, backward, or turns according to the remote control command, ultimately moving the marking robot 100 to the starting position.

[0074] It can be understood that the starting position of the fully blocked path is outside the signal blocking area, and the navigation positioning accuracy of the marking robot 100 is poor during the process of moving to the starting position. Manual control is used to control the marking robot 100 to move to the starting position, which can ensure that the marking robot 100 moves into place to facilitate subsequent laser receiving operations.

[0075] In some embodiments, step S102 specifically includes: when the marking robot 100 moves to the starting position, adjusting the orientation of the marking robot 100 until the receiver 30 receives the laser.

[0076] The orientation of the marking robot 100 refers to the front direction of the marking robot 100, which is also the orientation of the receiving unit of the receiver 30. When adjusting the orientation of the marking robot 100, the marking robot 100 can be controlled to swing left and right. If the receiver 30 still does not receive the laser after the marking robot 100 swings left and right multiple times, the marking robot 100 can be controlled to move forward and backward, and then controlled to swing left and right again until the receiver 30 receives the laser.

[0077] It is understood that when the marking robot 100 initially moves to the starting position, its overall orientation may deviate from the ending position, resulting in the laser not being able to irradiate the receiving unit of the receiver 30. By adjusting the orientation of the marking robot 100 so that the receiver 30 receives the laser, the receiver 30 and the transmitter 200 can be aligned, facilitating subsequent laser-assisted operations.

[0078] In some embodiments, step S103 specifically includes the following steps.

[0079] S201: Determine a compensation parameter corresponding to the offset distance.

[0080] The offset distance d is the distance from the marking device 20 to the geometric centers of the plurality of driving wheels 40 along the horizontal direction. In this embodiment, the offset distance d is the distance between the marking device 20 and the center points of the left and right driving wheels 40.

[0081] The compensation parameter is calculated based on the offset distance d. The compensation parameter and the offset distance d are related by a geometric kinematic mapping. The compensation parameter is used to adjust the rotation speed of the multiple drive wheels 40 so that the center of rotation of the marking robot 100 coincides with the position of the receiver 30 when turning.

[0082] S202 : Obtain the laser deviation of the receiver 30 .

[0083] The laser deviation reflects the degree to which the receiver 30 deviates from the laser. When the laser irradiates each receiving unit of the receiver 30, the corresponding receiving unit generates a voltage signal. The laser deviation is calculated based on the difference in signal strength between the receiving units.

[0084] S203 , obtaining the target speed of each driving wheel 40 according to the laser deviation amount and the compensation parameter, and outputting a corresponding speed control instruction.

[0085] The speed control instruction is used to be output to each drive motor, and each drive motor controls each drive wheel 40 to rotate at a corresponding target speed in response to the speed control instruction.

[0086] Specifically, the original speed of each drive wheel 40 is generated by a standard PID controller, and the original speed is differentially distributed to each drive wheel 40 according to the compensation parameter to obtain the target speed corresponding to each drive wheel 40, and a speed control instruction is output to the drive motor corresponding to each drive wheel 40 to control each drive wheel 40 to rotate at the corresponding target speed.

[0087] It can be understood that the compensation coefficient β is introduced in this embodiment to perform asymmetric compensation conversion on the original speed of each driving wheel 40, and establish a compensation mechanism of an asymmetric PID controller, so that the instantaneous rotation center formed by the differential speed of the left and right driving wheels 40 is dynamically adjusted based on the offset distance d, ensuring that the position of the receiver 30 is aligned with the laser (rather than the center points of the left and right driving wheels 40 are aligned with the laser), eliminating the influence of the mechanical installation position of the receiver 30 on the orientation of the vehicle body, and ensuring that the marking robot 100 follows a straight path.

[0088] Furthermore, as the marking robot 100 moves along the laser beam, it uses the laser beam to guide the receiver 30 and correct its direction of travel. This corrective action also drives the marking device 20 to move. By locating the marking device 20 and receiver 30 on the same side of the marking robot 100, high synchronization is achieved between the actual marking and spraying position and the laser-guided correction reference, minimizing the impact of the correction action on the marking and spraying position trajectory, thereby improving marking accuracy.

[0089] In some embodiments, step S104 specifically includes: controlling the marking robot 100 to mark the line in a corresponding marking mode.

[0090] Among them, when the obstructed path is a semi-obstructed path, the marking mode of the marking robot 100 is the automatic marking mode; when the obstructed path is a fully obstructed path, the marking mode of the marking robot 100 is the manual marking mode.

[0091] Specifically, the marking robot 100 is controlled to mark in the automatic marking mode by obtaining the real-time position of the marking robot 100 through RTK navigation positioning and controlling the marking robot 100 to start or stop marking according to the real-time position on the semi-obstructed path.

[0092] Among them, when the real-time position is at the starting position, the marking robot 100 automatically starts spraying and marking; when the real-time position is at the line between the starting position and the ending position, the marking robot 100 continues to spray and mark; when the real-time position is at the ending position, the marking robot 100 automatically stops spraying and marking.

[0093] In this way, when the marking robot 100 is walking in a straight line along the semi-obstructed path, the RTK positioning is continuously used to automatically control the start and stop of the marking device 20, ensuring the accuracy of the start and stop positions of the marking, while reducing manual intervention. During this process, there is no need to stop and wait for RTK to recalculate, and the travel speed remains constant to ensure the continuity of automation.

[0094] Specifically, the marking robot 100 is controlled to mark in the manual marking mode by obtaining a remote switch instruction from the interactive terminal and controlling the marking robot 100 to start or stop marking according to the remote switch instruction.

[0095] Among them, when the marking robot 100 moves to the starting position, the user clicks the operation panel of the interactive terminal to start the spraying function, and the interactive terminal sends a remote start command to the marking robot 100 to control the marking robot 100 to start marking; when the marking robot 100 moves to the end position, the user clicks the operation panel of the interactive terminal to turn off the spraying function, and the interactive terminal sends a remote shutdown command to the marking robot 100 to control the marking robot 100 to stop marking.

[0096] In this way, when the marking robot 100 is walking in a straight line along a fully obstructed path, the user manually controls the start and stop of the marking device 20, avoiding positioning and navigation errors that cause the marking device 20 to be unable to start and stop in time at the corresponding position, thereby ensuring the basic operating capabilities of the marking robot 100 and reducing system costs and complexity.

[0097] In another embodiment, the blocked path can be further divided into a starting point blocked path, where the starting point of the starting point blocked path passes through the signal blocked area, and the ending point of the starting point blocked path does not pass through the signal blocked area. The ending point of the starting point blocked path is defined as the ending position, and the starting point of the starting point blocked path is defined as the starting position.

[0098] When marking a path obstructed by the starting point, the user can pre-position the transmitter 200 at the end position and then control the marking robot 100 to move to the starting position in manual driving mode. The transmitter 200 then emits a laser beam toward the marking robot 100 at the end position. The marking robot 100 receives the laser beam via the receiver 30 and moves along the straight line of the laser beam from the transmitter 200. During this process, the marking robot 100 performs marking and spraying in automatic marking mode until it reaches the end position, completing the marking and spraying of the path obstructed by the starting point.

[0099] In another embodiment, the obstruction path can be further divided into an end obstruction path, where the end point of the end obstruction path passes through the signal obstruction area, and the starting point of the end obstruction path does not pass through the signal obstruction area. The end point of the end obstruction path is defined as the end position, and the starting point of the end obstruction path is defined as the starting position.

[0100] When marking the obstructed path at the end point, the user can pre-position the transmitter 200 at the end point and then control the marking robot 100 to move to the starting position in autonomous driving mode. The transmitter 200 then emits a laser beam at the marking robot 100 at the end point. The marking robot 100 receives the laser beam via the receiver 30 and moves along the straight line of the laser beam from the transmitter 200. During this process, the marking robot 100 performs marking and spraying in manual marking mode until it reaches the end point, completing the marking and spraying of the obstructed path at the end point.

[0101] The present invention also provides a marking robot 100 , which is configured to work in conjunction with a transmitter 200 , which is configured to be placed at a stop position and emit laser light in a specified direction. The marking robot 100 includes a robot body 10 , a marking device 20 , and a receiver 30 .

[0102] Figure 7 This is a schematic diagram of the structure of the control device provided in this application.

[0103] Please also refer to Figure 7The robot body 10 includes a control device 50, which is used to execute the walking control method in the above embodiment. The control device 50 may include multiple functional submodules composed of program code segments. The control device 50 can be divided into multiple functional submodules according to the functions it performs. The functional submodules include at least a data acquisition module 51, a walking control module 52, and a line marking control module 53. The functions of each functional submodule are as follows: The data acquisition module 51 is used to receive the laser through the receiver 30 when the marking robot 100 moves to the starting position; wherein the starting position and the ending position are spaced apart, and the line between the starting position and the ending position is used to indicate the occlusion path, and the occlusion path is at least partially located in the signal occlusion area.

[0104] The walking control module 52 is used to control the marking robot 100 to move toward the end position when the receiver 30 receives the laser, so that the marking robot 100 moves in a direction parallel to the laser and passes through the signal blocking area.

[0105] The marking control module 53 is used to control the marking robot 100 to mark lines when the marking robot 100 moves through a signal blocking area.

[0106] Figure 8 This is a schematic diagram of the structure of the marking system provided in this application.

[0107] Please also refer to Figure 8 The embodiment of the present application also provides a marking system, which includes a transmitter 200 and a marking robot 100 as in the above embodiment. The transmitter 200 is used to be placed at a terminal position and emit a laser in a specified direction, and the marking robot 100 is used to move along the laser and perform marking.

[0108] The implementation principles of the marking robot 100 and the marking system provided in the embodiments of the present application can be found in the relevant instructions of the above-mentioned walking control method, which will not be repeated here.

[0109] It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, and that the present application can be implemented in other specific forms without departing from the spirit or essential features of the present application. Therefore, the embodiments described above should be considered exemplary and non-restrictive in all respects, and the scope of the present application is defined by the appended claims rather than the foregoing description, and all variations that come within the meaning and range of equivalents of the claims are intended to be encompassed within the present application.

Claims

1. A walking control method, characterized in that: Applied to a marking robot, the marking robot is used to work in conjunction with a transmitter, the marking robot is provided with a receiver, and the transmitter is used to be placed at a stop position and emit laser light in a specified direction; When the marking robot moves to the starting position, the laser is received by the receiver; wherein the starting position and the ending position are spaced apart, and the line connecting the starting position and the ending position is used to indicate the blocked path, and the blocked path is a planned path that is at least partially located within the signal blocked area; When the receiver receives the laser, the marking robot is controlled to move toward the end position so that the marking robot moves in a direction parallel to the laser and passes through the signal blocking area; When the line marking robot moves through the signal blocking area, the line marking robot is controlled to perform line marking.

2. The walking control method according to claim 1, characterized in that: The occlusion path is divided into a semi-occlusion path and a full-occlusion path, the end position and the start position of the semi-occlusion path are both located outside the signal occlusion area, and the end position and the start position of the full-occlusion path are both located inside the signal occlusion area; The controlling the marking robot to mark lines during movement includes: controlling the marking robot to mark lines in a corresponding marking mode, wherein, when the obstructed path is the semi-obstructed path, the marking mode of the marking robot is an automatic marking mode; when the obstructed path is the fully obstructed path, the marking mode of the marking robot is a manual marking mode.

3. The walking control method according to claim 2, characterized in that: The controlling the marking robot to mark in an automatic marking mode includes: Obtaining the real-time position of the marking robot; The marking robot is controlled to start or stop marking according to the position of the real-time position on the semi-obstructed path.

4. The walking control method according to claim 2, characterized in that: The controlling the marking robot to mark in a manual marking mode includes: Obtain remote switch instructions from the interactive terminal; According to the remote switch instruction, the marking robot is controlled to start or stop marking.

5. The walking control method according to claim 2, characterized in that: Before the marking robot moves to the starting position, the walking control method further includes: Control the line marking robot to move to the starting position in the corresponding driving mode, wherein, when the obstructed path is the semi-obstructed path, the driving mode of the line marking robot is the automatic driving mode; when the obstructed path is the fully obstructed path, the driving mode of the line marking robot is the manual driving mode.

6. The walking control method according to claim 1, characterized in that: The marking robot is provided with a marking device and a plurality of driving wheels spaced apart along a transverse direction, and the distance from the marking device to the geometric center of the plurality of driving wheels along the transverse direction is defined as an offset distance; The controlling the marking robot to move toward the end position includes: Determining a compensation parameter corresponding to the offset distance; obtaining a laser deviation of the receiver; According to the laser deviation amount and the compensation parameter, the target speed of each driving wheel is obtained, and a corresponding speed control instruction is output.

7. The walking control method according to claim 1, characterized in that: The walking control method further includes: When the marking robot moves to the starting position, the orientation of the marking robot is adjusted until the receiver receives the laser.

8. A marking robot, characterized in that: Used to work in conjunction with a transmitter, the transmitter is used to be placed at a stop position and emit laser light in a specified direction; The marking robot comprises a robot body, a marking device and a receiver, wherein the robot body has a control device, and the control device comprises: a data acquisition module, configured to receive laser light via the receiver when the marking robot moves to a starting position; wherein the starting position and the ending position are spaced apart, a line connecting the starting position and the ending position is used to indicate an obstruction path, and the obstruction path is at least partially located in a signal obstruction area; a travel control module, configured to control the marking robot to move toward the end position when the receiver receives the laser, so that the marking robot moves in a direction parallel to the laser and passes through the signal blocking area; A marking control module is used to control the marking robot to mark lines when the marking robot moves through the signal blocking area.

9. The line marking robot according to claim 8, characterized in that: The marking device and the receiver are arranged on the same side of the robot body.

10. A marking system, characterized in that: It comprises a transmitter and the marking robot as claimed in claim 8 or 9, wherein the transmitter is used to be placed at a stop position and emit laser in a specified direction, and the marking robot is used to move along the laser and perform marking.

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