Court lineation robot and lineation method thereof

Abstract

The invention relates to the technical field of court lineation, in particular to a court lineation robot and a lineation method thereof. The robot comprises a robot body module, a spraying device and a positioning module. The robot body module comprises a vehicle body, and driving wheels are installed on the two sides of the vehicle body. The servo motor assembly is fixed on the vehicle body and is in transmission connection with the driving wheels; the 3D camera is used for identifying a site concave-convex area and a historical lineation area; the spraying device comprises a nozzle mounted on the vehicle body and is used for spraying paint to the surface of the court; the positioning module adopts an RTK module or a GPS module to obtain coordinates of the robot in real time; the communication module is used for receiving a court template input by a user; and the controller computer is connected with the communication module, the servo motor assembly, the spraying device and the positioning module respectively, and performs scribing operation in a coordinated manner. According to the invention, high-precision modeling is realized through the RTK module and the 3D camera, the driving wheel and the omnidirectional wheel realize omnidirectional movement, the spraying device is controlled to realize automatic scribing, and the efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of court marking, and in particular to a court marking robot and a court marking method thereof. Background Art

[0002] Clear and precise markings in sports venues (such as the sidelines on soccer fields and the three-point line on basketball courts) are crucial for defining rules and ensuring smooth competition. To meet the demands of different surfaces (wooden floors, plastic, turf, etc.) and coatings (water-based, oil-based, and hot-melt), a variety of specialized marking vehicles have emerged on the market. These devices, with their diverse forms and functions, are essential tools for field maintenance.

[0003] These tools rely on manual measurement, line drawing and spraying, and have low operating efficiency. Generally, a standard football field requires 4-5 people to collaborate for 45-60 minutes. At the same time, there are also the following defects: In terms of accuracy, manual operation is prone to bending or asymmetry of lines due to hand shaking and measurement errors, affecting the accuracy of game penalties. In terms of equipment, traditional hand-push marking machines cannot achieve high-precision positioning and cannot meet the fine requirements of marking in some special scenarios. At the same time, the steering mechanism is more likely to crush the turf; in terms of intelligence, existing technologies cannot dynamically avoid concave and convex areas of the field or correct residual deviations from historical markings. It is difficult to meet the line requirements of standard competition venues. Therefore, there is an urgent need for a court marking robot and a court marking method to solve the above problems. Summary of the Invention

[0004] In response to the technical problems existing in the prior art, the present invention provides a court marking robot and a marking method thereof. High-precision environmental modeling is achieved through RTK module and 3D camera scanning, omnidirectional movement is achieved through driving wheels and omnidirectional wheels, and the operation of the spraying device is controlled by a controller computer to achieve automated control, which greatly improves the marking efficiency and achieves the accuracy of competition level standards. The technical solution of the present invention to solve the above technical problems is as follows: A court marking robot, comprising: The robot main module includes: A vehicle body, with drive wheels mounted on both sides of the vehicle body; A servo motor assembly is connected to the driving wheel through a coupling; A 3D camera, fixed to the vehicle body, for identifying concave and convex areas of the site and historically marked areas; a spraying device, mounted on the vehicle body, comprising a nozzle; A positioning module is installed on the vehicle body and uses an RTK module or a GPS module to obtain the robot coordinates in real time; A communication module, mounted on the vehicle body, supporting wireless data transmission; The controller computer is installed on the vehicle body and is electrically connected to: Connected to the communication module, used to receive the stadium template input by the user; Connected to the 3D camera, the controller computer plans an avoidance path or safe parking based on its perception data, triggering a safe stop in unavoidable risk areas; and compensating for baseline deviations caused by historical marking residues; Connected to the positioning module, used to obtain real-time coordinate data, align the vehicle's actual positioning coordinate system with the user input or the preset stadium template in the template library, and generate a motion trajectory; Connected to the servo motor assembly to drive the vehicle body to move along the motion trajectory; Connected with the spraying device, it performs marking operations.

[0005] On the basis of the above technical solution, the present invention can also be improved as follows.

[0006] Furthermore, the robot further comprises: A material storage box is installed on the vehicle body and connected to the spraying device for providing paint; a peristaltic pump, mounted on the vehicle body, the spraying device being connected to the material storage box via the peristaltic pump, for supplying the paint in the material storage box to the spraying device; Wherein, the controller computer is electrically connected to and controls the controller of the peristaltic pump.

[0007] Furthermore, an omnidirectional wheel is provided at the front end of the lower side of the vehicle body, which forms an omnidirectional movement system in combination with the driving wheel.

[0008] Furthermore, the 3D camera is installed at the front end of the vehicle body through a camera frame.

[0009] Furthermore, the RTK module includes an RTK head, which is mounted on the vehicle body via an RTK bracket, and the RTK head has a built-in gyroscope.

[0010] Furthermore, the spraying device also includes a lifting and adjusting mechanism connected to the nozzle, and the lifting and adjusting mechanism adjusts the height of the nozzle.

[0011] The present invention also provides a method for marking a court marking robot, comprising: S1. Loading a preset court graphic template input by a user or from a template library; Calibrate the operation starting point of the preset template with the real-time coordinates obtained by the positioning module; Align the vehicle's actual positioning coordinate system with the preset course template through the controller computer; S2, using a 3D camera to identify the concave and convex areas of the site and the historically marked areas; Based on the above perception data, the controller computer plans an avoidance path or safe parking, and triggers a safe shutdown in unavoidable risk areas; Compensate and correct the benchmark deviation caused by historical marking residues; S3, the controller computer generates the motion trajectory and the corresponding spray parameter set; S4, the controller computer controls the servo motor assembly to drive the vehicle body to execute the motion trajectory; The controller computer controls the spraying device to perform the marking operation.

[0012] Furthermore, it also includes S5, scanning the marked area twice through the 3D camera, comparing the scan data with the preset line width parameter; marking the area where the line width error exceeds the preset value and generating a supplementary spraying path, and performing supplementary spraying.

[0013] Furthermore, before the step S4 is started, a system self-check is performed to verify the communication status of the servo motor assembly, the positioning module and the 3D camera.

[0014] Furthermore, the spraying parameter set includes line width control instructions and paint flow control instructions; The line width control instruction is used to control the lifting and adjusting mechanism to adjust the nozzle height according to the line width; The coating flow control instruction is used to adjust the coating flow according to the path curvature.

[0015] The beneficial effects of the present invention are: 1. This embodiment integrates an RTK module or a GPS positioning module into the robot body module to obtain centimeter-level robot coordinates in real time. It combines a 3D camera to identify concave and convex areas of the site and historically marked areas, plans avoidance paths, and automatically corrects errors. The controller computer collaboratively controls the servo motor assembly to drive the vehicle body to move along the planned path, and synchronously instructs the nozzle of the spraying device to execute paint spraying, thereby realizing fully automatic marking operations, completely eliminating the problems of line bending and asymmetry caused by manual measurement and operation, greatly improving marking efficiency, and reducing accuracy errors.

[0016] 2. The marking method provided in this embodiment uses a controller computer to integrate the real-time coordinates of the positioning module to align the map with the preset court template. A 3D camera dynamically identifies concave and convex areas and residual deviations from historical markings, plans avoidance paths, and automatically corrects errors. The vehicle movement path and spraying parameters (including line width and height control instructions and curvature flow instructions) are generated according to the marking plan, and the servo motor assembly is synchronously driven to move the vehicle and control the spraying device for precise operation. Finally, a secondary scan is performed to compare the line width parameters and automatically execute a closed-loop re-spraying, realizing full-process unmanned marking on complex venues. This eliminates problems such as line bending, misalignment of old and new lines, and paint accumulation on curves caused by human errors, greatly reduces marking accuracy errors, and significantly improves operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic structural diagram of a court marking robot according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the internal structure of the court marking robot according to an embodiment of the present invention; Figure 3 Schematic diagram of the internal structure of the spraying device according to an embodiment of the present invention; Figure 4 Schematic diagram of the internal structure of the spraying device according to an embodiment of the present invention; Figure 5 This is a schematic structural diagram of a spraying device according to an embodiment of the present invention; Figure 6 This is a schematic structural diagram of a height adjustment mechanism of a spraying device according to an embodiment of the present invention; Figure 7 This is a structural diagram of the rocker arm assembly of the spraying device according to an embodiment of the present invention installed on the height adjustment mechanism; Figure 8 This is a schematic structural diagram of a nozzle assembly according to an embodiment of the present invention; Figure 9 Schematic diagram of the nozzle opening of the nozzle according to an embodiment of the present invention.

[0018] In the accompanying drawings, the components represented by the reference numerals are as follows: 1. Spraying device, 11. Motor, 12. Motor seat, 13. Coupling, 14. First screw, 15. Lifting seat, 16. Mechanism base, 17. First linear guide rail, 18. Mounting parts 20. Linkage seat, 21. First hand wheel, 22. Support, 23. Second screw, 24. First rotating shaft, 25. Support arm, 26. Deep groove ball bearing, 27. Rotating piece, 28. Second linear guide rail, 29. Second rotating shaft, 31. Second hand wheel, 32. Nozzle fixing part, 33. Second lifting transmission mechanism, 34. Guide rod, 35. Nozzle sliding seat, 36. Nozzle, 37. Spring steel flap, 38. Connecting part 4. Housing, 5. Adapter, 61. Car body, 62. Servo motor assembly, 63. Driving wheel, 64. Omnidirectional wheel, 65. 3D camera, 66. Camera frame, 71. RTK head, 72. RTK bracket, 73. Electrical bracket, 74. Antenna, 75. Speaker, 81. 4G router, 82. Router mounting plate, 91. Material storage box, 92. Material storage barrel, 10. Peristaltic pump controller, 11. Controller computer, 12. Battery compartment. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0020] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the described features. In the description of this application, "plurality" means two or more, unless otherwise specifically specified.

[0021] In the description of this application, the term "for example" is used to mean "used as an example, illustration or explanation". Any embodiment described as "for example" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is given to enable any person skilled in the art to implement and use the present invention. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art will recognize that the present invention can be implemented without using these specific details. In other examples, well-known structures and processes will not be elaborated in detail to avoid obscuring the description of the present invention with unnecessary details. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in this application.

[0022] Example 1 A court marking robot, such as Figure 1-2 As shown, including: The robot main module includes: A vehicle body 61, with drive wheels 63 mounted on both sides of the vehicle body 61; The servo motor assembly 62 is connected to the driving wheel 63 through a coupling; A 3D camera 65 is fixed to the vehicle body 61 and is used to identify concave and convex areas of the site and historically marked areas; The spraying device 1 is mounted on the vehicle body 61 and includes a nozzle 36; A positioning module is installed on the vehicle body 61 and uses an RTK module or a GPS module to obtain the robot coordinates in real time; A communication module, mounted on the vehicle body 61, supporting wireless data transmission; The controller computer 11 is mounted on the vehicle body 61 and is electrically connected to: Connected to the communication module, used to receive the stadium template input by the user; Connected to the 3D camera 65, the controller computer 11 plans an avoidance path or safe parking based on its perception data, triggers a safe stop in an unavoidable risk area, and compensates for the baseline deviation caused by historical marking residues; Connected to the positioning module, used to obtain real-time coordinate data, align the vehicle's actual positioning coordinate system with the user input or the preset stadium template in the template library, and generate a motion trajectory; Connected to the servo motor assembly 62 to drive the vehicle body 61 to move along the motion trajectory; Connected to the spraying device 1, it performs marking operations.

[0023] In this embodiment, the servo motor assembly 62 includes a servo motor and a reducer. After the torque of the servo motor output shaft is increased by the reducer, it is connected to the core shaft of the drive wheel 63 through a rigid coupling to provide precise torque control, achieve zero-backlash power transmission, and ensure the stable speed of the drive wheel 63. It is suitable for complex surfaces such as grass and plastic tracks.

[0024] In a possible embodiment, the robot further includes: A material storage box 91 is installed on the vehicle body 61 and connected to the spraying device 1 for providing paint; a peristaltic pump, mounted on the vehicle body 61 , through which the spraying device 1 is connected to the material storage box 91 , for supplying the paint in the material storage box 91 to the spraying device 1 ; The controller computer 11 is electrically connected to and controls the controller 10 of the peristaltic pump.

[0025] In this embodiment, the material storage box 91 has space for accommodating a material storage barrel 92, which contains paint. This allows for easy replacement of the material storage barrel 92 based on material usage. The peristaltic pump controller 10 precisely controls the paint supply through the peristaltic pump, avoiding spraying interruptions or paint waste. The modular design of the material storage box 91 allows for rapid paint replenishment, enhancing continuous operation capabilities.

[0026] In a preferred embodiment, an omnidirectional wheel 64 is provided at the front end of the lower side of the vehicle body 61 , and combined with the driving wheel 63 to form an omnidirectional movement system.

[0027] In this embodiment, the omnidirectional wheels 64 assist in steering, working in conjunction with the drive wheels 63 to achieve zero-radius turns and lateral translation, avoiding the damage to the turf caused by traditional steering mechanisms. This is particularly suitable for continuous spraying along complex paths such as curved penalty areas and corner kick areas on a football field.

[0028] In a preferred embodiment, the 3D camera 65 is mounted on the front end of the vehicle body 61 via a camera frame 66 .

[0029] In this embodiment, the 3D camera 65 scans and generates a high-precision point cloud map, dynamically identifies grass texture, boundaries and obstacles, and provides real-time environmental data support for path planning.

[0030] In a preferred embodiment, the RTK module includes an RTK head 71 , which is mounted on the vehicle body 61 via an RTK bracket 72 , and the RTK head 71 has a built-in gyroscope.

[0031] In this embodiment, an electrical bracket 73 is mounted on the vehicle body 61. A speaker 75 and an RTK bracket 72 are mounted on the electrical bracket 73. An RTK head 71 is mounted on the RTK bracket 72. The speaker 75 is electrically connected to the controller computer 11 and is used to perform status voice announcements, abnormality alarms, and safety reminders. The RTK head 71 has a built-in gyroscope to compensate for tilt errors of the vehicle body 61, ensuring centimeter-level positioning accuracy. The communication module includes a 4G router 81 and antennas 74. Antennas 74 include a 4G antenna 74 and a WiFi antenna 74. Antennas 74 are mounted on the electrical bracket 73. The 4G router 81 is mounted on the vehicle body 61 via a router mounting plate 82. The 4G antenna 74 receives base station RF signals to access the wide area network, while the WiFi antenna 74 connects to user terminals to establish a local area network. The router acquires remote and local data via the 4G and WiFi antennas 74, respectively, and transmits the user-entered line marking plan to the controller computer 11.

[0032] In a preferred embodiment, the spraying device 1 further includes a lifting and adjusting mechanism connected to the nozzle 36 , and the lifting and adjusting mechanism adjusts the height of the nozzle 36 .

[0033] In a preferred embodiment, a battery compartment 12 is installed on the vehicle body 61, and batteries are placed in the battery compartment 12 to provide electricity to the power-consuming parts of the robot.

[0034] In order to reduce maintenance costs, in a preferred embodiment, the router mounting plate 82, the camera frame 66 and the servo motor assembly 62 all use standardized interfaces, support quick disassembly and assembly, and can replace faulty components separately.

[0035] This embodiment further provides a method for marking a court using the court marking robot, comprising: S1. Loading a preset court graphic template input by a user or from a template library; Calibrate the operation starting point of the preset template with the real-time coordinates obtained by the positioning module; Aligning the actual positioning coordinate system of the vehicle with the preset course template through the controller computer 11; S2, identifying the concave and convex areas and historically marked areas of the site through the 3D camera 65; Based on the above-mentioned perception data, the controller computer 11 plans an avoidance path or safe parking, and triggers a safe shutdown for unavoidable risk areas; Compensate and correct the benchmark deviation caused by historical marking residues; S3, the controller computer 11 generates a motion trajectory and a corresponding spraying parameter set; S4, the controller computer 11 controls the servo motor assembly 62 to drive the vehicle body 61 to execute the motion trajectory; The controller computer 11 controls the spraying device 1 to perform the marking operation.

[0036] In this embodiment, the 4G router 81 can receive user-inputted court graphics (such as playing lines, training lines, and advertising logos), or call upon a built-in template library (such as 5-a-side or 11-a-side court maps). Based on required line widths (e.g., 12 cm for the penalty area line and 20 cm for the center line), the controller computer 11 automatically adjusts the nozzle 36 height and generates a spray path. When generating the spray path, a continuous operation path is prioritized to minimize the number of starts and stops (e.g., spraying the outer edge first, then the inner arc).

[0037] In a preferred embodiment, the process further includes S5, scanning the marked area a second time with the 3D camera 65, comparing the scanned data with the preset line width parameters; marking the area where the line width error exceeds the preset value, generating a supplementary spraying path, and performing supplementary spraying.

[0038] In this embodiment, the secondary scanning quality inspection function automatically marks areas where the line width exceeds the standard (such as an error of >2mm) and generates a supplementary spraying path to ensure the consistency of the marking throughout the field.

[0039] In order to detect communication failures in advance, avoid operation interruptions, and improve reliability, in a preferred embodiment, before step S4 begins, a system self-check is performed to verify the communication status of the servo motor assembly 62 , the positioning module, and the 3D camera 65 .

[0040] In a preferred embodiment, the spraying parameter set includes line width control instructions and paint flow control instructions. The line width control instructions are used to control the lifting and lowering mechanism to adjust the height of the nozzle 36 according to the line width, and the paint flow control instructions are used to adjust the paint flow according to the path curvature. Path curvature-adaptive flow control, for example, reduces the flow rate by 10% around curves to prevent paint accumulation. Linked line width and height adjustment ensure edge clarity.

[0041] The working process of this embodiment is as follows: Initialization phase: System self-test: The controller computer 11 verifies the communication status of the servo motor assembly 62, the positioning module (RTK module / GPS module) and the 3D camera 65; Benchmark calibration: The positioning module obtains the initial coordinates, and the gyroscope compensates for the vehicle body 61 tilt error; Task creation: The communication module receives the user's line drawing plan or calls the built-in template library.

[0042] Environment modeling and path planning: The controller computer 11 integrates the positioning module coordinates and aligns the map with the preset course template; The 3D camera 65 identifies the concave and convex areas of the site and the historically marked areas. The controller plans the avoidance path and corrects the residual deviation of the historical markings, and triggers a safety shutdown for the unavoidable risk areas.

[0043] System self-test: Verify the communication status of the servo motor assembly 62, positioning module and 3D camera 65.

[0044] Line execution: The controller computer 11 generates the motion trajectory of the vehicle body 61 and a set of spraying parameters, including line width control instructions and paint flow instructions; The servo motor assembly 62 drives the vehicle body 61 to move along the motion trajectory, and the driving wheels 63 and the omnidirectional wheels 64 cooperate to achieve omnidirectional movement; The spraying device 1 adjusts the height of the nozzle 36 through the lifting and lowering adjustment mechanism according to the line width instruction, and at the same time, the controller 10 of the peristaltic pump adjusts the paint flow according to the curvature instruction to perform spraying.

[0045] Quality closed loop: The 3D camera 65 scans the marked area a second time and compares it with the preset line width parameters; it marks the area where the line width error exceeds the limit and generates a re-spraying path, and automatically performs the re-spraying.

[0046] In summary, the controller computer 11 serves as the core hub, and constructs a high-precision environmental map through the centimeter-level coordinates of the positioning module; based on the dynamic path planning algorithm, it avoids concave and convex areas and risk areas to trigger a safe shutdown, corrects historical deviations to generate the optimal motion path, and solves the spraying parameters (line width-height inverse model, curvature-flow mapping model); synchronously controls the servo motor assembly 62 to achieve omnidirectional precise movement, and links the peristaltic pump controller 10 and the lifting and lowering adjustment mechanism to complete adaptive spraying; finally, a closed-loop control is formed through secondary scanning quality inspection to achieve unmanned high-precision marking throughout the entire process.

[0047] Example 2 The difference between this embodiment and embodiment 1 lies in the specific structure of the nozzle device. This embodiment provides a spraying device, which is installed on the robot body 61 of embodiment 1 through the adapter 5. Figure 3-6 As shown, including: A housing having a receiving space therein; A height adjustment mechanism, disposed in the housing, comprises: The mechanism bottom plate 16 is perpendicular to the ground and fixedly connected to the housing; The motor 11 is fixedly mounted on the mechanism base plate 16 via the motor base 12; A first lifting transmission mechanism, the input end of which is connected to the output shaft of the motor 11; The lifting seat 15 is threadedly engaged with the output end of the first lifting transmission mechanism and can move up and down relatively; Rocker arm assembly, including: The linkage structure is installed on the lifting seat 15. A pair of symmetrical arms 25, the upper ends of which are hinged to both sides of the linkage structure; A rotating piece 27 is rotatably mounted on the bottom end of each support arm 25, and the working surface of the rotating piece 27 is in contact with the ground; The nozzle assembly is connected to the lifting base 15 via a connecting piece 38 , and the injection port of the nozzle 36 of the nozzle assembly is located on the mid-vertical line between the two arms 25 and the injection port faces downward.

[0048] Specifically, the controller computer 11 is connected to and controls the first lifting transmission mechanism to drive the nozzle 36 to move up and down.

[0049] Specifically, the first lifting transmission mechanism is a first screw rod 14, and the height adjustment mechanism also includes a first linear slide rail 17. The first linear slide rail 17 is fixedly installed on the mechanism base plate 16 and is parallel to the first screw rod 14. The lifting seat 15 is slidably connected to the first linear slide rail 17.

[0050] Specifically, the first lifting transmission mechanism is a first screw rod 14, and the height adjustment mechanism also includes a first linear slide rail 17. The first linear slide rail 17 is fixedly installed on the mechanism base plate 16 and is parallel to the first screw rod 14. The lifting seat 15 is slidably connected to the first linear slide rail 17.

[0051] In this embodiment, the lifting seat 15 is slidably connected to the first linear slide rail 17 to ensure that the lifting seat 15 moves up and down in a straight line along the first linear slide rail 17. When the height is adjusted, the nozzle 36 will not deviate left or right, ensuring precise and smooth movement along the predetermined straight path, thereby ensuring the stability of the spraying line.

[0052] In this embodiment, the mechanism base plate 16 is fixed to the vehicle body 61 through the adapter 5; the motor 11 adopts a stepper motor 11, the first screw rod 14 is a trapezoidal screw rod, and the stepper motor 11 is directly connected to the trapezoidal screw rod through the coupling 13. Preferably, a trapezoidal screw rod with a lead of 2 mm is adopted. When the stepper motor 11 rotates 200 steps per time, the single-step displacement = 2mm / 200 = 0.01mm. Through millimeter-level height adjustment, the spray line width can be continuously adjusted. As the height of the nozzle 36 from the ground increases, the spray line width increases synchronously, and vice versa.

[0053] In this embodiment, the rotating blades 27 are symmetrically arranged on both sides of the nozzle 36, and the inner side walls thereof constitute a physical barrier, which strictly limits the diffusion range of the coating to the distance between the two rotating blades 27 and eliminates atomization burrs.

[0054] In this embodiment, a proximity switch is provided below the mechanism base plate 16; when it is detected that the lifting seat 15 rises or descends to a preset limit position, the proximity switch generates a limit signal and cuts off the power supply circuit of the motor 11, thereby playing a limiting role.

[0055] In one possible implementation, Figure 7 As shown, the linkage structure includes: Two supports 22 are symmetrically installed on the left and right sides of the lifting base 15; A horizontal transmission mechanism, horizontally passing through the two supports 22 and being rotatably connected thereto; A first hand wheel 21, the output end of which is connected to the input end of the horizontal transmission mechanism; The two linkage seats 20 are respectively threadedly engaged with the horizontal transmission mechanism to be able to move horizontally relative to each other, and are respectively hinged to the upper end of one of the support arms 25.

[0056] Specifically, the horizontal transmission mechanism is a second screw rod 23 , and the first hand wheel 21 is located on an outer end surface of one of the supports 22 .

[0057] Specifically, the rocker arm assembly further includes a second linear guide rail 28 , both ends of which are fixed to the inner end surfaces of the two supports 22 and are parallel to the second screw rod 23 ; the two linkage seats 20 are respectively slidably connected to the second linear guide rail 28 .

[0058] Specifically, the upper end of the support arm 25 is rotatably connected to the support 22 via the first rotating shaft 24 ; the lower end of the support arm 25 is rotatably connected to the rotating plate 27 via the deep groove ball bearing 26 and the second rotating shaft 29 .

[0059] Specifically, an opening is provided on the housing, the first hand wheel 21 is located outside the housing, and its output shaft passes through the opening to connect to the input end of the second screw rod 23 .

[0060] In this embodiment, the two supports 22 are symmetrically installed on the left and right sides of the lifting seat 15 through the mounting parts 18, and the two linkage seats 20 are respectively slidably connected to the second linear slide rail 28 to ensure that the linkage seat 20 moves horizontally along the second linear slide rail 28. When the width is adjusted, the rotating piece 27 will not deviate up and down, ensuring precise and smooth movement along the predetermined linear path.

[0061] In this embodiment, since the upper end of the support arm 25 is hinged to the linkage seat 20, the rotation angle can be adaptively adjusted to ensure that the rotating piece 27 is connected to the ground, which not only supports the movement of the equipment but also provides a reference positioning surface for the nozzle 36.

[0062] In this embodiment, to further eliminate atomized burrs, the second screw 23 utilizes a trapezoidal screw. Rotating the second handwheel 31 drives the second screw 23 to synchronously move the two rotating blades 27 toward or away from each other, achieving stepless adjustment of the spray width. This mechanical linkage design ensures that the spacing between the two rotating blades 27 remains symmetrical, keeping the paint blocking surface parallel to the spray path. This strictly limits the paint diffusion range to the spacing between the two rotating blades 27, and combined with the vertical height adjustment of the nozzle 36, precise control of the stroke width is achieved.

[0063] In this embodiment, the second screw rod 23 adopts a trapezoidal screw rod, the rotating piece 27 contacts the ground, and the deep groove ball bearing 26 is connected so that the rotating piece 27 can adapt to a certain inclination angle of the ground, allowing the equipment to move smoothly on uneven ground while preventing lateral leakage of paint.

[0064] In one possible implementation, Figure 8-9 As shown, the nozzle assembly also includes: The nozzle fixing member 32 is connected to the lifting seat via a connecting member 38; A second hand wheel 31 is located above the nozzle fixing member 32; A second lifting transmission mechanism 33, whose input end is connected to the output end of the second hand wheel 31; The nozzle sliding seat 35 is threadably engaged with the output end of the second lifting transmission mechanism 33 and can move up and down relatively; the nozzle sliding seat 35 is fixedly connected to the nozzle 36 .

[0065] Specifically, the nozzle assembly further includes a guide rod 34 fixedly connected below the nozzle fixture 32 and parallel to the second lifting transmission mechanism 33. The nozzle sliding seat 35 is slidably connected to the guide rod 34. The guide rod 34 limits the freedom of the nozzle sliding seat 35, ensuring that it moves accurately and smoothly along a predetermined linear path.

[0066] Specifically, an opening is provided on the housing, the second hand wheel 31 is located outside the housing, and its output shaft passes through the opening to connect to the input end of the second lifting transmission mechanism 33 .

[0067] Specifically, the nozzle 36 is a solenoid valve nozzle 36. The instantaneous start and stop characteristics of the solenoid valve nozzle 36 enable precise control of paint spraying.

[0068] In this embodiment, the second lifting transmission mechanism 33 adopts a trapezoidal screw. By rotating the second hand wheel 31, the nozzle sliding seat 35 is driven to move up and down, which can also realize the height adjustment of the nozzle 36. On the basis of electric adjustment, a manual adjustment is added. If the height adjustment mechanism fails or fine-tuning is required, manual adjustment can also be used to realize the up and down movement of the nozzle 36, thereby increasing reliability.

[0069] In this embodiment, the solenoid valve nozzle 36 is connected to the peristaltic pump through a hose, and the peristaltic pump is connected to the material storage box through a hose. The controller computer 11 controls the peristaltic pump controller 10, and the peristaltic pump controller 10 controls the peristaltic pump to extract paint from the material storage barrel through the hose, and then transports the paint to the solenoid valve nozzle 36 through the hose.

[0070] In the preferred embodiment, four spring steel petals 37 are fixed to the outlet of the nozzle 36. The free ends of the spring steel petals 37 converge in a wedge-shaped pattern. In the absence of external force, the tips of the four petals close at the intersection of their axes, forming a geometric seal. During spraying, the pressure of the paint pushes the spring steel petals 37 open to form the nozzle. At the moment of shutdown, the preload force drives the spring steel petals 37 to close rapidly, causing adjacent petals to cross and slide. This shear force effectively scrapes away residual paint, preventing residual paint from flowing out and clogging the nozzle opening.

[0071] The present invention operates as follows: When the spraying device moves, the rotating pieces 27 at the bottom ends of the two arms 25 roll against the ground, providing stable support and reducing friction. The motor 11 of the height adjustment mechanism drives the first lifting transmission mechanism (e.g., the first screw 14), which drives the lifting base 15 and the rocker arm assembly connected thereto to rise and fall as a whole. This, in turn, drives the nozzle assembly 38 to rise and fall synchronously, thereby adjusting the height of the nozzle 36's spray outlet from the ground. Because the change in the nozzle 36's spray outlet from the ground directly affects the paint's spread on the ground, the spray line width increases when the nozzle 36 is raised and decreases when it is lowered. Furthermore, the upper ends of the rocker arm 25 of the rocker arm assembly are hinged, adaptively adjusting their rotation angle during the lifting process, ensuring that the rotating piece 27 maintains stable contact with the ground and providing a precise reference positioning surface for the nozzle 36. The first handwheel 21 drives the horizontal transmission mechanism (e.g., the second screw 23), causing the two linkage bases 20 to move synchronously in opposite directions, driving the arms 25 to open and close, thereby adjusting the spacing between the rotating pieces 27 on both sides to control the line width. The inner wall of the rotating blades 27, acting as a physical barrier, strictly limits the paint's spread to the distance between the two rotating blades 27, effectively eliminating atomized burrs and ensuring neat line edges. If the height adjustment mechanism fails, the second handwheel 31 independently adjusts the second lifting mechanism 33 of the nozzle assembly, precisely controlling the height of the nozzle 36's spray outlet above the ground. Ultimately, the paint is sprayed downward through the nozzle 36 onto the ground at the mid-perpendicular line between the two arms 25, forming a straight line mark with adjustable width as the device moves.

[0072] In summary, the spraying device 1 separates the nozzle assembly and the height adjustment mechanism to prevent them from interfering with each other. Furthermore, the first lifting mechanism precisely controls the height of the nozzle 36 from the ground (thus adjusting the line width), while the rotating blade 27 rolling on the ground ensures a more even edge to the sprayed lines.

[0073] Although the embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it should be understood that the above-mentioned methods, systems and devices are merely exemplary embodiments or examples, and the scope of the present invention is not limited by these embodiments or examples, but is only limited by the claims after authorization and their equivalents. Various elements in the embodiments or examples may be omitted or replaced by their equivalents. In addition, the steps may be performed in an order different from that described in this disclosure. Further, the various elements in the embodiments or examples may be combined in various ways. It is important that as technology evolves, many of the elements described herein may be replaced by equivalent elements that appear after this disclosure.

Claims

1. A court marking robot, characterized in that: include: The robot main module includes: A vehicle body, with drive wheels mounted on both sides of the vehicle body; A servo motor assembly is connected to the driving wheel through a coupling; A 3D camera, fixed to the vehicle body, for identifying concave and convex areas of the site and historically marked areas; a spraying device, mounted on the vehicle body, comprising a nozzle; A positioning module is installed on the vehicle body and uses an RTK module or a GPS module to obtain the robot coordinates in real time; A communication module, mounted on the vehicle body, supporting wireless data transmission; The controller computer is installed on the vehicle body and is electrically connected to: Connected to the communication module, used to receive the stadium template input by the user; Connected to the 3D camera, the controller computer plans an avoidance path or safe parking based on its perception data, triggering a safe stop in unavoidable risk areas; and compensating for baseline deviations caused by historical marking residues; Connected to the positioning module, used to obtain real-time coordinate data, align the vehicle's actual positioning coordinate system with the user input or the preset stadium template in the template library, and generate a motion trajectory; Connected to the servo motor assembly to drive the vehicle body to move along the motion trajectory; Connected with the spraying device, it performs marking operations.

2. The court marking robot according to claim 1, characterized in that: The robot further comprises: A material storage box is installed on the vehicle body and connected to the spraying device for providing paint; a peristaltic pump, mounted on the vehicle body, the spraying device being connected to the material storage box via the peristaltic pump, for supplying the paint in the material storage box to the spraying device; Wherein, the controller computer is electrically connected to and controls the controller of the peristaltic pump.

3. The court marking robot according to claim 1, characterized in that: An omnidirectional wheel is provided at the front end of the lower side of the vehicle body, and an omnidirectional movement system is formed in combination with the driving wheel.

4. The court marking robot according to claim 1, characterized in that: The 3D camera is installed at the front end of the vehicle body through a camera frame.

5. The court marking robot according to claim 1, characterized in that: The RTK module includes an RTK head, which is mounted on the vehicle body via an RTK bracket, and the RTK head has a built-in gyroscope.

6. The court marking robot according to any one of claim 1, characterized in that: The spraying device further comprises a lifting and adjusting mechanism connected to the nozzle, and the lifting and adjusting mechanism adjusts the height of the nozzle.

7. A marking method based on the robot according to any one of claims 1 to 6, characterized in that: include: S1. Loading a preset court graphic template input by a user or from a template library; Calibrate the operation starting point of the preset template with the real-time coordinates obtained by the positioning module; Align the vehicle's actual positioning coordinate system with the preset course template through the controller computer; S2, using a 3D camera to identify the concave and convex areas of the site and the historically marked areas; Based on the above perception data, the controller computer plans an avoidance path or safe parking, and triggers a safe shutdown in unavoidable risk areas; Compensate and correct the benchmark deviation caused by historical marking residues; S3, the controller computer generates the motion trajectory and the corresponding spray parameter set; S4, the controller computer controls the servo motor assembly to drive the vehicle body to execute the motion trajectory; The controller computer controls the spraying device to perform the marking operation.

8. The marking method according to claim 7, wherein: It also includes S5, scanning the marked area twice through a 3D camera, comparing the scanned data with the preset line width parameters; marking the area where the line width error exceeds the preset value and generating a re-spraying path, and then performing re-spraying.

9. The marking method according to claim 7, wherein: Before the step S4 is started, a system self-check is performed to verify the communication status of the servo motor assembly, the positioning module and the 3D camera.

10. The marking method according to claim 7, wherein: The spraying parameter set includes line width control instructions and paint flow control instructions; The line width control instruction is used to control the lifting and adjusting mechanism to adjust the nozzle height according to the line width; The coating flow control instruction is used to adjust the coating flow according to the path curvature.

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