Road sign spraying robot control system

Abstract

The invention provides a road sign spraying robot control system which comprises a power module, a positioning module, a spraying module and a control module, the power module is connected with a wheel through a flange plate by a direct current gear motor and transmits power to the wheel to enable the wheel to rotate to complete movement of the whole robot, and the positioning module is composed of a GPS and an acoustic radar. The robot can reach the operation position more accurately through a double-positioning system composed of the two, the device driving direction is determined through Beidou high-precision positioning and ultrasonic radar auxiliary positioning, due to the fact that the positioning precision and urban buildings shield signals, the device is more accurate in driving through ultrasonic radar auxiliary positioning, and the robot can reach the operation position more accurately. Meanwhile, a three-axis platform is additionally arranged, distortion is compensated, the spraying precision is ensured, the fan-shaped chord length is changed by changing the ground clearance of a spray head, the flow is controlled in cooperation with a throttling valve, and uniform spraying of thickness-variable patterns is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and in particular to a road sign spraying robot control system. Background Art

[0002] The road marking spraying robot project was born out of the growing demand for urban transportation infrastructure and the constant pursuit of construction efficiency and quality. With the accelerating pace of urbanization, road construction and maintenance have become an integral part of urban management. Road marking is crucial for ensuring traffic safety, optimizing traffic flow, and enhancing the city's image. However, traditional manual marking methods face a series of challenges, including low efficiency, inconsistent quality, and high safety risks.

[0003] First, traditional road marking usually relies on manual operation, which requires a lot of manpower and time. This not only increases construction costs, but is also easily restricted by weather and environmental conditions, resulting in a long construction period and affecting the normal progress of road construction.

[0004] Secondly, manual road marking is easily affected by the technical level and professional quality of the construction workers, and there are problems such as non-standard and inaccurate marking, and even misalignment and blurring, which affect the visibility and recognition of road markings and increase the risk of traffic accidents.

[0005] Furthermore, the traditional road marking painting method has certain safety hazards. Construction workers need to work on roads with heavy traffic, which is prone to traffic accidents. Especially at night or in bad weather conditions, visibility is poor and the safety risks are more prominent. Therefore, in order to solve the problems existing in the traditional road marking painting method and improve construction efficiency, quality and safety, intelligent road spraying robots came into being. This project aims to use advanced technical means, such as lidar, cameras, autonomous navigation algorithms, etc., to develop a robot system that can autonomously paint road markings, so as to realize the automation, intelligence and precision of the construction process. Summary of the Invention

[0006] (1) Technical problems solved

[0007] In response to the shortcomings of the existing technology, the present invention provides a road sign spraying robot control system, which solves the problem that the existing road sign spraying robots rely on manual operation. Manual road marking painting is easily affected by the technical level and professional quality of the construction workers, and there are problems such as non-standard and inaccurate painting.

[0008] (2) Technical solution

[0009] To achieve the above objectives, the present invention is implemented through the following technical solutions: A road sign spraying robot control system includes a power module, a positioning module, a spraying module and a control module;

[0010] The power module is connected to the wheels through a flange plate by a DC reduction motor, which transmits power to the wheels, causing them to rotate and complete the movement of the entire robot;

[0011] The positioning module is composed of GPS and acoustic radar. The dual positioning system composed of the two enables the robot to reach the working position more accurately.

[0012] The spraying module consists of a nozzle, a guide rail, a 42 stepper motor, a throttle valve and a lifting platform. The nozzle is a 65° fan-shaped nozzle, which can increase the spraying area and improve the spraying efficiency when the flow rate is the same;

[0013] The control module is composed of a self-developed circuit board, matched with a GRBL host computer, and realizes communication between the graphics and the nozzle based on G code. It is driven by a DRV8825 stepper motor, which drives the stepper motor with 32 subdivisions and 3200 pulses per circle to increase control accuracy.

[0014] Preferably, the power module also includes a roller control system. During the spraying process, the walking speed needs to be controlled and the vehicle needs to be stopped directly when necessary. After the sensing system and the dual positioning system transmit information to the roller control system, the system transmits a signal to the walking device. The power is provided by four independent DC reduction motors, and the power is transmitted to the roller through the flange. The independent motors can realize differential steering, reduce the turning radius, and improve the spraying accuracy.

[0015] Preferably, the positioning module further includes a three-axis positioning platform, which specifically includes an X / Y plane moving platform and a Z-axis vertical moving platform. The Z-axis is powered by a 42 stepper motor to control the vertical movement of the nozzle to change the fan chord length. The X / Y axis is used to compensate for the image distortion caused by the turning spraying on the vehicle. Specifically:

[0016] A rotates clockwise, B rotates counterclockwise, and the robot moves toward the +Y axis;

[0017] A rotates counterclockwise, B rotates clockwise, and the robot moves toward the -Y axis;

[0018] A rotates clockwise, B rotates clockwise, and the robot moves toward the +X axis;

[0019] A rotates counterclockwise, B rotates counterclockwise, and the robot moves toward the -X axis.

[0020] Preferably, the dual positioning system will arrive at the working area according to the GPS positioning. In order to ensure that the spray pattern is positioned correctly, the robot will automatically turn on the radar ranging to detect the distance between the vehicle body and both sides of the road, and make the difference in distance between the two ends within a certain threshold range. If the threshold is exceeded, it will automatically judge and return the vehicle body to the center of the road to ensure that it is in the center of the road.

[0021] Preferably, when the spraying module is spraying straight road signs, the vehicle body moves forward and the nozzle works normally; when the machine is spraying curved road signs, the spraying distortion is easy to occur due to the large turning radius of the vehicle, so the platform will move along the x / y axis at the same time to compensate for the distortion and ensure the spraying accuracy; when the machine is spraying arrow road signs, the nozzle lifting platform changes the ground clearance of the nozzle to change the fan chord length, and cooperates with the throttle valve to control the flow rate to achieve uniform spraying of coarse and fine patterns, thereby spraying the arrow road signs more evenly.

[0022] Preferably, the self-developed GRBL-adapted host computer circuit board in the control module realizes the communication between the pattern and the nozzle through G code, realizes the communication between the host computer and the circuit board through the serial port, and adopts DRV8825 stepper motor drive.

[0023] Preferably, the guide rails in the spraying module can flexibly move in the X and Y axes parallel to the road according to different patterns, and are powered by 42 stepper motors, which have two phases, each phase has a phase difference of 90 degrees, and one phase is excited for one step. Each stepper motor can produce precise stepping motion to achieve high efficiency and precise line drawing effect.

[0024] Preferably, the lifting platform in the spraying module can adjust the height of the nozzle through a 42-step motor to change the fan-shaped chord length to achieve road sign pattern spraying with varying thickness, and at the same time change the flow rate through a throttle valve to achieve uniformity in spraying.

[0025] Working Principle: The device uses GPS to determine its route and location. Due to GPS positioning's latency, relatively low accuracy, and signal obstruction, this device incorporates a radar ranging system. When the difference in ranging between the two radar signals exceeds a threshold, the wheels are controlled to adjust the vehicle's posture, ensuring driving accuracy. The driving system consists of four DC reduction motors connected to rollers via flanges, transmitting power to the wheel axles. These four independent motors enable differential steering, providing high flexibility. However, when encountering road signs with significant curvature variations, the differential steering control accuracy falls short of design requirements. Therefore, an X / Y-axis mobile platform is added to compensate for the distortion caused by differential steering. The X / Y axis moving platform is powered by a 42 stepper motor, which uses a stepper belt and a 2GT driving wheel to transmit power. NSK linear bearings are used to reduce friction and achieve planar movement to compensate for the image distortion caused by the turning of the car body during spraying. The Z axis controls the lifting and lowering of the nozzle. The nozzle adopts a 65° fan nozzle, which can increase the spraying area at the same flow rate. It is linked with the lifting platform to achieve the spraying of road signs with varying thickness by changing the chord length of the fan, such as the spraying of road signs. The control of the equipment adopts a self-developed circuit board to achieve communication with the host computer GRBL. INKSCAPE uses grayscale to achieve image conversion, and converts the converted lines into G code that can be recognized by GRBL. The host computer then converts the G code into a pulse signal to control the stepper motor. The serial port prevents signal loss and improves the signal transmission speed. The designed serial port wave rate is 115200. The stepper motor is controlled by DRV8825, achieving 32 subdivisions and 3200 pulses per circle. The pulse equivalent is: 1.8° / 32=0.05625° (1.8° is the step angle of the stepper motor). Therefore, fine control can be achieved, making spraying more accurate.

[0026] (3) Beneficial effects

[0027] The present invention provides a road sign spraying robot control system. It has the following beneficial effects:

[0028] 1. The present invention adopts Beidou high-precision positioning plus ultrasonic radar assisted positioning to determine the general direction of the equipment. Due to the positioning accuracy and signal shielding by urban buildings, ultrasonic radar assisted positioning makes the equipment travel more accurate. At the same time, a three-axis platform is added to compensate for distortion and ensure spraying accuracy. By changing the ground clearance of the nozzle to change the fan-shaped chord length, and using a throttle valve to control the flow rate, uniform spraying of varying patterns of thickness can be achieved.

[0029] 2. The present invention adopts an intelligent remote control system. The machine can be connected to the Internet through a WIFI module and has its own database. During use, it can be remotely controlled by a computer to achieve intelligent management. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1This is a schematic diagram of the overall structure of an actual product of a road sign spraying robot control system proposed in the present invention;

[0031] Figure 2 This is a flow chart of the walking system of a road sign spraying robot control system proposed by the present invention;

[0032] Figure 3 This is a schematic diagram of the stepping belt winding of a road sign spraying robot control system proposed in the present invention;

[0033] Figure 4 This is a flow chart of the dual positioning system of the road sign spraying robot control system proposed by the present invention;

[0034] Figure 5 This is a flow chart of turning and pointing road sign spraying of a road sign spraying robot control system proposed by the present invention;

[0035] Figure 6 This is a schematic diagram of the self-developed circuit board of the road sign spraying robot control system proposed by the present invention;

[0036] Figure 7 This is a circuit wiring diagram of a control module of a road sign spraying robot control system proposed in the present invention. DETAILED DESCRIPTION

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0038] Example:

[0039] like Figure 1-7 As shown, an embodiment of the present invention provides a road sign spraying robot control system, including a power module, a positioning module, a spraying module and a control module;

[0040] The power module is connected to the wheels through a flange plate by a DC reduction motor, which transmits power to the wheels, causing them to rotate and completing the movement of the entire robot;

[0041] The positioning module is composed of GPS and acoustic radar. The dual positioning system composed of the two enables the robot to reach the working position more accurately.

[0042] The spraying module consists of a nozzle, guide rails, a 42-step motor, a throttle valve and a lifting platform. The nozzle is a 65° fan-shaped nozzle, which can increase the spraying area and improve the spraying efficiency at the same flow rate.

[0043] The control module is made of a self-developed circuit board and matched with a GRBL host computer. It realizes communication between graphics and the nozzle based on G code. It is driven by a DRV8825 stepper motor, which drives the stepper motor with 32 subdivisions and 3200 pulses per circle to increase control accuracy.

[0044] The power module also includes a roller control system. During the spraying process, the walking speed needs to be controlled and the vehicle needs to be stopped directly when necessary. After the sensing system and the dual positioning system transmit information to the roller control system, the system transmits a signal to the walking device. It is powered by four independent DC reduction motors, which transmit power to the rollers through flanges. The independent motors can achieve differential steering, reduce the turning radius, and improve spraying accuracy.

[0045] The positioning module also includes a three-axis positioning platform. The three-axis platform consists of an X / Y plane moving platform and a Z-axis vertical moving platform. The Z-axis is powered by a 42-stepper motor to control the vertical movement of the nozzle to change the fan chord length. The X / Y axis is used to compensate for image distortion caused by turning the spraying machine. Specifically:

[0046] A rotates clockwise, B rotates counterclockwise, and the robot moves toward the +Y axis;

[0047] A rotates counterclockwise, B rotates clockwise, and the robot moves toward the -Y axis;

[0048] A rotates clockwise, B rotates clockwise, and the robot moves toward the +X axis;

[0049] A rotates counterclockwise, B rotates counterclockwise, and the robot moves toward the -X axis.

[0050] The dual positioning system will arrive at the working area according to the GPS positioning. In order to ensure the correct position of the spray pattern, the robot will automatically turn on the radar ranging to detect the distance between the vehicle body and the two sides of the road, and make the difference between the two ends of the distance within a certain threshold range. If the threshold is exceeded, the robot will automatically judge and return the vehicle body to ensure that it is in the center of the road. For example: the specified algorithm:

[0051] Distance on the left side of the vehicle body - distance on the right side of the vehicle body = distance deviation;

[0052] Specified thresholds: right yaw threshold -20mm left yaw threshold +20mm;

[0053] If the distance deviation is less than -20, the vehicle body is judged to be yawed to the right, and the system will control the vehicle body to adjust to the right;

[0054] If the distance deviation is >+20, the vehicle body is judged to be yawed to the left, and the system will control the vehicle body to adjust to the right.

[0055] When the machine is spraying straight road signs, the vehicle body moves forward and the nozzle works normally; when the machine is spraying curved road signs, the large turning radius of the vehicle can easily cause spraying distortion, so the platform will move along the x / y axis simultaneously to compensate for the distortion and ensure spraying accuracy; when the machine is spraying arrow road signs, the nozzle lifting platform changes the nozzle ground clearance to change the fan chord length, and uses a throttle valve to control the flow rate to achieve uniform spraying of coarse and fine patterns, thereby spraying the arrow road signs more evenly.

[0056] The self-developed GRBL-adapted host computer circuit board in the control module realizes the communication between the pattern and the nozzle through G code, and the communication between the host computer and the circuit board is realized through the serial port. It adopts DRV8825 stepper motor drive.

[0057] The guide rails in the spraying module can flexibly move in the X and Y axes parallel to the road according to different patterns. They are powered by 42 stepper motors, which have two phases, each with a phase difference of 90 degrees. One step is the excitation of one phase. Each stepper motor can produce precise stepping motion to achieve high efficiency and accurate line drawing effect.

[0058] The lifting platform in the spraying module can adjust the height of the nozzle through a 42-step motor to change the fan-shaped chord length to achieve road sign pattern spraying with varying thicknesses. At the same time, the flow rate is changed through the throttle valve to achieve uniform spraying.

[0059] The above-mentioned road sign spraying robot can be used in the following fields:

[0060] 1. Urban road management department:

[0061] (1) Road management departments can use road spraying robots to maintain road markings, including refreshing and repairing existing markings, to improve road safety and overall aesthetics.

[0062] (2) Road management departments can use road spraying robots to carry out road marking construction in new roads or road reconstruction projects to ensure the standardization and regularization of road markings.

[0063] (3) Road management departments can also use road spraying robots to control road traffic flow and adjust lane width and lane separation line positions as needed.

[0064] 2. Transportation sector:

[0065] (1) The transportation department can use road painting robots to spray traffic signs, including speed limit signs, traffic signs, etc., to improve the information communication effect of the road.

[0066] (2) Transportation departments can use road spraying robots to carry out road signal light marking construction, ensure the accurate positioning of signal lights, and improve the visibility and accuracy of traffic signals.

[0067] (3) Transportation departments can also use road spraying robots to mark temporary traffic instructions on roads, such as traffic guidance signs for construction sections.

[0068] 3. Construction Company:

[0069] (1) Construction companies can use road spraying robots to carry out road marking and identification work in road construction areas, improving the safety and orderliness of the construction site.

[0070] (2) Construction companies can use road spraying robots to spray temporary traffic guidance signs at construction sites to ensure the safe passage of vehicles and pedestrians in the construction area.

[0071] (3) Construction companies can also use road spraying robots to mark construction progress and other relevant information at the construction site to facilitate project management and supervision.

[0072] To summarize, the core user use cases of road painting robots include road management departments, transportation departments, and construction companies. They can use road painting robots to improve the construction efficiency, quality, and safety level of road markings and signs, thereby improving the work results of urban traffic management and road construction.

[0073] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A road sign spraying robot control system, characterized in that: Including power module, positioning module, spray module and control module; The power module is connected to the wheels through a flange plate by a DC reduction motor, which transmits power to the wheels, causing them to rotate and complete the movement of the entire robot; The positioning module is composed of GPS and acoustic radar. The dual positioning system composed of the two enables the robot to reach the working position more accurately. The spraying module consists of a nozzle, a guide rail, a 42 stepper motor, a throttle valve and a lifting platform. The nozzle is a 65° fan-shaped nozzle, which can increase the spraying area and improve the spraying efficiency when the flow rate is the same; The control module is composed of a self-developed circuit board, matched with a GRBL host computer, and realizes communication between the graphics and the nozzle based on G code. It is driven by a DRV8825 stepper motor, which drives the stepper motor with 32 subdivisions and 3200 pulses per circle to increase control accuracy.

2. A road sign spraying robot control system according to claim 1, characterized in that: The power module also includes a roller control system. During the spraying process, the walking speed needs to be controlled and the machine needs to stop directly when necessary. After the sensing system and the dual positioning system transmit information to the roller control system, the system transmits a signal to the walking device. The power is provided by four independent DC reduction motors, and the power is transmitted to the rollers through the flange. The independent motors can realize differential steering, reduce the turning radius, and improve the spraying accuracy.

3. A road sign spraying robot control system according to claim 1, characterized in that: The positioning module also includes a three-axis positioning platform, which specifically consists of an X / Y plane moving platform and a Z-axis vertical moving platform. The Z-axis is powered by a 42-stepping motor to control the vertical movement of the nozzle to change the fan chord length. The X / Y axis is used to compensate for image distortion caused by turning the spraying machine. Specifically: A rotates clockwise, B rotates counterclockwise, and the robot moves toward the +Y axis; A rotates counterclockwise, B rotates clockwise, and the robot moves toward the -Y axis; A rotates clockwise, B rotates clockwise, and the robot moves toward the +X axis; A rotates counterclockwise, B rotates counterclockwise, and the robot moves toward the -X axis.

4. The road sign spraying robot control system according to claim 1, characterized in that: The dual positioning system will arrive at the working area according to the GPS positioning. In order to ensure the correct position of the spray pattern, the robot will automatically turn on the radar ranging to detect the distance between the vehicle body and the two sides of the road, and make the difference between the two ends of the distance within a certain threshold range. If the threshold is exceeded, the robot will automatically judge and return the vehicle body to ensure that it is in the center of the road.

5. The road sign spraying robot control system according to claim 1, characterized in that: When the spraying module is spraying straight road signs, the vehicle body moves forward and the nozzle works normally; when the machine is spraying curved road signs, the turning radius of the vehicle is too large, which is easy to cause spraying distortion. Therefore, the platform will move along the x / y axis at the same time to compensate for the distortion and ensure spraying accuracy. When the machine is spraying arrow road signs, the nozzle lifting platform changes the nozzle ground clearance to change the fan chord length, and uses a throttle valve to control the flow rate to achieve uniform spraying of patterns with varying thicknesses, thereby spraying the arrow road signs more evenly.

6. The road sign spraying robot control system according to claim 1, characterized in that: The control module is equipped with a self-developed GRBL-adapted host computer circuit board, which realizes the communication between the pattern and the nozzle through G code, and the communication between the host computer and the circuit board through the serial port. It is driven by a DRV8825 stepper motor.

7. The road sign spraying robot control system according to claim 1, characterized in that: The guide rails in the spraying module can flexibly move in the X and Y axes parallel to the road according to different patterns. They are powered by 42 stepper motors, which have two phases, each with a phase difference of 90 degrees. One step is the excitation of one phase. Each stepper motor can produce precise stepping motion to achieve high-efficiency and accurate line drawing effects.

8. The road sign spraying robot control system according to claim 1, characterized in that: The lifting platform in the spraying module can adjust the height of the nozzle through a 42-step motor to change the fan-shaped chord length to achieve road sign pattern spraying with varying thicknesses, while changing the flow rate through a throttle valve to achieve uniformity in spraying.

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