Marking line spraying robot suitable for expressway and marking line spraying method

Abstract

The invention relates to the technical field of expressway maintenance, and discloses a marking spraying robot suitable for an expressway and a marking spraying method. Walking wheels are arranged at the bottom of a base; the laser output end of the laser softening mechanism faces the expressway surface and is used for heating the old marking line to a softened state; the water jet output end of the high-pressure water jet mechanism faces the expressway surface and is used for removing the old marking line in the softened state from the expressway surface; the spraying end of the marked line spraying mechanism faces the expressway surface and is used for spraying on the expressway surface with the old marked line removed to form a new marked line, and the new marked line is located at the original position of the old marked line. The viscosity of the old marked line is reduced in a laser heating softening mode, then feasible conditions are provided for high-pressure water jet cleaning of the old marked line, and the laser softening-high-pressure water jet cleaning integrated old marked line cleaning function is achieved; the cleaning structure of the old marked line and the spraying structure of the new marked line are integrated, and cleaning of the old marked line and spraying of the new marked line can be efficiently completed.

Description

Technical Field

[0001] This invention relates to the field of highway maintenance technology, and in particular to a road marking spraying robot and a road marking spraying method suitable for highways. Background Technology

[0002] In the daily maintenance of highways, because highway markings are subjected to vehicle traffic for a long time, new markings need to be sprayed when they become unclear in order to ensure that the markings on the highway are clear and accurate, and to help drivers understand the lane information of the highway in a timely manner.

[0003] Current construction methods typically involve mechanically shot blasting or milling to remove old road markings, cleaning up the debris, and then manually or using a vehicle-mounted marking machine to spray new markings onto the original locations, or directly spraying new markings onto the old ones. These methods are labor-intensive and inefficient, leading to excessively long highway closures and disrupting normal highway use. Furthermore, spraying new markings onto old ones results in an abnormally high road surface, affecting traffic flow and reducing the bond strength between the new markings and the road surface.

[0004] Therefore, how to provide an efficient road marking spraying equipment and method suitable for highways is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a road marking spraying robot and a road marking spraying method suitable for highways, so as to solve the problems existing in the prior art.

[0006] To achieve the above objectives, the present invention provides a road marking spraying robot suitable for highways, comprising:

[0007] The base has wheels at its bottom;

[0008] The laser softening mechanism is mounted on the base, with its laser output end facing the highway surface, and is used to heat the old road markings to a softened state.

[0009] The high-pressure water jet mechanism is mounted on the base, with its water jet output end facing the highway surface, and is used to remove softened old road markings from the highway surface.

[0010] The road marking spraying mechanism is mounted on a base with its spraying end facing the highway surface. It is used to spray new road markings on highway surfaces where old road markings have been removed, with the new markings remaining in the original position of the old markings.

[0011] Furthermore, it also includes:

[0012] An image acquisition mechanism is located at the front end of the base, with its acquisition end facing the highway surface. The image acquisition mechanism can monitor the position of the laser softening mechanism, the high-pressure water jet mechanism, and the road marking spraying mechanism relative to the highway surface. When the base moves along the highway surface, the image acquisition mechanism can acquire image data of the old road markings.

[0013] The control center has an image processing module. The image acquisition mechanism sends the image data of the old road markings to the control center. After processing by the image processing module, the geometric feature information of the old road markings relative to the highway surface is obtained. Based on the geometric feature information of the old road markings, the control center sequentially controls the laser softening mechanism to heat the old road markings to a softened state, controls the high-pressure water jet mechanism to remove the softened old road markings from the highway surface, and controls the marking spraying mechanism to spray new road markings on the highway surface where the old road markings have been removed.

[0014] Furthermore, the marking spraying mechanism includes:

[0015] A first dual-axis moving platform is mounted on the base;

[0016] A road marking spray gun is mounted on the first dual-axis moving platform and connected to the road marking paint tank. The road marking paint tank is mounted on the base, and the base has a first through hole corresponding to the road marking spray gun. The spraying end of the road marking spray gun extends from the first through hole to the bottom of the base. The control center controls the first dual-axis moving platform to move the road marking spray gun according to the geometric feature information of the old road marking. The road marking spray gun sprays new road markings in the original position of the old road markings.

[0017] Furthermore, the first dual-axis mobile platform includes:

[0018] Two first slide rails are arranged parallel to each other on the support column along the moving direction of the base, and the support column is vertically set on the base;

[0019] A movable plate is slidably connected to the first slide rail via pulleys. The movable plate is connected to a drive cylinder, which is mounted on a support column and can drive the movable plate to slide along the first slide rail.

[0020] The second slide rail has its two ends fixed to the inner side of the movable plate on the two first slide rails respectively;

[0021] The mounting plate is slidably connected to the second slide rail, and the marking spray gun is mounted on the mounting plate;

[0022] A lead screw motor has an output end connected to an adjusting lead screw, which is threadedly connected to the mounting plate. The lead screw motor is used to drive the mounting plate to move along the second slide rail.

[0023] Furthermore, the laser softening mechanism includes:

[0024] A second dual-axis moving platform is mounted on the base;

[0025] A laser generator is mounted on the second dual-axis moving platform. The base has a second through hole corresponding to the laser generator, and the laser output end of the laser generator extends from the second through hole to the bottom of the base.

[0026] Furthermore, the high-pressure water jet mechanism includes:

[0027] The water tank is mounted on the base.

[0028] A water jet nozzle is located at the bottom of the base. The water jet nozzle is connected to the water tank through a connecting pipe. A high-pressure water pump is installed at the connection point. The water jet nozzle is located between the marking spray gun and the laser generator.

[0029] Furthermore, it also includes:

[0030] A baffle, located between the water jet nozzle and the laser generator, is vertically mounted on the base. When the baffle moves down, it can be inserted into the softened old road markings and connect with the highway surface. The old road markings are divided into two sections by the baffle, one of which corresponds to the water jet nozzle.

[0031] Furthermore, the baffle is an arc-shaped baffle with one side of the baffle corresponding to the water jet nozzle recessed inward. The top of the baffle passes through the base and is connected to the telescopic rod of the telescopic motor, which is mounted on the support column.

[0032] Furthermore, it also includes:

[0033] A purging mechanism, located at the front end of the base, is used to remove impurities from the old markings.

[0034] This invention also provides a method for spraying road markings suitable for highways, using a road marking spraying robot suitable for highways, comprising the following steps:

[0035] S1: The base moves along the highway road surface and removes impurities from the old road markings through the blowing mechanism;

[0036] S2: The base continues to move. During the movement, the image acquisition mechanism collects image data of the old road markings and sends the image data of the old road markings to the control center. After processing by the image processing module, the geometric feature information of the old road markings relative to the highway surface is obtained.

[0037] S3: Divide the old markings into three segments along the length direction, namely the first segment, the second segment, and the third segment. The first segment is closer to the front end of the base, and the third segment is closer to the rear end of the base.

[0038] S4: Based on the geometric features of the old road markings, the control center controls the laser softening mechanism to heat the third segment of the old road markings to a softened state. Once the third segment is softened, the base moves until the baffle corresponds to the junction of the second and third segments of the old road markings. The baffle position is confirmed by the image acquisition mechanism, and the telescopic motor is activated to separate the second and third segments of the old road markings using the baffle. Based on the geometric features of the old road markings, the control center controls the high-pressure water jet mechanism to remove the softened third segment of the old road markings from the highway surface. The water jet is blocked by the baffle and remains within the third segment of the old road markings. Step S4 is repeated to remove the third, second, and first segments of the old road markings respectively.

[0039] S5: The base moves until the marking spraying mechanism reaches the third section of the old marking. The position of the marking spraying mechanism is confirmed by the image acquisition mechanism. The control center controls the marking spraying mechanism to spray new markings on the highway surface where the old markings have been removed.

[0040] The present invention discloses the following technical effects:

[0041] 1. This invention uses laser heating to soften and reduce the stickiness of old road markings, thus providing feasible conditions for high-pressure water jet removal of old road markings. It realizes an integrated old road marking removal function of laser softening and high-pressure water jet removal, without affecting the highway surface. In addition, this invention integrates the old road marking removal structure with the new road marking spraying structure, which can efficiently complete the removal of old road markings and the spraying of new road markings. Compared with the prior art, the work efficiency is improved, which can reduce the closure time of highways and avoid affecting vehicle traffic.

[0042] 2. By acquiring the geometric feature information of the old road markings through the image acquisition mechanism and control center, the laser heating path of the laser softening mechanism, the water jet output position of the high-pressure water jet mechanism, and the spraying path of the road marking spraying mechanism can be controlled according to the geometric feature information of the old road markings, so as to achieve the precise removal of the old road markings and the precise spraying of the new road markings, ensuring that the new road markings are located in the original position of the old road markings after spraying.

[0043] 3. To address the issue of long highway markings, this invention segments the old markings. After laser softening a segment of the old markings, it is immediately removed by water jet. At the same time, baffles are used to separate adjacent segments to prevent the water jet from affecting the laser softening process of adjacent segments.

[0044] 4. Both the laser softening mechanism and the road marking spraying mechanism are equipped with dual-axis moving platforms, which can improve the movement flexibility of the structure, respond to the path rail of the control center and avoid repeated movement of the base, and can also be adapted to the long road markings of highways. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 It is a schematic diagram of the structure of the present invention;

[0047] Figure 2 This is a schematic diagram of the first dual-axis moving platform;

[0048] Figure 3 This is a schematic diagram of the baffle.

[0049] The components include: 1. Base; 2. Wheels; 3. Image acquisition mechanism; 4. First dual-axis moving platform; 401. First slide rail; 402. Support column; 403. Moving plate; 404. Drive cylinder; 405. Second slide rail; 406. Mounting plate; 407. Screw motor; 408. Adjusting screw; 5. Marking spray gun; 6. Hose; 7. Marking paint tank; 8. Second dual-axis moving platform; 9. Laser generator; 10. Water tank; 11. Water jet nozzle; 12. Baffle; 13. Blowing mechanism. Detailed Implementation

[0050] Among the existing technologies retrieved:

[0051] Patent CN115491964B discloses a highway marking construction device, aiming to solve the problem of inconsistent marking thickness caused by changes in vehicle speed in existing vehicle-mounted spraying devices. It achieves uniform, clear, and smooth marking thickness through the following technical solutions:

[0052] 1. Height-adaptive lifting assembly

[0053] The lifting slide plate slides along the fixed grooved wheel rod and contacts the road surface through the traveling wheels, adjusting the distance between the fixed nozzle and the road surface in real time to ensure that the nozzle height is always consistent, thus adapting to uneven road conditions.

[0054] 2. Speed-adaptive material conveying control mechanism

[0055] The rotational speed of the traveling wheels is converted into the rotational speed of the rotating trough plate through bevel gear transmission. Centrifugal force is used to adjust the position of the sliding blocking rod, thereby dynamically controlling the output of the fixed nozzle.

[0056] At high vehicle speeds: increased centrifugal force → the sliding blockage rod moves backward → the nozzle channel widens → the amount of paint sprayed increases, preventing the markings from being too thin.

[0057] When the vehicle speed is slow: the centrifugal force decreases → the sliding blockage rod moves forward → the nozzle channel narrows → the amount of paint sprayed is reduced, avoiding excessively thick markings.

[0058] 3. Paint activity retention and road surface cleaning assistance functions

[0059] The fan blade agitation mechanism (worm gear drive) prevents paint sedimentation and ensures continuous spraying.

[0060] The air pump jet device uses compressed air to blow away dust from the road surface, improving paint adhesion.

[0061] 4. Mechanical structure integration

[0062] Combined with a screw pump (active / driven skew screw), it stably delivers paint, a return pipe recovers excess paint, and a one-way valve prevents backflow.

[0063] This patent achieves high-quality construction of new road markings through highly adaptive spraying and vehicle speed-linked material supply, but its technical boundaries are strictly limited to the new road marking spraying scenario and cannot remove old road markings.

[0064] 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.

[0065] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0066] like Figures 1-3 As shown, this embodiment of the invention provides a road marking spraying robot suitable for highways, comprising:

[0067] The base 1 has wheels 2 at its bottom and can be fitted with an outer shell, a driver's cab, etc., to form a complete vehicle body structure. The base 1 has a certain distance from the highway surface.

[0068] A laser softening mechanism is set on the base 1, with its laser output end facing the highway road surface, and is used to heat the old road markings to a softened state.

[0069] A high-pressure water jet mechanism is installed on the base 1, with its water jet output end facing the highway surface, and is used to remove the softened old road markings from the highway surface.

[0070] The road marking spraying mechanism is set on the base 1, with its spraying end facing the highway surface. It is used to spray new road markings on the highway surface where the old road markings have been removed, and the new road markings are in the original position of the old road markings.

[0071] In this embodiment, it also includes:

[0072] Image acquisition mechanism 3 is located at the front end of base 1, with its acquisition end facing the highway road surface. Image acquisition mechanism 3 uses a wide-angle camera, which can acquire images over a wide area. It can monitor the position of laser softening mechanism, high-pressure water jet mechanism and marking spraying mechanism relative to the highway road surface. When base 1 moves along the highway road surface, image acquisition mechanism 3 can acquire image data of old markings.

[0073] The control center, equipped with an image processing module, receives image data of the old road markings from image acquisition unit 3. After processing by the image processing module, the geometric features of the old road markings relative to the highway surface are obtained. Based on this information, the control center sequentially controls a laser softening mechanism to heat the old road markings to a softened state, a high-pressure water jet mechanism to remove the softened markings from the highway surface, and a marking spraying mechanism to spray new markings onto the removed surface. The specific principles of the image processing module and the algorithm for acquiring the geometric features of the highway surface utilize existing technology and will not be elaborated upon here.

[0074] In this embodiment, the marking spraying mechanism includes:

[0075] The first dual-axis moving platform 4 is mounted on the base 1;

[0076] The road marking spray gun 5 is mounted on the first dual-axis moving platform 4 and connected to the road marking paint tank 7 via a hose 6. The road marking paint tank 7 is mounted on a base 1, and the base 1 has a first through hole corresponding to the road marking spray gun 5. The spraying end of the road marking spray gun 5 extends from the first through hole to the bottom of the base 1. The control center controls the first dual-axis moving platform 4 to move the road marking spray gun 5 according to the geometric characteristics of the old road markings. The road marking spray gun 5 sprays new road markings in the original position of the old road markings. It should be noted that the first through hole can accommodate the maximum range of movement of the road marking spray gun 5, and the hose 6 can move together with the road marking spray gun 5. The paint is pumped from the road marking paint tank 7 to the road marking spray gun 5 by a plunger pump. The road marking spray gun 5 is opened by controlling the air pressure switch, thereby spraying the paint onto the highway surface.

[0077] In this embodiment, the first dual-axis moving platform 4 includes:

[0078] Two first slide rails 401 are arranged parallel to each other on the support column 402 along the moving direction of the base 1, and the support column 402 is vertically set on the base 1.

[0079] The movable plate 403 is slidably connected to the first slide rail 401 via pulleys. The movable plate 403 is connected to the drive cylinder 404, which is mounted on the support column 402 and can drive the movable plate 403 to slide along the first slide rail 401.

[0080] The second slide rail 405 has its two ends fixed to the inner side of the movable plate 403 on the two first slide rails 401 respectively.

[0081] Mounting plate 406 is slidably connected to second slide rail 405, and marking spray gun 5 is mounted on mounting plate 406;

[0082] The lead screw motor 407 has an adjusting lead screw 408 connected to its output end. The adjusting lead screw 408 is threadedly connected to the mounting plate 406. The lead screw motor 407 is used to drive the mounting plate 406 to move along the second slide rail 405.

[0083] The first slide rail 401 and the second slide rail 405 are perpendicular to each other, thereby enabling the marking spray gun 5 to be freely adjusted in the horizontal direction.

[0084] In this embodiment, the laser softening mechanism includes:

[0085] The second dual-axis moving platform 8 is mounted on the base 1;

[0086] A laser generator 9 is mounted on a second dual-axis moving platform 8. A second through hole is provided on the base 1 corresponding to the laser generator 9. The laser output end of the laser generator 9 extends from the second through hole to the bottom of the base 1.

[0087] The second dual-axis moving platform 8 has a similar structure to the first dual-axis moving platform 4. It can enable the laser generator 9 to be freely adjusted in the horizontal direction. The laser generator 9 and the marking spray gun 5 can plan their movement paths through the control center according to the shape of the old and new markings, thereby completing the laser heating and softening of the old markings and the spraying of the new markings.

[0088] In this embodiment, the high-pressure water jet mechanism includes:

[0089] Water tank 10 is mounted on base 1;

[0090] The water jet nozzle 11 is located at the bottom of the base 1. The water jet nozzle 11 is connected to the water tank 10 through a connecting pipe. A high-pressure water pump is installed at the connection point. The water jet nozzle 11 is located between the marking spray gun 5 and the laser generator 9.

[0091] The water jet nozzle 11 can be a rotary nozzle, and its rotation angle can be controlled by the control center, so that the water jet nozzle 11 can accurately correspond to the area where the old markings need to be removed.

[0092] In this embodiment, it also includes:

[0093] The baffle 12 is located between the water jet nozzle 11 and the laser generator 9 and can be raised and lowered on the base 1. When the baffle 12 moves down, the baffle 12 can be inserted into the softened old road marking and connect with the highway road surface. The old road marking is divided into two sections by the baffle 12, one of which corresponds to the water jet nozzle 11.

[0094] In this embodiment, the baffle 12 is an arc-shaped baffle 12 and the side of the baffle 12 corresponding to the water jet nozzle 11 is recessed inward. The top of the baffle 12 passes through the base 1 and is connected to the telescopic rod of the telescopic motor. The telescopic motor is mounted on the support column 402.

[0095] In this embodiment, it also includes:

[0096] The blowing mechanism 13 is located at the front end of the base 1 and is used to remove impurities from the old road markings. The blowing mechanism 13 includes a fan and an air outlet pipe. The air outlet pipe is inclined downward toward the highway road surface and connected to the fan. The fan blows air onto the highway road surface to remove all impurities, dust, etc. from the old road markings, thus avoiding affecting the heating effect of the laser softening mechanism.

[0097] This invention also provides a method for spraying road markings on highways, comprising the following steps:

[0098] S1: The base 1 moves along the highway road surface. The old road markings are roughly located in the central area of ​​the base 1. When the sweeping mechanism 13 moves to the location of the old road markings, the impurities, dust and other debris on the old road markings are swept away by the sweeping mechanism 13.

[0099] S2: The base 1 continues to move forward. During the movement, the image acquisition mechanism 3 acquires the image data of the old road markings and sends the image data of the old road markings to the control center. After processing by the image processing module, the geometric feature information of the old road markings relative to the highway surface is obtained.

[0100] S3: Divide the old road markings into three segments along the length direction (at least three segments, or more than three segments, the specific number of segments depends on the length of the old road markings), namely the first segment, the second segment, and the third segment. The interval between two adjacent segments is approximately equal to the distance between the laser generator 9 (when it is located in the middle of the second dual-axis moving platform 8) and the water jet nozzle 11. The first segment is closer to the front end of the base 1, and the third segment is closer to the rear end of the base 1.

[0101] S4: Based on the geometric characteristics of the old road markings, the control center controls the laser softening mechanism to heat the third segment of the old road markings to a softened state. The softening state can generally be observed with the naked eye, or it can be determined by the fact that the baffle 12 can be inserted into the old road markings and reach the highway surface. After the third segment reaches the softened state, the base 1 moves until the baffle 12 corresponds to the junction of the second and third segments of the old road markings. The position of the baffle 12 is confirmed by the image acquisition mechanism 3, and the telescopic motor is started. The baffle 12 is used to separate the second and third segments of the old road markings. Since the baffle 12 can connect with the highway surface, the second and third segments are completely separated and do not interfere with each other. Based on the geometric characteristics of the old road markings, the control center controls the high-pressure water jet mechanism to remove the softened third segment of the old road markings from the highway surface. The water jet is blocked by the baffle 12 and remains within the third segment of the old road markings. At this time, the second segment continues to undergo laser softening. Step S4 is repeated to remove the third, second, and first segments of the old road markings respectively.

[0102] S5: The base 1 moves until the marking spraying mechanism reaches the position of the third segment of the old marking. The position of the marking spraying mechanism is confirmed by the image acquisition mechanism 3. The control center controls the marking spraying mechanism to spray new markings on the highway surface where the old markings have been removed. The markings can be sprayed in the order of the third segment, the second segment, and the first segment, or the base 1 can move synchronously during the spraying process. The working mode is flexible and can be varied, with the goal of completing the spraying as quickly as possible.

[0103] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0104] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A road marking spraying robot suitable for highways, characterized in that, include: The base (1) has wheels (2) at its bottom; A laser softening mechanism is set on the base (1), with its laser output end facing the highway road surface, and is used to heat the old road markings to a softened state. A high-pressure water jet mechanism is set on the base (1), with its water jet output end facing the highway surface, and is used to remove the softened old road markings from the highway surface; The marking spraying mechanism is set on the base (1), with its spraying end facing the highway surface. It is used to spray new markings on the highway surface where the old markings have been removed, and the new markings are in the original position of the old markings.

2. The road marking spraying robot suitable for highways according to claim 1, characterized in that, Also includes: The image acquisition mechanism (3) is located at the front end of the base (1), with its acquisition end facing the highway road surface. The image acquisition mechanism (3) can monitor the position of the laser softening mechanism, the high-pressure water jet mechanism and the marking spraying mechanism relative to the highway road surface. When the base (1) moves along the highway road surface, the image acquisition mechanism (3) can acquire image data of the old markings. The control center has an image processing module. The image acquisition mechanism (3) sends the image data of the old road markings to the control center. After processing by the image processing module, the geometric feature information of the old road markings relative to the highway surface is obtained. The control center controls the laser softening mechanism to heat the old road markings to a softened state, controls the high-pressure water jet mechanism to remove the softened old road markings from the highway surface, and controls the marking spraying mechanism to spray new markings on the highway surface where the old road markings have been removed.

3. The road marking spraying robot suitable for highways according to claim 2, characterized in that, The road marking spraying mechanism includes: A first dual-axis moving platform (4) is mounted on the base (1); A road marking spray gun (5) is mounted on the first dual-axis moving platform (4) and connected to the road marking paint box (7). The road marking paint box (7) is mounted on the base (1). The base (1) has a first through hole corresponding to the road marking spray gun (5). The spraying end of the road marking spray gun (5) extends from the first through hole to the bottom of the base (1). The control center controls the first dual-axis moving platform (4) to move the road marking spray gun (5) according to the geometric feature information of the old road marking. The road marking spray gun (5) sprays the old road marking in place to form a new road marking.

4. A road marking spraying robot suitable for highways according to claim 3, characterized in that, The first dual-axis mobile platform (4) includes: Two first slide rails (401) are arranged parallel to each other on the support column (402) along the moving direction of the base (1), and the support column (402) is vertically set on the base (1); The movable plate (403) is slidably connected to the first slide rail (401) via pulleys. The movable plate (403) is connected to the drive cylinder (404), which is mounted on the support column (402) and can drive the movable plate (403) to slide along the first slide rail (401). The second slide rail (405) has its two ends fixed to the inner sides of the movable plate (403) on the two first slide rails (401); Mounting plate (406) is slidably connected to the second slide rail (405), and the marking spray gun (5) is mounted on the mounting plate (406); A lead screw motor (407) has an output end connected to an adjusting lead screw (408), which is threadedly connected to the mounting plate (406). The lead screw motor (407) is used to drive the mounting plate (406) to move along the second slide rail (405).

5. A road marking spraying robot suitable for highways according to claim 4, characterized in that, The laser softening mechanism includes: A second dual-axis moving platform (8) is mounted on the base (1); A laser generator (9) is mounted on the second dual-axis moving platform (8). The base (1) has a second through hole corresponding to the laser generator (9). The laser output end of the laser generator (9) extends from the second through hole to the bottom of the base (1).

6. A road marking spraying robot suitable for highways according to claim 5, characterized in that, The high-pressure water jet mechanism includes: A water tank (10) is mounted on a base (1); A water jet nozzle (11) is located at the bottom of the base (1). The water jet nozzle (11) is connected to the water tank (10) through a connecting pipe. A high-pressure water pump is installed at the connection point. The water jet nozzle (11) is located between the marking spray gun (5) and the laser generator (9).

7. A road marking spraying robot suitable for highways according to claim 6, characterized in that, Also includes: A baffle (12) is located between the water jet nozzle (11) and the laser generator (9) and can be raised and lowered on the base (1). When the baffle (12) moves down, the baffle (12) can be inserted into the softened old road marking and connect with the highway road surface. The old road marking is divided into two sections by the baffle (12), one of which corresponds to the water jet nozzle (11).

8. A road marking spraying robot suitable for highways according to claim 7, characterized in that, The baffle (12) is an arc-shaped baffle (12) and the side of the baffle (12) corresponding to the water jet nozzle (11) is recessed inward. The top of the baffle (12) passes through the base (1) and is connected to the telescopic rod of the telescopic motor. The telescopic motor is mounted on the support column (402).

9. A road marking spraying robot suitable for highways according to claim 8, characterized in that, Also includes: A purging mechanism (13) is located at the front end of the base (1) and is used to remove impurities from the old marking line.

10. A method for spraying road markings suitable for highways, characterized in that, The application of the road marking spraying robot for highways as described in claim 9 includes the following steps: S1: The base (1) moves along the highway road surface and removes the impurities on the old markings through the blowing mechanism (13); S2: The base (1) continues to move. During the movement, the image acquisition mechanism (3) acquires the image data of the old road markings and sends the image data of the old road markings to the control center. After processing by the image processing module, the geometric feature information of the old road markings relative to the highway surface is obtained. S3: Divide the old markings into three segments along the length direction, namely the first segment, the second segment and the third segment, wherein the first segment is close to the front end of the base (1) and the third segment is close to the rear end of the base (1); S4: Based on the geometric features of the old road markings, the control center controls the laser softening mechanism to heat the third section of the old road markings to a softened state. After the third section reaches the softened state, the base (1) moves until the baffle (12) corresponds to the junction of the second and third sections of the old road markings. The position of the baffle (12) is confirmed by the image acquisition mechanism (3), and the telescopic motor is started. The baffle (12) is used to separate the second and third sections of the old road markings. Based on the geometric features of the old road markings, the control center controls the high-pressure water jet mechanism to remove the softened third section of the old road markings from the highway surface. The water jet is blocked by the baffle (12) within the third section of the old road markings. Step S4 is repeated to remove the third, second, and first sections of the old road markings respectively. S5: The base (1) moves until the marking spraying mechanism reaches the position of the third section of the old marking. The position of the marking spraying mechanism is confirmed by the image acquisition mechanism (3). The control center controls the marking spraying mechanism to spray new markings on the highway surface where the old markings have been removed.

Images