Preforming marking line marking vehicle and marking method thereof

Abstract

The invention discloses a preformed marking line marking vehicle and a marking method thereof. A walking mechanism drives a rack to move; a wire storage roller and a collecting roller in the pay-off mechanism respectively form a revolute pair with the upper end and the lower end of the rack, and the wire storage roller is driven by a driving motor I to rotate and is connected with the collecting roller through a chain transmission mechanism I; the cleaning mechanism is arranged at the lower end of the rack; the two ends of an eccentric shaft in the line pressing mechanism are hinged to one ends of a first connecting rod and a second connecting rod respectively, the eccentric shaft is driven by a third driving motor to rotate, the other ends of the first connecting rod and the second connecting rod are hinged to one end of a crank and a rack respectively, and the other end of the crank and the rack form a rotating pair and are driven by a fourth driving motor to rotate. The compaction roller sleeves the eccentric shaft and is positioned between the connecting rod I and the connecting rod II; and the inner wall of the compaction roller is in contact with an eccentric block fixed on the eccentric shaft. According to the pre-forming marking line laying device, the ground sweeping work before the pre-forming marking line laying work and the pre-forming marking line laying work can be achieved, and the good laying effect is achieved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of marking line, and particularly relates to a preformed marking line marking vehicle and a marking method thereof. BACKGROUND

[0002] The existing marking line types mainly include hot-melt marking line and preformed marking line. The hot-melt marking line relies on high-temperature operation above 200 DEG C, and the coating contains heavy metals such as lead and chromium, polluting the soil and water source. The preformed marking line is mainly laid by manual laying, and the ground needs to be swept before manual laying. However, the sweeping effect cannot be guaranteed, and the preformed marking line is easy to fall off when there are many impurities on the ground, and the service life is short. There are problems of large labor, low laying efficiency and poor laying effect. There is also a preformed marking line laying work through a marking device. However, the existing marking device has a single function, and can only realize the laying of the preformed marking line. The preformed marking line needs to be laid in cooperation with a sweeping vehicle, the process is complicated, the cost is high, and the preformed marking line laid by the existing marking device only relies on the static pressure to make the preformed marking line contact with the ground, so that the preformed marking line only relies on the adhesion of the material itself to complete the adhesion, the interfacial bonding strength between the preformed marking line and the ground is low, and the laying effect is poor. In addition, the straightness error of the preformed marking line laid by the existing marking device cannot be accurately controlled, which further reduces the laying effect of the marking line. SUMMARY

[0003] The present application belongs to the technical field of marking line, and particularly relates to a preformed marking line marking vehicle and a marking method thereof.

[0004] To achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0005] The preformed marking line marking vehicle comprises a rack, a pay-off mechanism, a sweeping mechanism, a line pressing mechanism and a walking mechanism. The walking mechanism drives the rack to move.

[0006] The pay-off mechanism comprises a storage roller, a plurality of guide roller groups and a collecting roller. The storage roller and the collecting roller are horizontally and parallel arranged, and respectively form a rotary pair with the upper end and the lower end of the rack. The storage roller is driven to rotate by a driving motor, and is connected with the collecting roller through a chain transmission mechanism. A plurality of guide roller groups are arranged between the storage roller and the collecting roller, and are arranged from top to bottom. Each guide roller group is composed of a driving guide roller and a driven guide roller arranged at intervals. The driving guide roller and the driven guide roller are parallel to the storage roller, and form a rotary pair with the rack. Each adjacent two driving guide rollers are connected through a chain transmission mechanism two, and the collecting roller is connected with one of the driving guide rollers through a belt transmission mechanism one.

[0007] The cleaning mechanism is arranged at the lower end of the frame and comprises a cylindrical gear, a rack and a brush roller; the cylindrical gear forms a rotary pair with the frame and is driven to rotate by a driving motor II; the upper ends of the horizontally parallel and spaced-apart racks form sliding pairs with the frame, and the lower ends of the racks are fixed with the brush rollers, and the tooth surfaces of the two racks are engaged with the cylindrical gear.

[0008] The line pressing mechanism comprises a support shaft, a crank, a connecting rod I, a compaction roller, a connecting rod II, a support frame and an eccentric shaft. The support shaft and the eccentric shaft are parallel to the line storage roller; the eccentric shaft is hingedly connected to one end of the connecting rod I and the connecting rod II respectively, and the eccentric shaft is driven to rotate by a driving motor III; the other end of the connecting rod II is hingedly connected to the support frame fixed on the frame; the other end of the connecting rod I is hingedly connected to one end of the crank, the other end of the crank is fixed to the support shaft, the support shaft forms a rotary pair with the frame and is driven to rotate by a driving motor IV; the compaction roller is sleeved on the eccentric shaft at a position between the connecting rod I and the connecting rod II, and the inner wall of the compaction roller is in contact with an eccentric block fixed on the eccentric shaft.

[0009] Preferably, the walking mechanism comprises a steering mechanism and a driving mechanism, the steering mechanism and the driving mechanism are arranged at the front end and the rear end of the frame respectively, and the steering mechanism drives the frame to steer, and the driving mechanism drives the frame to move forward.

[0010] Preferably, the steering mechanism comprises steering wheels, steering shafts, steering blocks and steering columns, the inner ends of the two steering columns arranged at intervals are hingedly connected to the two sides of the frame, the outer ends of the steering columns are hingedly connected with the steering wheels, the middle protrusions are connected with the outer ends of the two steering shafts through ball hinges respectively, the inner ends of the two steering shafts are connected with one ends of the two steering blocks arranged at intervals through ball hinges respectively, the other ends of the two steering blocks form rotary pairs with the frame and are driven to rotate by two servo steering gears respectively.

[0011] More preferably, two universal wheels arranged at intervals are hingedly connected to the frame between the two steering wheels.

[0012] Preferably, the driving mechanism comprises a driving shaft and driving wheels, the middle part of the driving shaft forms a rotary pair with the frame, and the two ends of the driving shaft are fixed with the driving wheels, and the two ends of the driving shaft are synchronously driven to rotate by two driving members arranged symmetrically.

[0013] More preferably, a clamping groove is formed at one end of the line storage roller, the other end is provided with an integrally formed protruding ring, and a split pin is inserted into the clamping groove.

[0014] The present application discloses a kind of preformed marking line marking vehicle and a marking method thereof.

[0015] Firstly, the to-be-scribed position is cleaned by the cleaning mechanism. After the cleaning is completed, the walking mechanism drives the rack to move to the to-be-scribed position, so that the compaction roller is located directly above the starting end of the to-be-scribed position. The marking line roll is fixed on the storage roller, and the marking line and the release film pasted together are sequentially threaded between the gaps between the driving guide rollers and the driven guide rollers in each guide roller group from top to bottom. Then, the marking line and the release film are separated, one end of the release film is fixed on the collection roller, and one end of the marking line is pasted on the starting end of the to-be-scribed position. Then, the controller controls the driving motor to drive the four driving support shafts to rotate the crank, so that the crank drives the compaction roller to move downward to press on the upper surface of the marking line pasted on the ground and generates a preset pressure on the upper surface of the marking line. Then, the walking mechanism drives the rack to move along the to-be-scribed position with the pay-off mechanism, the cleaning mechanism and the line pressing mechanism. The controller controls the driving motor to drive the storage roller to rotate, releases the marking line and the release film pasted together, and drives the collection roller to rotate through the chain transmission mechanism one to collect the release film. The collection roller drives the corresponding driving guide rollers to rotate through the belt transmission mechanism one, and then drives the remaining driving guide rollers to rotate through the chain transmission mechanisms two, so as to guide the released marking line and release film pasted together. At the same time, the controller also controls the driving motor three to drive the eccentric shaft to rotate, so that the assembly composed of the eccentric shaft, the eccentric block and the compaction roller vibrates. The compaction roller pastes the released marking line on the to-be-scribed position and compacts it on the ground. The release film is wound on the collection roller, and the marking line laying work on the to-be-scribed position is completed. The marking line is cut off.

[0016] Preferably, the cleaning process is:

[0017] (1) the to-be-scribed position is evenly divided into multiple regions;

[0018] (2) the controller controls the driving motor two to drive the cylindrical gear to reciprocate, and the cylindrical gear is engaged with the tooth surfaces of the two racks, so that the two racks drive the two brush rollers to reciprocate in opposite directions. At the same time, the walking mechanism drives the rack to move with the pay-off mechanism, the cleaning mechanism and the line pressing mechanism in the to-be-scribed position. With the movement of the rack, the two brush rollers clean the ground, and the camera installed on the rack takes pictures of the cleaned ground and sends the pictures to the upper computer. Until the cleaning work of the to-be-scribed position is completed;

[0019] (3) the upper computer identifies the particles with a diameter greater than a preset diameter on the ground in each region according to the pictures taken by the edge detection algorithm, and marks the regions with a particle density greater than a preset density;

[0020] (4) the walking mechanism drives the rack to move to each marked region in turn, and each time the rack moves into a marked region, steps (2) and (3) are repeated;

[0021] (5) Repeat step (4) for a preset number of times to complete the cleaning work of the position to be marked.

[0022] Preferably, when laying the marking line, the walking mechanism drives the rack to move while adjusting the rack pose in real time, and the rack pose adjustment process is:

[0023] ① Through the multi-element fusion perception and high-precision control system installed on the rack to collect multi-source data, the multi-element fusion perception and high-precision control system includes a visual detection module, a GNSS-RTK fusion navigation system, and an inertial navigation system. During the movement of the rack, the visual detection module collects the environmental image information of the area to be marked in real time through the camera, generates 3D visual point cloud data, the GNSS-RTK fusion navigation system collects the global absolute position data of the rack in real time by fusing the satellite signals of the global satellite navigation system and the real-time differential technology, and outputs the absolute position in the UTM coordinate system. The inertial navigation system obtains the attitude angle, three-axis speed and three-axis acceleration information of the rack in real time;

[0024] ② Point cloud registration is performed on the local pose formed by the 3D visual point cloud data generated by the visual detection module and the global pose composed of the absolute position generated by the GNSS-RTK fusion navigation system and the attitude angle, three-axis speed and three-axis acceleration of the rack generated by the inertial navigation system, and the local pose and the global pose after point cloud registration are fused to generate the rack pose;

[0025] ③ Calculate the pose deviation value of the real-time rack pose obtained in step ② and the preset rack pose, input the pose deviation value into the fuzzy PID controller to generate the steering angle command, and the steering mechanism of the walking mechanism drives the rack to steer according to the steering angle command to adjust the rack pose.

[0026] More preferably, the specific process of step ② is:

[0027] a. Feature extraction: After the 3D visual point cloud data generated by the visual detection module is down-sampled by voxel grid, the key points with curvature change exceeding the preset value are extracted by using the Harris corner detection algorithm;

[0028] b. Initial matching: According to the absolute position provided by the GNSS-RTK fusion navigation system, and combining the attitude angle output by the inertial navigation system, an initial rotation matrix and translation vector are constructed to form an initial space transformation matrix;

[0029] c. fine registration optimization: the 3D visual point cloud data extracted in step a is taken as a source point set, and the global pose data is taken as a target point set, and an iterative closest point algorithm is used to optimize the space transformation matrix, and the optimization process is as follows: after each point in the source point set is converted by the initial space transformation matrix obtained in step b, the closest point in the target point set is found, an error function is constructed, and the optimal space transformation matrix is solved by singular value decomposition, and iteration is performed until the error converges;

[0030] d. fusion output frame pose: after the 3D visual point cloud data extracted in step a is converted by the optimal space transformation matrix obtained in step c, the global pose data provided by the GNSS-RTK fusion navigation system and the inertial navigation system is fused to generate the frame pose.

[0031] The present application has the following beneficial effects:

[0032] 1、The present application has multiple functions, can realize the ground cleaning work before the marking line laying work and the marking line laying work, and has good laying effect. Specifically, in the present application, the ground at the marking line position is cleaned by the cleaning mechanism before the marking line laying, and the particles with a diameter greater than the preset diameter on the marking line position are recognized by the camera detection, and the area with a particle density greater than the preset density is marked, then the recognized area is cleaned and detected again and the step is repeated for a preset number of times, so that the ground at the marking line position has good cleanliness, avoids the situation that the marking line is easy to fall off due to too many impurities remaining on the ground, and improves the laying effect of the subsequent marking line; when the marking line is laid, the compaction roller moves downward to press on the upper surface of the marking line pasted on the ground, a preset pressure is generated on the upper surface of the marking line, the walking mechanism drives the rack to move along the marking line position, the driving motor drives the marking line roller to rotate to drive the marking line roll to rotate, and the driving motor drives the collecting roller to rotate through the chain transmission mechanism to separate the release of the marking line and the release film, and with the movement of the rack, the compaction roller pastes the separated marking line on the ground, thereby realizing the laying work of the marking line, and the assembly composed of the eccentric shaft, the eccentric block and the compaction roller vibrates during the movement of the rack, thereby superimposing high-frequency vibration on the static pressure of the compaction roller on the marking line, reducing the frictional resistance between the marking line and the ground, promoting the marking line to fill the uneven place of the ground, strengthening the interface bonding strength of the marking line and the ground, and further improving the laying effect. Further, the present application adopts a multi-source heterogeneous perception scheme of "GNSS-RTK fusion navigation + inertial navigation + visual detection", combines with a dynamic weight distribution algorithm, detects the rack pose in real time, calculates the pose deviation value of the real-time rack pose and the preset rack pose, generates a steering angle instruction according to the pose deviation value, and adjusts the rack pose in real time according to the steering angle instruction, thereby ensuring the straightness during the marking line laying, and further improving the laying effect; wherein the marking line roller is connected with the collecting roller through the chain transmission mechanism I, so that the marking line roller and the collecting roller can move synchronously, avoiding the problem of high marking line wrinkle rate caused by asynchronous release and release film recovery, and further improving the laying effect.

[0033] 2、In the present application, the compaction roller descending height can be controlled by controlling the crank rotation angle, so as to control the pressure applied by the compaction roller on the marking line, and the compaction roller amplitude can be controlled by controlling the eccentric shaft speed, so as to control the bonding strength of the marking line and the ground under different road conditions. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 The overall structure of the present application Figure 1 ;

[0035] Figure 2 The overall structure of the present applicationFigure 2 ;

[0036] Figure 3 It is the power transmission schematic view of the storage roller, guide roller group and collection roller in the application;

[0037] Figure 4 It is the structure schematic view of the cleaning mechanism in the application;

[0038] Figure 5 It is the structure schematic view of the line pressing mechanism in the application;

[0039] Figure 6 It is the structure schematic view of the line pressing mechanism after removing the driving motor four, motor support two and belt transmission mechanism four in the application;

[0040] Figure 7 It is the structure schematic view of the steering mechanism in the application;

[0041] Figure 8 It is the structure schematic view of the driving mechanism in the application. DETAILED DESCRIPTION

[0042] The application will be further described below in combination with the drawings.

[0043] As shown in Figure 1 , a preformed marking line marking vehicle, comprising a frame, a line storage mechanism 1-1, a cleaning mechanism 1-3, a line pressing mechanism 1-4 and a walking mechanism, the walking mechanism drives the frame to move.

[0044] As shown in Figure 2 and Figure 3 , the line storage mechanism 1-1 comprises a line storage roller 2-1, a guide roller group, a collection roller 2-5. The line storage roller 2-1 and the collection roller 2-5 are horizontally and parallelly arranged, and respectively form a rotary pair with the upper end and the lower end of the frame; the line storage roller 2-1 is driven to rotate by a driving motor one 2-2, and is connected with the collection roller 2-5 through a chain transmission mechanism one; a plurality of guide roller groups are arranged between the line storage roller 2-1 and the collection roller 2-5 from top to bottom, the guide roller group is composed of a driving guide roller 2-3 and a driven guide roller 2-4 arranged at intervals, the driving guide roller 2-3 and the driven guide roller 2-4 are both parallel to the line storage roller 2-1, and both form a rotary pair with the frame; every two adjacent driving guide rollers 2-3 are connected through a chain transmission mechanism two, and the collection roller 2-5 is connected with one of the driving guide rollers 2-3 through a belt transmission mechanism one.

[0045] As shown in Figure 4As shown in the drawings, the cleaning mechanism 1-3 includes a gear shaft 4-1, a cylindrical gear 4-2, a linear guide rail 4-3, a sliding block 4-4, a rack 4-5 and a brush roller 4-6. The upper end of the vertically arranged gear shaft 4-1 is connected with the rack to form a rotary pair, and is driven to rotate by the second driving motor. The lower end of the gear shaft 4-1 is fixed with the cylindrical gear 4-2. The shell of the second driving motor is fixed on the rack. Two linear guide rails 4-3 arranged horizontally and parallel to each other are fixed on the rack and located on both sides of the gear shaft 4-1, and are perpendicular to the forward direction of the rack. Each linear guide rail 4-3 forms a sliding pair with a plurality of sliding blocks 4-4 arranged at equal intervals. Each sliding block 4-4 on each linear guide rail 4-3 is fixed with the upper end of a rack 4-5. The lower end of each rack 4-5 is fixed with a brush roller 4-6. The tooth surfaces of the two racks 4-5 are oppositely arranged and are engaged with the cylindrical gear 4-2.

[0046] As shown in the drawings, Figure 5 and Figure 6 As shown in the drawings, the line pressing mechanism 1-4 includes a support shaft, a crank 5-4, a connecting rod 5-5, a compaction roller 5-6, a connecting rod 5-8, a support frame 5-9 and an eccentric shaft. The support shaft and the eccentric shaft are parallel to the line storage roller 2-1. The eccentric shaft is hingedly connected with one end of the connecting rod 5-5 and the connecting rod 5-8, and is driven to rotate by the third driving motor 5-7. The other end of the connecting rod 5-8 is hingedly connected with the support frame 5-9 fixed on the rack. The other end of the connecting rod 5-5 is hingedly connected with one end of the crank 5-4. The other end of the crank 5-4 is fixed with the support shaft. The support shaft forms a rotary pair with the rack and is driven to rotate by the fourth driving motor 5-10. The compaction roller 5-6 is sleeved on the eccentric shaft between the connecting rod 5-5 and the connecting rod 5-8. The inner wall of the compaction roller 5-6 is in contact with the eccentric block 5-11 fixed on the eccentric shaft.

[0047] As a preferred embodiment, a clamping groove is formed at one end of the line storage roller 2-1, and a protruding ring is integrally formed at the other end. An open pin inserted into the clamping groove is in abutment with the protruding ring to fix the identification line roll on the line storage roller 2-1.

[0048] As a preferred embodiment, a baffle is fixed on the collection roller 2-5 to prevent the release film from sliding off the collection roller 2-5 when it is being recycled.

[0049] As a preferred embodiment, the chain transmission mechanism I includes a driving sprocket I 3-3, a chain I 3-4 and a driven sprocket I 3-9. The driving sprocket I 3-3 and the driven sprocket I 3-9 are fixed on the line storage roller 2-1 and the collection roller 2-5 respectively and are connected by the chain I 3-4.

[0050] As a preferred embodiment, the belt transmission mechanism one comprises a driving pulley one 3-10, a belt one 3-8 and a driven pulley one 3-11, the driving pulley one 3-10 and the driven pulley one 3-11 are fixed on the collecting roller 2-5 and the driving roller one 2-3 respectively, and are connected by the belt one 3-8.

[0051] As a preferred embodiment, the chain transmission mechanism two comprises a driving sprocket two 3-5, a chain two 3-6 and a driven sprocket two 3-7, the driving sprocket two 3-5 and the driven sprocket two 3-7 are fixed on the driving roller one 2-3 and the driving roller two 2-6 respectively, and are connected by the chain two 3-6.

[0052] As a preferred embodiment, the housing of the driving motor one 2-2 is fixed on the frame through the motor support one, and the output shaft of the driving motor one 2-2 is connected with the wire storage roller 2-1 through the belt transmission mechanism two.

[0053] More preferably, the belt transmission mechanism two comprises a driving pulley two 3-1, a belt two 3-2 and a driven pulley two 3-12, the driving pulley two 3-1 and the driven pulley two 3-12 are fixed on the output shaft of the driving motor one 2-2 and the wire storage roller 2-1 respectively, and are connected by the belt two 3-2.

[0054] As a preferred embodiment, the housing of the driving motor three 5-7 is fixed on the connecting rod two 5-8, and the output shaft of the driving motor three 5-7 is coaxially fixed with the eccentric shaft.

[0055] As a preferred embodiment, the walking mechanism comprises a steering mechanism 1-2 and a driving mechanism 1-5, the steering mechanism 1-2 and the driving mechanism 1-5 are arranged at the front end and the rear end of the frame respectively, and the steering mechanism 1-2 drives the frame to turn, and the driving mechanism 1-5 drives the frame to move forward.

[0056] More preferably, as shown in Figure 7 The inner ends of the two steering columns 6-4 arranged at intervals are hinged to the two sides of the frame, the outer ends of the two steering columns 6-4 are both hinged with the steering wheels 6-1, the middle protrusions are both connected with the outer ends of the two steering shafts 6-2 through ball hinges respectively, the inner ends of the two steering shafts 6-2 are both connected with one end of the two steering blocks 6-3 arranged at intervals through ball hinges respectively, the other ends of the two steering blocks 6-3 are both connected with the frame to form a rotary pair, and the two steering blocks 6-3 are driven to rotate by the two servo steering gears 6-5 respectively; wherein, the housing of the servo steering gear 6-5 is fixed on the frame. When the servo steering gear 6-5 drives the steering block 6-3 to rotate, the steering block 6-3 drives the steering shaft 6-2 to move, and the steering shaft 6-2 drives the steering column 6-4 to rotate around the frame, so that the steering wheel 6-1 is deflected.

[0057] More preferably, two universal wheels 6-6 are hingedly arranged on the frame between the two steering wheels 6-1, and the two universal wheels 6-6 are used to prevent the frame from tilting too much during steering, thereby preventing the frame from falling over.

[0058] More preferably, as shown in the figure, the driving mechanism 1-5 comprises a driving shaft 7-1 and a driving wheel 7-2, the middle part of the driving shaft 7-1 is in rotational pair with the frame, both ends of the driving shaft 7-1 are fixed with the driving wheel 7-2, and both ends of the driving shaft 7-1 are synchronously driven to rotate by two driving members arranged symmetrically. Figure 8

[0059] More preferably, the driving members are composed of a plurality of DC brushless motors 7-3 and a plurality of belt transmission mechanisms three, the housing of each DC brushless motor 7-3 is fixed on the frame, and the output shaft of each DC brushless motor 7-3 is connected with the driving shaft 7-1 through a belt transmission mechanism three; by arranging a plurality of DC brushless motors 7-3 and a plurality of belt transmission mechanisms three, the torque of the driving shaft 7-1 can be increased, and the stable operation of the driving shaft 7-1 can be ensured.

[0060] More preferably, the belt transmission mechanism three comprises a driving pulley three 7-4, a belt three 7-5 and a driven pulley three 7-6, the driven pulley three 7-6 and the driving pulley three 7-4 are fixed on the driving shaft 7-1 and the output shaft of the corresponding DC brushless motor 7-3 respectively, and are connected through the belt three 7-5.

[0061] As a preferred embodiment, the housing of the driving motor four 5-10 is fixed on the frame through the motor support two 5-1, and the output shaft of the driving motor four 5-10 is connected with the support shaft through the belt transmission mechanism four.

[0062] More preferably, the belt transmission mechanism four comprises a driving pulley four, a belt four 5-2 and a driven pulley four 5-3, the driving pulley four and the driven pulley four 5-3 are fixed on the output shaft of the driving motor four 5-10 and the support shaft respectively, and are connected through the belt four 5-2.

[0063] Among them, the driving motor one 2-2, the driving motor two, the driving motor three 5-7, the driving motor four 5-10, each servo steering gear 6-5 and each DC brushless motor 7-3 are controlled by the controller.

[0064] The marking method of the pre-formed marking line marking vehicle of the application is as follows:

[0065] First, the cleaning mechanism is used to clean the position to be marked, and the cleaning process is as follows:

[0066] (1) evenly divide the position to be marked into multiple areas;

[0067] ​(2) the controller controls the driving motor to drive the gear shaft 4-1 to drive the cylindrical gear 4-2 to reciprocating rotate, the cylindrical gear 4-2 meshes with the tooth surface of the two racks 4-5, drives the two racks 4-5 to reciprocating reverse motion, thereby driving the two brush rollers 4-6 to reciprocating reverse motion, at the same time, the walking mechanism drives the frame to drive the pay-off mechanism 1-1, the cleaning mechanism 1-3 and the line pressing mechanism 1-4 to move in the position to be ruled; with the movement of the frame, the two brush rollers 4-6 clean the ground, at the same time, the camera installed on the frame shoots the cleaned ground, and sends the shot picture to the upper computer, until the cleaning work in the position to be ruled is completed;

[0068] (3) the upper computer identifies the particles with a diameter greater than 0.3mm on the ground in each area according to the picture shot by the camera through edge detection algorithm, marks the area with a particle density greater than 5 / m 2

[0069] (4) the walking mechanism drives the frame to move to each marked area in turn, and each time the frame moves into a marked area, steps (2) and (3) are repeated;

[0070] (5) repeat step (4) for a predetermined number of times to complete the cleaning work in the position to be ruled.

[0071] ​After the cleaning work is completed, the walking mechanism drives the rack to move to the position to be marked, so that the compaction roller 5-6 is located directly above the starting end of the position to be marked, and the marking line roll is fixed on the storage roll 2-1 (after the marking line roll is sleeved on the storage roll 2-1, the opening pin placed in the clamping slot opened on the storage roll 2-1 and the protruding ring integrally formed on the storage roll 2-1 can resist the two ends of the marking line roll, so that the marking line roll is fixed on the storage roll 2-1); the end of the marking line and the release film pasted together is sequentially passed through the gap between the driving guide roller 2-3 and the driven guide roller 2-4 in each guide roller group from top to bottom, then the marking line and the release film are separated, and the end of the release film is fixed on the collection roller 2-5, and the end of the marking line is pasted on the starting end of the position to be marked; then the controller controls the driving motor four 5-10 to drive the support shaft to rotate the crank 5-4, so that the crank 5-4 drives the compaction roller 5-6 to move downward to press on the upper surface of the marking line pasted on the ground, and generates a preset pressure on the upper surface of the marking line (which can be measured by the pressure sensor installed between the compaction roller 5-6 and the eccentric block 5-11); then the walking mechanism drives the rack to move along the position to be marked, the controller controls the driving motor one 2-2 to drive the storage roll 2-1 to rotate, releases the marking line and the release film pasted together, the storage roll 2-1 drives the collection roller 2-5 to rotate through the chain transmission mechanism one, collects the release film, the collection roller 2-5 drives the corresponding driving guide roller 2-3 to rotate through the belt transmission mechanism one, and then drives the remaining driving guide rollers 2-3 to rotate through the chain transmission mechanisms two, and plays a guiding role on the released marking line and release film pasted together, and at the same time, the controller also controls the driving motor three 5-7 to drive the eccentric shaft to rotate, so that the assembly composed of the eccentric shaft, the eccentric block and the compaction roller 5-6 vibrates, the compaction roller 5-6 makes the released marking line pasted on the position to be marked and compacted on the ground, and the release film is wound on the collection roller 2-5, until the marking line laying work of the position to be marked is completed, and the marking line is cut off.

[0072] Among them, the storage roll 2-1 is connected with the collection roller 2-5 through the chain transmission mechanism one, so that the storage roll 2-1 and the collection roller 2-5 can move synchronously, avoiding the problem of high marking line wrinkle rate and poor laying effect caused by asynchronous release and release film recovery.

[0073] In addition, when laying the marking line, the walking mechanism drives the rack to move while adjusting the rack pose in real time to ensure the straightness of the marking line, and the rack pose adjustment process is as follows:

[0074] ①Multi-source data is collected by a multi-element fusion perception and high-precision control system arranged on the rack, the multi-element fusion perception and high-precision control system comprising a visual detection module, a GNSS-RTK fusion navigation system and an inertial navigation system (INS), during movement of the rack, the visual detection module collects environmental image information of a region to be marked in real time through a camera, line width information of a laid marking line is extracted by combining an edge detection algorithm, and 3D visual point cloud data is generated, the GNSS-RTK fusion navigation system collects global absolute position data (longitude, latitude and height three-dimensional coordinates) of the rack in real time by fusing global satellite navigation system (GNSS) satellite signals and real-time kinematic (RTK) technology, and outputs absolute positions in a UTM coordinate system (X coordinate, Y coordinate and Z coordinate in the UTM coordinate system), the inertial navigation system (INS, comprising a gyroscope and an accelerometer) acquires three-axis speed, three-axis acceleration and attitude angles of the rack in real time, the attitude angles comprising a roll angle (Roll), a pitch angle (Pitch) and a heading angle.

[0075] ②Point cloud registration is performed on a local pose formed by the 3D visual point cloud data generated by the visual detection module and a global pose composed of the absolute position generated by the GNSS-RTK fusion navigation system and the rack attitude angle, three-axis speed and three-axis acceleration generated by the inertial navigation system, and the local pose after the point cloud registration is fused with the global pose to generate rack pose information, the specific process being as follows:

[0076] a. Feature extraction: after the 3D visual point cloud data generated by the visual detection module is down-sampled by a voxel grid, key points with a curvature change exceeding a preset value are extracted by using a Harris corner detection algorithm; wherein the down-sampling operation reduces the amount of calculation while retaining environmental features;

[0077] b. Initial matching: an initial rotation matrix and a translation vector are constructed according to the absolute position provided by the GNSS-RTK fusion navigation system and in combination with the attitude angle output by the inertial navigation system, to form an initial spatial transformation matrix;

[0078] c. Precision registration optimization: the 3D visual point cloud data extracted in step a is taken as a source point set, and the global pose data is taken as a target point set, an iterative closest point (ICP) algorithm is used to optimize the spatial transformation matrix, and the optimization process is as follows: after each point in the source point set is converted by the initial spatial transformation matrix obtained in step b, the closest point in the target point set is found, an error function is constructed, an optimal spatial transformation matrix is solved by singular value decomposition (SVD), and iteration is performed until the error converges (mean square error is less than 0.5 mm);

[0079] d. The pose of the fusion output machine frame: the 3D visual point cloud data extracted in step a is converted by the optimal spatial transformation matrix obtained in step c, and then fused with the global pose data provided by the GNSS-RTK fusion navigation system and the inertial navigation system to generate the frame pose.

[0080] Wherein, in order to solve the GNSS signal shielding problem of GNSS-RTK fusion navigation system, the visual light change problem of visual detection module and the cumulative error problem of inertial navigation system, the confidence of visual detection module, GNSS-RTK fusion navigation system and inertial navigation system is quantified by mathematical modeling, and the 3D visual point cloud data generated by visual detection module, the absolute position data generated by GNSS-RTK fusion navigation system and the attitude angle, three-axis speed and three-axis acceleration data generated by inertial navigation system are dynamically weighted; the confidence calculation formula of visual detection module is

[0081]

[0082] In the formula, N f is the number of key points output by Harris corner detection algorithm; N max is the experimental calibration value (1000 feature points under ideal lighting); I s is the image definition index, which is obtained by calculating the variance of the image (environment image of the area to be marked collected by the camera in real time) after Laplace operator processing; I max is the environmental test value (variance of image without motion blur after Laplace operator processing under ideal lighting: 1200); V s is the optical flow stability parameter, which is obtained by calculating the displacement variance of matching points of adjacent frame images by KLT algorithm; V max is the static scene test value (displacement variance of matching points of adjacent frame images in static scene: 0.1 pixel); W c is the line width accuracy, and w a is the actual line width obtained by edge detection algorithm, w g is the target line width (100 mm); w e is the allowable line width deviation (3 mm); α, β, γ and δ are weight coefficients (the values obtained by experiments in this embodiment are 0.3, 0.2, 0.2 and 0.3 respectively, which reflect that the key point quantity and line width feedback have the greatest influence on positioning reliability).

[0083] The confidence calculation formula of GNSS-RTK fusion navigation system is

[0084]

[0085] In the formula, S sS is the effective satellite number output by the GNSS receiver in the GNSS-RTK fusion navigation system; S max Smax is the maximum visible satellite number (a calibration value, 12 in an open place); SNR is the arithmetic mean of the real-time signal-to-noise ratios of all visible satellites; SNR max Smax is the maximum visible satellite number (a calibration value, 12 in an open place); SNR is the arithmetic mean of the real-time signal-to-noise ratios of all visible satellites; SNR fix Smax is the maximum visible satellite number (a calibration value, 12 in an open place); SNR is the arithmetic mean of the real-time signal-to-noise ratios of all visible satellites; SNR fix Smax is the maximum visible satellite number (a calibration value, 12 in an open place); SNR is the arithmetic mean of the real-time signal-to-noise ratios of all visible satellites; SNR g The discrete assignment strategy of S directly reflects the RTK positioning level and can solve the problem that the traditional continuous model cannot represent state jumps.

[0086] The confidence calculation formula of the inertial navigation system is

[0087]

[0088] In the formula, σ a is the gyroscope zero bias stability (angular random walk calculated by the Allan variance analysis method, unit ° ); σ f is the accelerometer zero bias stability (velocity random walk calculated by the Allan variance analysis method, unit ); η is the influence coefficient, and the value is 0.8.

[0089] The confidence of the vision detection module, the GNSS-RTK fusion navigation system and the inertial navigation system is normalized to obtain the weights of the 3D vision point cloud data generated by the vision detection module, the absolute position data generated by the GNSS-RTK fusion navigation system and the attitude angle, three-axis velocity and three-axis acceleration data generated by the inertial navigation system, that is,

[0090]

[0091] In the formula, θ, g and i respectively correspond to the vision detection module, the GNSS-RTK fusion navigation system and the inertial navigation system.

[0092] Then the rack pose generated after fusion is

[0093] P f = ω θ ·P θ + ω g ·P g + ω i ·P i

[0094] In the formula, P θ , Pg , P i respectively represent the 3D visual point cloud data generated by the visual detection module, the absolute position data generated by the GNSS-RTK fusion navigation system, and the attitude angle, three-axis speed and three-axis acceleration data generated by the inertial navigation system.

[0095] ③Calculate the pose deviation value e of the real-time gantry pose obtained in step ② and the preset gantry pose, input the pose deviation value e into the fuzzy PID controller to generate a steering angle instruction (the steering angle is denoted as ε), and the steering mechanism of the walking mechanism drives the gantry steering according to the steering angle instruction to adjust the gantry pose, thereby realizing the adjustment of the gantry pose.

Claims

1. A preformed marking line marking vehicle comprising a line laying mechanism, a line pressing mechanism and a walking mechanism, the walking mechanism driving the frame to move, characterized in that: The cleaning mechanism is arranged at the lower end of the frame, and comprises a cylindrical gear, a rack and a brush roller; the cylindrical gear forms a rotating pair with the frame and is driven to rotate by a driving motor two; the upper ends of the horizontally parallel and spaced racks all form sliding pairs with the frame, and the lower ends of the racks are all fixed with the brush rollers, and the tooth surfaces of the two racks are all engaged with the cylindrical gear; The pressing mechanism comprises a support shaft, a crank, a connecting rod one, a compacting roller, a connecting rod two, a support frame and an eccentric shaft; the support shaft and the eccentric shaft are both parallel to the wire storage roller; the eccentric shaft is hingedly connected to one end of the connecting rod one and the connecting rod two respectively, and is driven to rotate by a driving motor three; the other end of the connecting rod two is hingedly connected to the support frame fixed on the frame; the other end of the connecting rod one is hingedly connected to one end of the crank, and the other end of the crank is fixed to the support shaft; the support shaft forms a rotating pair with the frame and is driven to rotate by a driving motor four; the compacting roller is sleeved on the eccentric shaft at a position between the connecting rod one and the connecting rod two, and the inner wall of the compacting roller is in contact with an eccentric block fixed on the eccentric shaft. The walking mechanism comprises a steering mechanism and a driving mechanism, and the steering mechanism and the driving mechanism are arranged at the front end and the rear end of the frame respectively; the steering mechanism drives the frame to turn, and the driving mechanism drives the frame to move forward.

2. A preformed marking line scribing vehicle according to claim 1, wherein: The steering mechanism comprises steering wheels, steering shafts, steering blocks and steering columns; the inner ends of the two steering columns arranged at intervals are hingedly connected to the two sides of the frame, the outer ends of the steering columns are both hingedly connected with the steering wheels, the middle protrusions are connected with the outer ends of the two steering shafts through ball hinges respectively, the inner ends of the two steering shafts are connected with one ends of the two steering blocks arranged at intervals through ball hinges respectively, the other ends of the two steering blocks both form rotating pairs with the frame and are driven to rotate by two servo steering engines respectively.

3. A preformed marking line scribing vehicle as claimed in claim 2, wherein: The frame is hingedly connected with two universal wheels arranged at intervals between the two steering wheels.

4. A preformed marking line scribing vehicle according to claim 3, wherein: The driving mechanism comprises driving shafts and driving wheels; the middle part of the driving shaft forms a rotating pair with the frame, and the two ends of the driving shaft are both fixed with the driving wheels, and the two ends of the driving shaft are synchronously driven to rotate by two driving members arranged symmetrically.

5. A preformed marking line scribing vehicle as defined in claim 2, wherein: One end of the wire storage roller is provided with a clamping groove, and the other end is provided with an integrally formed protruding ring, and an open pin is inserted into the clamping groove.

6. A preformed marking line scribing vehicle as defined in claim 1, wherein: The specific implementation is as follows.

7. A scribing method of a preformed marking line scribing vehicle according to any one of claims 1 to 6, characterized in that: ​ Firstly, the position to be scribed is cleaned by the cleaning mechanism. After the cleaning is completed, the walking mechanism drives the rack to move to the position to be scribed, so that the compaction roller is located directly above the starting end of the position to be scribed. The marking line roll is fixed on the storage roller, and the marking line and the release film pasted together are sequentially threaded between the gaps between the driving guide rollers and the driven guide rollers in each guide roller group from top to bottom. Then the marking line and the release film are separated, and one end of the release film is fixed on the collection roller, and one end of the marking line is pasted on the starting end of the position to be scribed. Then the controller controls the driving motor to drive the crank to rotate, so that the crank drives the compaction roller to move downward to press on the upper surface of the marking line pasted on the ground and generates a preset pressure on the upper surface of the marking line. Then the walking mechanism drives the rack to move along the position to be scribed with the pay-off mechanism, the cleaning mechanism and the line pressing mechanism. The controller controls the driving motor to drive the storage roller to rotate, releases the marking line and the release film pasted together, and drives the collection roller to rotate through the chain transmission mechanism one to collect the release film. The collection roller drives the corresponding driving guide roller to rotate through the belt transmission mechanism one, and then drives the remaining driving guide rollers to rotate through the chain transmission mechanisms two, so as to guide the released marking line and release film pasted together. At the same time, the controller also controls the driving motor to drive the eccentric shaft to rotate, so that the assembly composed of the eccentric shaft, the eccentric block and the compaction roller vibrates. The compaction roller pastes the released marking line on the position to be scribed and compacts it on the ground. The release film is wound on the collection roller, until the marking line laying work of the position to be scribed is completed, and the marking line is cut off.

8. A scribing method of a preformed marking line scribing vehicle according to claim 7, characterized in that: The cleaning process is: (1) evenly divide the position to be scribed into multiple areas; (2) the controller controls the driving motor to drive the cylindrical gear to rotate back and forth, so that the cylindrical gear meshes with the tooth surfaces of the two racks, thereby driving the two racks to move back and forth in opposite directions, and the walking mechanism drives the rack to move with the pay-off mechanism, the cleaning mechanism and the line pressing mechanism in the position to be scribed; with the movement of the rack, the two brush rollers clean the ground, and the camera installed on the rack photographs the cleaned ground and sends the photographed pictures to the upper computer, until the cleaning work of the position to be scribed is completed; (3) the upper computer identifies the particles with a diameter greater than a preset diameter on the ground of each area through an edge detection algorithm according to the photographed pictures, and marks the areas with a particle density greater than a preset density; (4) the walking mechanism drives the rack to move to each marked area in turn, and each time the rack moves into a marked area, steps (2) and (3) are repeated; (5) repeat step (4) for a preset number of times to complete the cleaning work of the position to be scribed.

9. The scribing method of claim 7, wherein: When laying the marking line, the walking mechanism drives the rack to move while adjusting the rack pose in real time. The rack pose adjustment process is: The rack is moved, and the vision detection module collects environmental image information of a region to be marked in real time through a camera, generates 3D visual point cloud data, the GNSS-RTK fusion navigation system collects global absolute position data of the rack in real time by fusing satellite signals of a global satellite navigation system and real-time differential technology, and outputs absolute positions in a UTM coordinate system, and the inertial navigation system obtains attitude angles, three-axis speeds and three-axis acceleration information of the rack in real time; Point cloud registration is performed on a local pose formed by the 3D visual point cloud data generated by the vision detection module and a global pose composed of the absolute position generated by the GNSS-RTK fusion navigation system and the attitude angles, three-axis speeds and three-axis acceleration of the rack generated by the inertial navigation system, and the local pose and the global pose after the point cloud registration are fused to generate a rack pose; A pose deviation value is calculated by taking the real-time rack pose obtained in step 2 and the preset rack pose as inputs, the pose deviation value is input into a fuzzy PID controller to generate a steering angle instruction, the steering mechanism of the walking mechanism drives the rack to steer according to the steering angle instruction, and the rack pose is adjusted.

10. A scribing method of a preformed marking line scribing vehicle according to claim 9, characterized in that: The specific process of step 2 is as follows: a. Feature extraction: after the 3D visual point cloud data generated by the vision detection module is down-sampled by using a voxel grid, key points with a curvature change greater than a preset value are extracted by using a Harris corner detection algorithm; b. Initial matching: an initial rotation matrix and a translation vector are constructed according to the absolute position provided by the GNSS-RTK fusion navigation system and in combination with the attitude angles output by the inertial navigation system, and an initial spatial transformation matrix is formed; c. Precise registration and optimization: the 3D visual point cloud data extracted in step a is taken as a source point set, the global pose data is taken as a target point set, and an iterative closest point algorithm is used to optimize the spatial transformation matrix, and the optimization process is as follows: after each point in the source point set is converted by using the initial spatial transformation matrix obtained in step b, the closest point in the target point set is found, an error function is constructed, an optimal spatial transformation matrix is solved by using singular value decomposition, and iteration is performed until the error converges; d. Fusion and output of the rack pose: after the 3D visual point cloud data extracted in step a is converted by using the optimal spatial transformation matrix obtained in step c, the global pose data provided by the GNSS-RTK fusion navigation system and the inertial navigation system are fused, and a rack pose is generated.

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