An unmanned road marking vehicle

Abstract

This application relates to an unmanned road marking vehicle, comprising a mobile chassis; a storage mechanism including a material storage device and a microsphere storage device; a marking device including a marking material chamber and an opening and closing mechanism, the opening and closing mechanism including a crank-slider assembly and a movable baffle, the crank-slider assembly driving the movable baffle to reciprocate to open and close the marking material chamber; and a spreading device connected to the outlet of the microsphere storage device, the spreading device including two spreading ports respectively located in front of and behind the marking device in the marking direction of travel. The unique front and rear dual spreading port design of the marking vehicle solves the problem of glass microsphere coverage when the vehicle travels in both directions. The openable and closable dispensing device in the marking device can achieve automatic and precise switching between solid and dashed lines through program control, meeting the complex requirements of road marking specifications.

Description

Technical Field

[0001] This application relates to the field of road marking device technology, and in particular to an unmanned road marking vehicle. Background Technology

[0002] Road markings are crucial facilities for ensuring traffic safety and order. Currently, hot-melt road markings have become mainstream due to their excellent cost-effectiveness. However, the equipment used for their application ranges from hand-pushed marking vehicles that rely entirely on manual experience and physical labor to large, multi-functional marking vehicles requiring professional drivers. Common problems include the significant impact of human factors on construction quality, high labor intensity, and uneven efficiency. Furthermore, the application of glass microbeads required for reflective markings often uses a single outlet, resulting in uneven distribution. When the equipment needs to operate in both directions, it cannot be guaranteed that the glass microbeads will always be accurately applied to the newly formed marking surface. On the other hand, dashed and solid lines require manual control, leading to low material utilization and unreliable marking results. Summary of the Invention

[0003] Therefore, it is necessary to provide an unmanned road marking vehicle to overcome the deficiencies in the aforementioned background technology.

[0004] An unmanned road marking vehicle includes: a mobile chassis; Storage mechanisms, including material storage devices and microsphere storage devices; The marking device includes a marking material chamber and an opening and closing mechanism. The opening and closing mechanism includes a crank-slider assembly and a movable baffle. The crank-slider assembly drives the movable baffle to reciprocate to open and close the marking material chamber. The spreading device is connected to the outlet of the microbead storage device. The spreading device includes two spreading ports, which are respectively located in front of and behind the spreading device in the spreading direction.

[0005] The material storage device includes a vessel body, a heating mechanism is provided on one side of the vessel body, the heating end of the heating mechanism faces the bottom of the vessel body, and a stirring mechanism is provided inside the vessel body.

[0006] The vessel is equipped with a pressurization device.

[0007] The microsphere storage device includes a storage box located on one side of the vessel body. The bottom of the storage chamber of the storage box is inclined towards the discharge port, and a feeding port is provided at the top.

[0008] The marking device includes a flexible tube, one end of which is connected to the discharge port of the storage mechanism, and the other end is connected to an openable and closable discharge device.

[0009] The discharge device includes a marking material cavity with an inverted trapezoidal longitudinal section. It has an inlet at the top, an outlet at the bottom, and a chute at the waist. The marking material cavity is connected to the connecting member through its inlet. The opening and closing mechanism includes a crank-slider assembly and a movable baffle. The movable baffle is inserted into the slide groove, and the crank-slider assembly drives the movable baffle to reciprocate to open and close the discharge port.

[0010] The marking material cavity includes a top plate, a waist plate, and fixed baffles; a pair of fixed baffles are arranged opposite each other, a pair of waist plates and a pair of top plates are set between the fixed baffles, and a pair of top plates are respectively set on the waist plates and located between the two fixed baffles, forming the feed inlet between the pair of top plates; the bottom edge of the waist plate is higher than the bottom edge of the fixed baffle, with a height difference of 1.5mm-2.5mm.

[0011] The crank-slider assembly includes a prime mover, a crank, and a slider; the prime mover is located at the waist of the road marking material cavity, one end of the crank is connected to the prime mover and the other end is connected to the slider, and the slider is located in the groove; the crank-slider assemblies are arranged in pairs, respectively located on both sides of the road marking material cavity, and a pair of crank-slider assemblies are driven by the same motor and coupling. 9. The unmanned road marking vehicle according to claim 5, characterized in that the flexible tube is provided with an insulation pipe, and the insulation pipe is provided with a damper; A temperature sensor is installed between the insulation pipe and the flexible pipe to collect the temperature of the flexible pipe; The damper includes a connecting section and a damping section. The connecting section consists of a pair of annular clamps. The damper is connected to the outside of the insulation pipe through the annular clamps, with one end connected to the annular clamps and the other end connected to the underside of the vehicle body.

[0012] The spreading device includes a connecting pipe, one end of which is connected to the outlet of the spreading device, and the other end of which is connected to a branch pipe. The two outlet ends of the branch pipe are respectively located in front of and behind the spreading device, forming the two spreading ports. A spreading head is connected to the outlet end of the branch pipe. A micro-bead switch device is provided at the top of the spreading head, and a strip-shaped spreading slit is opened at the bottom of the spreading head. The beneficial effects of this invention are: This invention reduces reliance on skilled workers, ensuring consistent construction efficiency and road marking quality. Its unique dual-spreading-mouth design solves the problem of glass microbead coverage when vehicles are traveling in both directions. Combined with an optimized spreading head structure, the glass microbeads are evenly distributed across the entire width of the road marking, significantly improving visibility at night and in adverse weather conditions. The openable / closable dispensing device in the application apparatus enables automatic and precise switching between solid and dashed lines, meeting complex road marking specifications. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the vehicle used for marking in this embodiment; Figure 2 This is a schematic diagram of the mobile chassis in this embodiment; Figure 3 This is a schematic diagram of the vessel body in this embodiment; Figure 4 This is a schematic diagram of the storage tank structure in this embodiment; Figure 5 This is a schematic diagram of the structure of the insulated kettle in this embodiment; Figure 6 This is a schematic diagram of an alternative solution to the insulated kettle in this embodiment; Figure 7 This is a schematic diagram of the installation of the stirring mechanism in this embodiment; Figure 8 This is a schematic diagram of the microbead storage device in this embodiment; Figure 9 This is a schematic diagram of the marking device in this embodiment; Figure 10 This is a schematic diagram of the connector structure in this embodiment; Figure 11 This is a schematic diagram of the material discharge mechanism in this embodiment; Figure 12 This is a schematic diagram of the waist plate structure in this embodiment; Figure 13 This is a schematic diagram of the fixed baffle in this embodiment; Figure 14 This is a schematic diagram of the switch baffle in this embodiment; Figure 15 This is a schematic diagram of the drive mechanism in this embodiment; Figure 16 This is a flowchart of the line marking process in this embodiment; Figure 17 This is a schematic diagram of the damper B structure in this embodiment.

[0015] Explanation of reference numerals in the attached figures: 100. Mobile chassis; 110. Vehicle body; 120. Wheels; 200. Material storage device; 210. Kettle body; 1. Storage kettle; 2. Insulated kettle; 3. Cover plate; 4. Stirring mechanism; 5. Mounting ring; 11. Cylindrical segment; 12. Semi-ellipsoidal segment; 31. Center plate; 32. Movable plate; 33. Handle; 41. Drive assembly; 42. Stirring assembly; 421. Rotary drum; 422. Upper blades; 423. Lower blades; 300. Microbead storage device; 310. Storage box; 320. Feeding port; 400. Applying device; 410. Flexible tube; 420. Discharge device; 500. Spreading device; 510. Connecting pipe; 520. Branching pipe; 530. Spreading head; 540. Micro-bead switch device; A1. Connector; A2. Marking material cavity; A3. Opening and closing mechanism; A21. Waist plate; A22. Fixed baffle; A31. Crank-slider assembly; A32. Movable baffle; A210. Slide groove; B, Insulation pipe; B1, Connecting section; B2, Damping section. Detailed Implementation

[0016] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0017] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not 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 application.

[0018] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0019] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0020] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0021] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0022] According to one aspect of this application, embodiments of this application provide an unmanned road marking vehicle, please refer to [the relevant documentation]. Figures 1 to 2 The unmanned road marking vehicle includes a mobile chassis 100, a positioning and drive module, a storage mechanism, a marking device 400, and a spreading device 500. The positioning and drive module is mounted on the mobile chassis 100 and is used to realize the autonomous navigation, positioning, and driving of the marking vehicle. The storage mechanism is mounted on the mobile chassis 100 and includes a material storage device 200 and a microbead storage device 300. The marking device 400 is connected to the discharge port of the material storage device 200 and is used to mark the material on the ground to form markings. The spreading device 500 is connected to the discharge port of the microbead storage device 300 and includes two spreading ports, which are respectively located in front of and behind the marking device 400 in the marking direction of travel.

[0023] In one embodiment, such as Figure 1 and Figure 2As shown, the mobile chassis 100 includes a vehicle body 110, with an independently drivable wheel 120 mounted at each of the four corners of the bottom of the vehicle body 110. A power supply is installed inside or at the bottom of the vehicle body 110 to provide power to all the vehicle's electrical equipment. A positioning and driving module is integrated within the vehicle body 110, including a combined navigation unit and a motion control unit. The combined navigation unit can employ a solution that integrates an inertial navigation system with simultaneous positioning and mapping (SMR) technology. The inertial navigation system provides continuous attitude and dead reckoning information, while SMR uses sensors such as LiDAR and visual cameras to perceive the surrounding environment in real time and build a map. These two technologies complement each other, ensuring accurate positioning and path tracking even in environments where global navigation systems are unavailable. The motion control unit receives the position and attitude information and the preset operating path from the combined navigation unit, calculates and outputs control commands to drive the independent drive of each wheel 120, enabling the vehicle to autonomously travel along a set trajectory. The mobile chassis 100 can be any existing unmanned mobile chassis on the market, as this is existing technology in the field and will not be described in detail here.

[0024] In one embodiment, such as Figure 1 As shown, the storage mechanism is installed on the platform of the vehicle body 110, and includes a material storage device 200 for storing hot-melt marking materials and a microsphere storage device 300 for storing glass microspheres.

[0025] The material storage device 200 includes a vessel body 210 with heating and heat preservation functions.

[0026] like Figure 3 As shown, the vessel body 210 includes a storage vessel 1, a heat-insulating vessel 2, a cover plate 3, and a stirring mechanism 4. The storage vessel is coaxially arranged inside the heat-insulating vessel, and the cover plate is connected to the top opening of the heat-insulating vessel; the stirring mechanism includes a drive assembly and a stirring assembly; the drive assembly is arranged on the cover plate, and its output shaft extends into the storage vessel.

[0027] like Figure 4 As shown, the upper part of the storage vessel 1 is a cylindrical section 11, and the lower part is a semi-ellipsoidal section 12. The cylindrical section is open at both ends, while the semi-ellipsoidal section is open at the top and closed at the bottom, with a discharge port at the bottom. The semi-ellipsoidal section is coaxially connected to the lower part of the cylindrical section with its open end. The storage vessel is used to hold and heat the hot-melt road marking paint. The storage vessel is made of a metal material with good thermal conductivity. The semi-ellipsoidal section can form a good material circulation flow field during stirring, avoiding dead corners at the bottom, making the heating more uniform. Furthermore, when discharging, the hot-melt road marking paint can smoothly gather under its own gravity and flow out from the discharge port at the bottom, reducing residue. The storage vessel is coaxially set inside the insulated vessel via an mounting ring 5.

[0028] like Figure 5As shown, the insulated vessel 2 is a cylindrical vessel with an open top and a closed bottom. The closed section has a through hole for material discharge. The strength of the insulated vessel must be sufficient to support the storage vessel filled with material. The mounting ring 5 is set inside the top opening of the insulated vessel, and its outer edge is welded to the insulated vessel. The storage vessel is welded to the inner edge of the mounting ring, so that there is a gap between the storage vessel and the insulated vessel as a heating jacket.

[0029] As an alternative, such as Figure 6 As shown, the insulated kettle can be designed as a split type, including a cylindrical tube and a bottom plate. A through hole is provided on the bottom plate at the outlet position to allow hot-melt marking paint to flow out of the storage kettle. A support mechanism, a burner outlet, and a gas line interface are arranged around the through hole on the bottom plate. The support mechanism supports the bottom of the storage kettle, the gas line interface connects to an external liquefied petroleum gas or natural gas source and control valve assembly, and the burner outlet is connected to a burner. The flame is injected into the heating jacket to heat the outer wall of the storage kettle. The heating method is indirect heating; the flame does not directly contact the storage kettle wall to avoid localized overheating and carbonization of the material. A support sidewall is provided around the bottom plate, with several heat dissipation holes to dissipate excess heat from the heating jacket and prevent overheating. To ensure effective stirring, a stirring mechanism 4 is installed through a cover plate 3, with the stirring body of the stirring mechanism 4 extending into the storage kettle.

[0030] like Figure 3 As shown, the cover plate 3 includes a central plate 31 and a movable plate 32. The central plate is fixedly located at the center of the top of the thermos. A pair of movable plates are located on both sides of the central plate and are hinged to the central plate. When laid flat, they close the top opening of the thermos; when pulled up, they facilitate feeding, maintenance, and cleaning. Handles 33 are also provided on the movable plates for easy operation. A flange hole is provided in the center of the central plate, which is fixedly connected to provide a fixed mounting position for the stirring mechanism to prevent misalignment during operation.

[0031] like Figure 7 As shown, the stirring mechanism 4 includes a drive assembly 41 and a stirring assembly 42. The drive assembly 41 consists of a motor and an output shaft. The motor is mounted at the flange hole of the center plate and extends into the storage tank. The stirring assembly 42 includes a rotating drum 421, upper blades 422, and lower blades 423. The rotating drum is coaxially connected to the output shaft. Both the upper and lower blades are paddle-type helical blades, with multiple upper blades arranged in a ring array outside the rotating drum. The lower blades are arranged in a one-to-one correspondence with the upper blades, and are inclined, with their lower ends connected to the rotating drum and their bottom edges fitting against the inner wall of the semi-ellipsoidal section. When the output shaft drives the stirring mechanism to rotate, in addition to the general stirring effect, the combined design of the lower blades and the semi-ellipsoidal section can scrape away the viscous material that has begun to cool and adhere to the inner wall, effectively preventing scaling on the wall surface.

[0032] When put into use, the block or granular hot-melt coating is added to the storage vessel. The motor is started, driving the stirring components to rotate, ensuring even heating of the material and preventing charring at the bottom. Throughout the process, the lower blades continuously scrape the inner wall to prevent material adhesion. When construction is completed or when material needs to be changed, the reactor can be emptied. Due to minimal scaling, cleaning is greatly simplified.

[0033] like Figure 1 , Figure 8 and Figure 9 As shown, the microsphere storage device 300 includes a storage box 310, which has a storage cavity inside. The bottom of the storage cavity is designed as an inclined surface that slopes towards the central discharge port, so that the glass microspheres can automatically slide down and collect under the action of gravity. The top of the storage box 310 has a covered feeding port 320.

[0034] In one embodiment, such as Figure 1 and Figure 10 As shown, the marking device 400 includes an insulated flexible tube 410, which comprises a detachable three-section pipe for easy disassembly and cleaning, and allows for replacement of the discharge device 420 according to actual marking requirements. The flexible tube 410 is also connected to the vehicle body 110 via a positioning component to ensure that the discharge device 420 is fixed relative to the vehicle body 110 during marking. One end of the flexible tube 410 is connected to the discharge port of the material storage device 200, and the other end is connected to the discharge device 420.

[0035] To ensure the discharge temperature, an insulation pipe B is installed outside the flexible pipe 410, and a temperature sensor is installed between the insulation pipe and the flexible pipe to collect the temperature of the flexible pipe. Through the insulation pipe, the temperature sensor inside obtains the outer wall temperature T of the flexible pipe. _i(t) Based on the material temperature requirements specified in the standard, the target maintenance temperature T of the pipeline is set. _set The actual temperature T of at least three sections of the collection pipeline was collected. _i(t) and ambient temperature T a ; Calculate the real-time temperature difference E in each section _i(t) = T _set - T _i(t) According to E _i(t) and E _i(t) The rate of change of T is used to control the power of the heating mechanism 220, so that T at each point... _i(t) Approaching T _set This enables dynamic and precise compensation for heat loss in pipelines.

[0036] The discharge device 420 includes a connector A1, a marking material cavity A2, and an opening / closing mechanism A3. One end of the connector has a hollow rectangular cross-section. The marking material cavity includes a waist plate A21 arranged along a first direction and a fixed baffle A22 arranged perpendicular to the first direction. The pair of waist plates A21 and fixed baffles A22 together form a marking material cavity that is connected vertically. One end of the connector A1 is connected to the upper end of the marking material cavity, and a rectangular discharge port is provided at the lower end of the marking material cavity. The opening / closing mechanism A3 includes a crank-slider assembly A31 and a movable baffle A32. The switch baffle A32 is disposed between the fixed baffles A22 and can be inserted into the groove A210 of the waist plate A21 and slide along the first direction to close or open the lower part of the marking material cavity. The crank-slider assembly A31 is disposed on the discharge mechanism and is used to drive the movable baffle A32 to reciprocate. A blind groove is provided on the other side of the waist plate at the position corresponding to the groove A210 for installation and positioning.

[0037] In one embodiment, such as Figures 10 to 15 As shown, the connector is a variable cross-section tubular structure with a circular interface at the top, which facilitates connection to the cylindrical insulated conveying pipe from the hot melt kettle via threads or flanges. The lower cross-section gradually transitions to a hollow rectangle to match the upper port of the discharge mechanism. The connector itself can be made of casting or welding, with smooth internal flow channels and an external insulation layer to reduce heat loss of the hot melt material during the conveying process.

[0038] In one embodiment, such as Figures 10 to 15 As shown, the marking material cavity serves as the main frame and material cavity of the device. It includes a pair of waist plates arranged symmetrically in parallel along the first direction, and a pair of fixed baffles arranged symmetrically in parallel perpendicular to the first direction. The waist plates mainly undertake the functions of leveling and guiding, while the fixed baffles mainly undertake the functions of width limitation and support. The pair of waist plates and the pair of fixed baffles are fastened together by welding or bolts and closed at the top by a top plate, together forming a marking material cavity that is connected vertically. The rectangular end of the connector is tightly connected to the top of the marking material cavity, allowing the hot melt material to flow in.

[0039] In one embodiment, Figures 10 to 15 As shown, the longitudinal section of the marking material cavity is preferably designed as an inverted trapezoid that is wider at the top and narrower at the bottom. This structure facilitates the smooth downward flow of molten material and avoids the generation of eddies or dead corners of material accumulation in the cavity. At the bottom of the marking material cavity, a rectangular discharge port is defined by the bottom edge of the waist plate and the fixed baffle. The length of the discharge port determines the design width of the marking, and its width affects the discharge flow rate.

[0040] In one embodiment, Figures 10 to 15As shown, the bottom edge of the waist plate is located above the bottom edge of the fixed baffle, and there is a preset height difference between the two. The height difference is preferably 1.5mm to 2.5mm. During the marking process, the bottom of the fixed baffle directly contacts or is very close to the road surface to limit the width of the marking. The bottom of the waist plate acts as a scraper, and its lower edge leaves a gap with the road surface that is exactly equal to the height difference. After the material flows out from the outlet, it is scraped by the bottom of the waist plate, thereby forming a marking with uniform thickness and a flat surface. The thickness of the marking is precisely controlled by the height difference.

[0041] In one embodiment, such as Figures 10 to 15 As shown, the waist plate has a top plate to prevent material from overflowing from the marking material cavity. The plate surface of the waist plate is inclined inward, and a through groove extending in the front-to-back direction is opened on the plate surface. The other waist plate has a blind groove opposite to the through groove.

[0042] In one embodiment, such as Figures 10 to 15 As shown, the fixed baffle includes a plate body with guide rails along a first direction on its inner sidewall. A movable baffle is slidably positioned between a pair of fixed baffles, with its two side edges embedded or engaged within the guide rails, thus restricting it to sliding horizontally only along the first direction. The fixed baffles are rectangular with semicircles at both ends, the diameter of which is the same as the width of the rectangle. This prevents road debris, protrusions, etc., from colliding with the left and right baffles during marking, improving the smoothness of the marking process by the discharge device. Guide rails are also provided inside and outside the fixed baffles, providing a motion track and limiting conditions for the horizontal movement of the movable baffle and the control of the discharge. An opening is provided in the rear half to accommodate the connecting rod of the fixed motor.

[0043] In one embodiment, such as Figures 10 to 15 As shown, the crank-slider assembly includes a driving member, a crank, and a slider. The driving member is located at the waist of the marking material cavity. One end of the crank is connected to the driving member, and the other end is connected to the slider. The slider is located in a groove. The crank-slider assemblies are arranged in pairs, located on both sides of the marking material cavity. The pair of crank-slider assemblies are driven by the same motor and coupling.

[0044] The movable baffle comprises an integrally formed elongated section and a sealing section. The end of the elongated section is used to connect with the drive mechanism, and the dimensions of the sealing section match the projected dimensions of the rectangular discharge port in the first direction. The movable baffle can be inserted into a groove in the waist plate, which provides auxiliary guidance and also acts as a seal to prevent molten material from leaking from the side. The crank-slider assembly is used to drive the movable baffle to perform precise reciprocating linear motion.

[0045] Working principle of the discharge device: When solid lines need to be drawn, the crank-slider assembly operates, moving the movable baffle to its rearmost (or frontmost) limit position and holding it stationary. At this point, the blocking section of the movable baffle completely moves away from the area above the discharge port, and the discharge port is fully open. The molten material flows from the connector into the marking material chamber, continuously flows out through the rectangular discharge port to the road surface, and is smoothed by the bottom of the moving side plate, forming a continuous solid line marking.

[0046] When dashed lines need to be drawn, the crank-slider assembly rotates continuously at a constant speed. The rotation of the motor is converted into the reciprocating linear motion of the slider and the connected movable baffle through a transmission mechanism consisting of a prime mover, crank, and slide block. The movable baffle slides smoothly back and forth under the guidance of the guide rail and slide groove. When its blocking section moves backward to cover the discharge port, the discharge is blocked; when its blocking section moves forward to move away from the discharge port, the discharge is resumed. By adjusting the speed of the motor, the reciprocating frequency of the movable baffle can be precisely controlled, thereby changing the length of the "line" and "space" in the dashed line to meet the drawing requirements of dashed lines of different specifications.

[0047] The application of solid and dashed lines is controlled by a motor. The flowchart for controlling the application of dashed lines is as follows: Figure 16 As shown, where D is the cumulative driving distance, the length of the line segment is L1, the length of the interval segment is L2, and D _advance The dynamic lead time is calculated using the following formula: D _advance = t _motor × v + C In the formula, t _motor V represents the time required for the stepper motor to move from receiving the command to the baffle reaching its position (measured to be approximately 0.15-0.25 seconds), v represents the real-time speed of the vehicle, and C represents the inertial compensation constant related to the flow characteristics of the paint (calibrated experimentally). This lead compensation mechanism is crucial for ensuring the accuracy of the scribing start and end points.

[0048] For solid lines, the opening action is performed only once at the beginning of the line marking and the closing action is performed once at the end of the line marking, without the need for periodic switching.

[0049] Discharge device During the marking process, when encountering potholes on the road surface, in order to ensure stability and compliance of the marking, a pressure device C is pre-installed in the reaction vessel. During construction, the pressure can be used to fully fill the potholes with paint, thereby achieving the leveling and repair effect. On the other hand, a damper B is installed on the flexible pipe 410. The damper B is firmly connected to the unmanned vehicle and can effectively absorb and buffer the impact force when contacting obstacles, improving the stability and safety of the equipment.

[0050] like Figure 17As shown, damper B includes a connecting section B1 and a damping section B2. The connecting section consists of a pair of annular clamps. The damper is connected to the outside of the insulation pipe via the annular clamps. The damping section B2 can be a gas spring, with one end connected to the annular clamp and the other end connected to the underside of the vehicle body. In one embodiment, as... Figure 1 and Figure 8 As shown, the spreading device 500 is used to spread glass microspheres. It includes a connecting pipe 510, one end of which is connected to the outlet of the microsphere storage device 300, and the other end of which is connected to a branch pipe 520. The branch pipe 520 is Y-shaped, which divides the single flow of glass microspheres into two paths. The spreading ports of these two branch pipes extend and are fixed respectively, one located in front of the outlet device 420 and the other located behind it. Each spreading port is connected to a spreading head 530. The top of the spreading head 530 is provided with a microsphere switching device 540, and a thin strip-shaped spreading slit is opened at its bottom. Its length direction is consistent with the width direction of the marking line to ensure that the glass microspheres can be spread evenly in a strip shape. When the vehicle is moving forward to apply the markings, the positioning drive module activates the microbead switch device 540 at the rear. When the vehicle needs to move backward to apply the markings, the microbead switch device 540 at the front is activated. This structure ensures that the glass microbeads can always be spread on the surface of the newly formed, yet uncured, hot-melt markings.

[0051] Brief description of working principle: Before construction, hot-melt road marking material and glass microspheres are loaded into material storage device 200 and microsphere storage device 300 respectively, and the digital map of the construction route is imported into the positioning drive module. During operation, the vehicle autonomously drives to the starting point, and the positioning drive module controls the vehicle to move along the preset path. At the same time, the hot-melt material flows out from the rectangular discharge port of the discharge device 420 through the flexible tube 410 under pressure or gravity and adheres to the road surface. The drive mechanism 425 controls the switch baffle 424 to operate according to the command to form the required line shape. Almost simultaneously, the spreading device 500 automatically opens the corresponding microsphere switch device 540 according to the driving direction, and the glass microspheres are evenly spread on the road marking surface through the strip spreading seam of the spreading head 530, embedding in it to form a reflective layer. The entire process is fully automatic and requires no manual driving or operation of the marking and spreading actions.

[0052] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0053] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An unmanned road marking painting vehicle, characterized by, include: Mobile chassis; Storage mechanisms, including material storage devices and microsphere storage devices; The marking device includes a marking material chamber and an opening and closing mechanism. The opening and closing mechanism includes a crank-slider assembly and a movable baffle. The crank-slider assembly drives the movable baffle to reciprocate to open and close the marking material chamber. The spreading device is connected to the outlet of the microbead storage device. The spreading device includes two spreading ports, which are respectively located in front of and behind the spreading device in the spreading direction.

2. The self-driving road marking application vehicle of claim 1, wherein, The material storage device includes a vessel body, a heating mechanism is provided on one side of the vessel body, the heating end of the heating mechanism faces the bottom of the vessel body, and a stirring mechanism is provided inside the vessel body.

3. The driverless road marking vehicle according to claim 1, characterized in that, The vessel is equipped with a pressurization device.

4. The driverless road marking vehicle according to claim 1, characterized in that, The microsphere storage device includes a storage box located on one side of the vessel body. The bottom of the storage chamber of the storage box is inclined towards the discharge port, and a feeding port is provided at the top.

5. The driverless road marking vehicle according to claim 1, characterized in that, The marking device includes a flexible tube, one end of which is connected to the discharge port of the storage mechanism, and the other end is connected to an openable and closable discharge device.

6. The driverless road marking vehicle according to claim 5, characterized in that, The discharge device includes a marking material cavity with an inverted trapezoidal longitudinal section. It has an inlet at the top, an outlet at the bottom, and a chute at the waist. The marking material cavity is connected to the connecting member through its inlet. The opening and closing mechanism includes a crank-slider assembly and a movable baffle. The movable baffle is inserted into the slide groove, and the crank-slider assembly drives the movable baffle to reciprocate to open and close the discharge port.

7. The driverless road marking vehicle according to claim 6, characterized in that, The marking material cavity includes a top plate, a waist plate, and fixed baffles; a pair of fixed baffles are arranged opposite each other, a pair of waist plates and a pair of top plates are set between the fixed baffles, and a pair of top plates are respectively set on the waist plates and located between the two fixed baffles, forming the feed inlet between the pair of top plates; the bottom edge of the waist plate is higher than the bottom edge of the fixed baffle, with a height difference of 1.5mm-2.5mm.

8. The driverless road marking vehicle according to claim 7, characterized in that, The crank-slider assembly includes a prime mover, a crank, and a slider; the prime mover is located at the waist of the marking material cavity, one end of the crank is connected to the prime mover and the other end is connected to the slider, and the slider is located in the groove; the crank-slider assemblies are arranged in pairs and are located on both sides of the marking material cavity, and the pair of crank-slider assemblies are driven by the same motor and coupling.

9. The driverless road marking vehicle according to claim 5, characterized in that, The flexible tube is externally insulated, and the insulated tube is externally insulated. A temperature sensor is installed between the insulation pipe and the flexible pipe to collect the temperature of the flexible pipe; The damper includes a connecting section and a damping section. The connecting section consists of a pair of annular clamps. The damper is connected to the outside of the insulation pipe through the annular clamps, with one end connected to the annular clamps and the other end connected to the underside of the vehicle body.

10. The driverless road marking vehicle according to claim 1, characterized in that, The spreading device includes a connecting pipe, one end of which is connected to the outlet of the spreading device, and the other end of which is connected to a branch pipe. The two outlet ends of the branch pipe are respectively located in front of and behind the spreading device, forming the two spreading ports. The outlet end of the branch pipe is connected to a spreading head. The top of the spreading head is provided with a micro-bead switch device, and the bottom of the spreading head is provided with a strip-shaped spreading slit.

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