Road marking reference visual recognition alignment device and precise regulation method

Abstract

This invention discloses a road marking reference visual recognition alignment device and a precise control method, including a fixed bracket and a power component. The power component is mounted on the fixed bracket. A linear module is connected to the output end of the power component, and a slider is connected to the moving end of the linear module for adjusting its position according to the alignment signal. A road baseline vision component is connected to the linear module for recognizing the road baseline and generating an alignment signal. A marking hopper assembly is used for precise alignment of the road baseline and marking. A connecting component has one end rotatably connected to the slider and the other end connected to the marking hopper assembly for transmitting the movement of the slider to the marking hopper assembly. This invention, by setting the road baseline vision component (including a navigation camera, a navigation camera adjustment seat, etc.) and the power component (servo motor, reducer), linear module, slider, connecting component, and marking hopper assembly to work together, constitutes a closed-loop automatic alignment control system.

Description

Technical Field

[0001] This invention relates to the field of road traffic engineering construction equipment technology, specifically to a road marking reference visual recognition alignment device and a precise control method. Background Technology

[0002] Currently, in road marking operations, commonly used marking equipment mainly relies on the operator's visual judgment. Through mechanical guiding devices or manual adjustment mechanisms, the marking hopper roughly follows the pre-set baseline on the road surface (such as a string or the edge of an existing old marking). Its basic working logic is: the operator visually observes the baseline while manually controlling the equipment's direction of travel or fine-tuning the lateral position of the hopper through simple mechanical linkages to achieve a rough alignment of the marking position.

[0003] However, existing technologies have the following shortcomings in practical applications: Low alignment accuracy and reliance on manual experience: Existing equipment lacks automated visual recognition and closed-loop alignment control functions. During the road marking process, alignment operations rely entirely on the operator's real-time visual judgment and manual correction. Factors such as operator fatigue, changes in ambient lighting, and road conditions can easily lead to continuous or intermittent deviations between the hopper's marking opening and the road baseline, resulting in poor smoothness and uneven width of the marked lines. This problem is particularly pronounced during long-distance operations, where the accumulation of deviations makes it difficult to guarantee consistently high-precision marking quality. Therefore, we need to propose a road marking baseline visual recognition alignment device and a precise control method. Summary of the Invention

[0004] The purpose of this invention is to provide a road marking reference visual recognition alignment device and a precise control method to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: The road marking reference visual recognition alignment device includes: Fixed bracket; The power unit is mounted on the fixed bracket; A linear module is connected to the output end of the power assembly; A slider, connected to the moving end of the linear module, is used to adjust its position according to the alignment signal; A road baseline vision component, connected to the straight line module, is used to identify the road baseline and generate alignment signals; The marking hopper assembly is used for precise alignment of road baselines and marking of road lines. A connecting component, one end of which is rotatably connected to the slider and the other end of which is connected to the feeding hopper assembly, is used to transmit the movement of the slider to the feeding hopper assembly.

[0006] Preferably, the fixed bracket is used to integrate and fix the power unit, straight line module, road baseline vision and slider on the line marking machine.

[0007] Preferably, the power component includes a servo motor and a reducer, and the output end of the servo motor is connected to the linear module through the reducer.

[0008] Preferably, the road baseline vision component includes a navigation camera adjustment mount and a navigation camera mount, the navigation camera adjustment mount being connected to the straight line module, and the navigation camera mount being used to mount the navigation camera.

[0009] Preferably, the hopper assembly includes a hopper body, a first fixed frame, a second fixed frame, a baffle, a blade, a fixed side plate, a movable bracket, a cylinder bracket, and an ultra-thin cylinder. The end of the connecting assembly away from the slider is connected to the hopper body. The first fixed frame is installed at the lower end of the hopper body, the second fixed frame is installed at the lower end of the first fixed frame, the baffle is installed on one side of the second fixed frame, the blade is installed at the lower end of the second fixed frame, the fixed side plate is installed on both sides of the blade, the movable bracket is installed on the side of the second fixed frame away from the baffle, the cylinder bracket is installed on one side of the hopper body, and the ultra-thin cylinder is installed on the cylinder bracket.

[0010] Preferably, two connecting rings are installed on one side of the hopper body, and a handle is provided on one side of the hopper body.

[0011] Preferably, the connecting assembly includes an L-shaped connecting plate, a sliding part, and a connector. One end of the L-shaped connecting plate is rotatably connected to the slider, and one end of the connector is connected to the hopper body.

[0012] Preferably, the sliding part includes a sliding block and a sliding frame. The sliding block is connected to the end of the L-shaped connecting plate away from the slider, and the sliding frame is connected to the end of the connecting member away from the hopper body. The sliding block is slidably connected inside the sliding frame.

[0013] Preferably, the sliding block is provided with limiting blocks on both sides, and the sliding frame is provided with limiting grooves on both sides for the limiting blocks to slide and connect.

[0014] A precise control method for a road marking reference visual recognition alignment device includes the following steps: S1: Activate the road baseline vision component to acquire real-time images of the road baseline, identify the current position information of the road baseline, compare it with the preset alignment reference value, and generate a deviation signal; S2: The control system calculates the required moving direction and distance of the slider based on the deviation signal, and drives the power component to move the linear module so that the slider moves to the target alignment position; S3: The slider drives the scouring hopper assembly to move laterally through the connecting component, so that the scouring opening of the scouring hopper assembly is precisely aligned with the road baseline; S4: During the marking process, the road baseline vision component continuously collects road baseline information and feeds back deviation signals to the control system in real time to form a closed-loop control, dynamically adjusting the slider position to ensure that the marking hopper assembly always maintains precise alignment with the road baseline; S5: After completing the marking of the current road section, the control system resets the slider to the initial position and waits for the next operation instruction.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention establishes a closed-loop automatic alignment control system by coordinating a road baseline vision component (including a navigation camera and a navigation camera adjustment mount), a power component (servo motor and reducer), a linear module, a slider, a connecting component, and an application hopper assembly. The road baseline vision component identifies the road baseline in real time and generates an alignment signal. The control system drives the servo motor to move the linear module based on the deviation signal, causing the slider to move precisely to the target position. The connecting component then drives the application hopper assembly to automatically complete the lateral alignment. This solution completely changes the traditional line marking equipment's reliance on manual visual inspection and correction, effectively solving problems such as low alignment accuracy, operator fatigue, significant influence from ambient light, and accumulated deviations over long distances. It achieves high-precision, real-time, and automated tracking of the road baseline during line marking, significantly improving the smoothness, width uniformity, and positional accuracy of line marking.

[0016] 2. This invention, through a closed-loop control strategy combining visual recognition and servo drive, along with optimized connection components and the marking hopper assembly, not only fundamentally solves the technical problems of existing marking equipment such as reliance on manual alignment, low accuracy, and slow response, but also further enhances the equipment's integration, environmental adaptability, ease of operation, and operational reliability through specific structural improvements to each subordinate scheme. This device can dynamically and continuously correct the lateral position of the hopper during the marking machine's movement, achieving precise following and marking of the road baseline. It is particularly suitable for long-distance, high-precision road marking projects, effectively ensuring marking quality and reducing manual labor intensity. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the main structure of the present invention; Figure 2 This is a top view of the structure of the present invention; Figure 3 This is a bottom-view structural diagram of the present invention; Figure 4 This is a cross-sectional structural diagram of the present invention.

[0018] In the diagram: 1. Fixed bracket; 2. Power assembly; 201. Servo motor; 202. Reducer; 3. Linear module; 4. Slider; 5. Road baseline vision assembly; 501. Navigation camera adjustment seat; 502. Navigation camera mount; 6. Marking hopper assembly; 601. Hopper body; 602. First fixed frame; 603. Second fixed frame; 604. Baffle; 605. Blade plate; 606. Fixed side plate; 607. Moving bracket; 608. Cylinder bracket; 609. Ultra-thin cylinder; 7. Connecting assembly; 701. L-shaped connecting plate; 702. Sliding part; 7021. Sliding block; 7022. Sliding frame; 7023. Limiting block; 7024. Limiting groove; 703. Connecting piece; 8. Connecting ring; 9. Handle. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Example 1: Please see Figures 1-4 The present invention provides a technical solution: The road marking reference visual recognition alignment device includes a fixed bracket 1, a power component 2, a straight module 3, a slider 4, a road reference line visual component 5, a marking hopper assembly 6, and a connecting component 7.

[0021] The fixed bracket 1 is used to integrate and fix the power unit 2, the linear module 3, the road baseline vision component 5, and the slider 4 onto the frame or work platform of the line marking machine. The fixed bracket 1 is usually made of high-strength steel welded or bolted together, and has sufficient rigidity and mounting reference surface to ensure that the moving parts maintain a stable relative position during operation.

[0022] The power assembly 2 is installed inside the fixed bracket 1 and provides precise and controllable power output to the linear module 3. The power assembly 2 includes a servo motor 201 and a reducer 202. The output shaft of the servo motor 201 is directly connected to the input shaft of the reducer 202, and the output end of the reducer 202 is then connected to the power input end of the linear module 3. The servo motor 201 receives pulses or bus commands from the control system and can precisely control its speed, rotation angle, and torque. The reducer 202 converts the high-speed, low-torque output of the servo motor 201 into a low-speed, high-torque output through gears or planetary gear trains, thereby improving positioning accuracy and output stiffness.

[0023] The linear module 3 is connected to the output end of the power component 2, and is typically a ball screw type linear module 3 or a synchronous belt type linear module 3. In this embodiment, a ball screw type linear module 3 is preferred, which includes a base, a lead screw, a nut seat, and a guide rail. The two ends of the lead screw are supported on the base by bearings, and one end is connected to the output shaft of the reducer 202 through a coupling; the nut seat is threaded with the lead screw and moves linearly on the guide rail; the slider 4 is fixed on the nut seat and serves as the moving end of the linear module 3. When the servo motor 201 drives the lead screw to rotate, the nut seat drives the slider 4 to perform precise linear reciprocating motion along the guide rail.

[0024] The slider 4 is fixedly connected to the moving end of the linear module 3 and is used to adjust its own position according to the alignment signal of the control system. The slider 4 is provided with multiple mounting holes and connection interfaces for rotatable connection with the connecting assembly 7.

[0025] The road baseline vision component 5 is connected to the movable end of the straight line module 3 to identify the road baseline in real time and generate alignment signals. Specifically, the road baseline vision component 5 includes a navigation camera adjustment seat 501 and a navigation camera mount 502. The navigation camera adjustment seat 501 is fixed to the movable end (e.g., an extension plate of a nut seat) in the straight line module 3 by bolts. The navigation camera adjustment seat 501 has an elongated hole or an arc-shaped groove, which, with the help of fasteners, allows for pitch adjustment and lateral fine-tuning of the camera mounting angle. The navigation camera mount 502 is mounted on the navigation camera adjustment seat 501 and is used to fix the industrial navigation camera. The navigation camera typically uses a CMOS or CCD image sensor, combined with a fixed-focus lens and a supplementary light source, to clearly capture the preset baseline of the road surface (such as ropes, edges of old markings, bottom lines of hot-melt paint, etc.) and output image data to the control system. The image processing algorithm in the control system analyzes the image, calculates the lateral deviation between the center line of the current marking point and the baseline, and generates an alignment signal.

[0026] The marking hopper assembly 6 is used to hold marking paint (such as hot melt paint, cold spray paint, etc.) and to apply markings after precise alignment with the road baseline. The marking hopper assembly 6 includes a hopper body 601, a first fixing frame 602, a second fixing frame 603, a baffle 604, a blade 605, a fixed side plate 606, a moving bracket 607, a cylinder bracket 608, and an ultra-thin cylinder 609. The hopper body 601 is generally funnel-shaped, wider at the top and narrower at the bottom, with an opening at the top for injecting paint and a discharge port at the bottom. The end of the connecting component 7 away from the slider 4 is connected to the hopper body 601, specifically through two connecting rings 8 on one side of the hopper body 601 hinged to the connecting component 7. A handle 9 is also provided on one side of the hopper body 601 for easy manual lifting or movement.

[0027] The first fixed frame 602 is bolted to the lower end of the hopper body 601, and the second fixed frame 603 is then installed at the lower end of the first fixed frame 602. A baffle 604 is installed on one side of the second fixed frame 603 to limit the lateral flow of the paint. A blade 605 is installed at the lower end of the second fixed frame 603, and the blade of the blade 605 forms a marking gap with the road surface to control the thickness of the marking coating. Fixed side plates 606 are installed on both sides of the blade 605 to seal the paint on both sides of the blade 605 and ensure that the marking edges are neat. A movable bracket 607 is installed on the side of the second fixed frame 603 away from the baffle 604, and is used to lift or move the entire marking assembly when the equipment is not marking. The cylinder bracket 608 is installed on one side of the hopper body 601, and the ultra-thin cylinder 609 is installed on the cylinder bracket 608. The piston rod of the ultra-thin cylinder 609 is connected to the blade 605 or the baffle 604 to control the lifting or opening and closing of the blade 605, thereby realizing the start and stop of the marking.

[0028] The operation of the ultra-thin cylinder 609 relies on an external pneumatic system. Specifically, this system includes an air compressor, an air tank, a filter pressure reducing valve, a directional control valve, and a flow control valve. The air compressor compresses ambient air to a preset pressure (e.g., 0.6~0.8 MPa). The compressed air then enters the air tank via pipeline to stabilize the pressure and buffer fluctuations. The air tank outlet is connected to the filter pressure reducing valve, which further filters out moisture and oil mist from the air and regulates the pressure to the rated pressure required by the ultra-thin cylinder 609 (e.g., 0.4~0.5 MPa). The purified and pressure-stabilized compressed air is then delivered to the directional control valve (e.g., a two-position five-way solenoid directional valve) via an air pipe. The directional control valve switches the position of its internal valve core according to an electrical signal from the control system, thereby changing the airflow path and determining whether the compressed air enters the rod-side or rodless-side chamber of the ultra-thin cylinder 609, thus controlling the extension or retraction of the cylinder piston rod. The flow control valve is typically a one-way throttle valve, installed in the air path between the directional control valve and the cylinder. It controls the piston speed by adjusting the opening of the exhaust port. When compressed air enters the rodless chamber, the piston rod extends, pushing the blade 605 down to the working position, initiating the marking process. When compressed air enters the rod chamber, the piston rod retracts, lifting the blade 605 and stopping the marking. By adjusting the flow control valve, the lifting and lowering of the blade 605 can be made smooth and shock-free, improving the neatness of the marking's start and end positions.

[0029] One end of the connecting assembly 7 is rotatably connected to the slider 4, and the other end is connected to the hopper assembly 6. This assembly transmits the lateral movement of the slider 4 to the hopper body 601, while allowing the hopper body 601 a certain degree of freedom to swing in the vertical plane to adapt to road surface undulations. The rotatable connection is a hinge about a horizontal axis. The connecting assembly 7 includes an L-shaped connecting plate 701, a sliding part 702, and a connecting member 703. One end of the L-shaped connecting plate 701 is rotatably connected to the slider 4 via a pin or hinge support, allowing the L-shaped connecting plate 701 to swing within a small range about the horizontal axis. The other end of the L-shaped connecting plate 701 is connected to the sliding part 702. Specifically, the sliding part 702 includes a sliding block 7021 and a sliding frame 7022. The sliding block 7021 is fixedly connected to the end of the L-shaped connecting plate 701 away from the slider 4, and the sliding frame 7022 is fixedly connected to the end of the connecting member 703 away from the hopper body 601. The sliding block 7021 is slidably connected within the sliding frame 7022. Furthermore, limiting blocks 7023 are provided on both sides of the sliding block 7021, and limiting grooves 7024 are provided on both sides of the sliding frame 7022 for sliding connection of the limiting blocks 7023. In this way, the sliding block 7021 can only slide in a set direction (usually horizontal) within the sliding frame 7022, and will not disengage or rotate. The connecting piece 703 (e.g., a steel plate with mounting ears) is hinged to the connecting ring 8 on the hopper body 601 by a pin.

[0030] Through the design of the connecting component 7, when the slider 4 moves laterally under the drive of the linear module 3, the L-shaped connecting plate 701 moves laterally accordingly, and pushes the sliding frame 7022 and the connecting piece 703 through the sliding block 7021, ultimately driving the hopper body 601 to move laterally. Since the L-shaped connecting plate 701 and the slider 4 are rotatably connected around the horizontal axis, and the sliding block 7021 and the sliding frame 7022 are in sliding engagement, the hopper body 601 can make slight adaptive adjustments in the vertical and forward directions while following the lateral movement. This avoids the connecting component 7 from bearing excessive bending moment due to uneven road surfaces or vibrations from the marking machine, ensuring smooth and reliable motion transmission.

[0031] Working principle and process description: Before the actual road marking operation, the device is first installed on the front or rear end of the marking machine frame through the fixed bracket 1, so that the marking opening of the hopper body 601 faces the road surface, and the navigation camera adjustment seat 501 is adjusted so that the navigation camera can clearly capture the preset baseline of the road surface.

[0032] After the operation starts, the control system first activates the navigation camera to acquire image information of the road surface baseline in real time. The image processing algorithm extracts the centerline position of the baseline and compares it with the preset theoretical alignment position (i.e., the image coordinates corresponding to the center of the marking opening of the hopper body 601), calculates the lateral deviation value, and generates an alignment signal.

[0033] Based on the alignment signal, the control system calculates the required direction and distance of movement for slider 4 and sends pulse or bus commands to the servo motor 201 driver. Servo motor 201 rotates according to the command, and after being reduced in speed and torque by reducer 202, it drives the lead screw of linear module 3 to rotate. The lead screw drives the nut seat and slider 4 to make precise linear movements along the guide rail. After slider 4 moves to the target position, it drives the hopper body 601 to move laterally through connecting component 7, so that the center line of the marking opening of the hopper body 601 precisely coincides with the road baseline.

[0034] During the marking process, the ultra-thin cylinder 609, driven by a pneumatic system, extends its piston rod, pushing the blade 605 down onto the road surface. The marking machine moves forward, and paint flows from the discharge port at the lower end of the hopper body 601, evenly spreading across the road surface through the gap between the blade 605 and the road surface to form markings. Simultaneously, the navigation camera continuously acquires baseline images, calculates deviations in real time, and feeds them back to the control system, forming a closed-loop control. Once a lateral deviation is detected due to road curvature or equipment travel direction deviation, the control system immediately drives the servo motor 201 to fine-tune the position of the slider 4, dynamically correcting the lateral alignment of the hopper body 601 to ensure the markings are always applied along the baseline, with deviations controlled within millimeters.

[0035] When the current road marking is completed or when it is necessary to temporarily stop the marking, the control system commands the directional control valve to switch, compressed air enters the rod chamber of the ultra-thin cylinder 609, the piston rod retracts, driving the blade 605 to rise and detach from the road surface, and the paint stops flowing out. At the same time, the control system can drive the slider 4 back to its initial position (e.g., the middle position or one extreme position of the straight module 3), waiting for the next work command.

[0036] During long-term use, the limiting blocks 7023 on both sides of the sliding block 7021 and the limiting grooves 7024 on both sides of the sliding frame 7022 cooperate with each other, ensuring that the sliding block 7021 moves smoothly within the sliding frame 7022, and preventing the hopper body 601 from rotating or falling off unexpectedly due to gravity or vibration, thus improving the safety and service life of the system. The design of the handle 9 and the connecting ring 8 facilitates the quick disassembly, cleaning and maintenance of the hopper body 601.

[0037] Example 2: The difference between Example 2 and Example 1 is that: A precise control method for a road marking reference visual recognition alignment device includes the following steps: S1: Activate the road baseline vision component 5 to acquire real-time images of the road baseline, identify the current position information of the road baseline, compare it with the preset alignment reference value, and generate a deviation signal; S2: The control system calculates the required moving direction and distance of slider 4 based on the deviation signal, and drives the power component 2 to move the linear module 3, so that slider 4 moves to the target alignment position; S3: The slider 4 drives the scouring hopper assembly 6 to move laterally through the connecting component 7, so that the scouring opening of the scouring hopper assembly 6 is precisely aligned with the road baseline. S4: During the marking process, the road baseline vision component 5 continuously collects road baseline information and feeds back deviation signals to the control system in real time to form a closed-loop control, dynamically adjusting the position of the slider 4 to ensure that the marking hopper assembly 6 always maintains precise alignment with the road baseline. S5: After completing the marking of the current road section, the control system resets slider 4 to the initial position and waits for the next operation instruction.

[0038] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A road marking reference visual recognition alignment device, characterized in that, include: Fixed bracket (1); The power assembly (2) is mounted on the fixed bracket (1); The linear module (3) is connected to the output end of the power assembly (2); The slider (4) is connected to the moving end of the linear module (3) and is used to adjust its position according to the alignment signal; The road baseline vision component (5) is connected to the straight line module (3) and is used to identify the road baseline and generate alignment signals; The marking hopper assembly (6) is used for precise alignment of the road baseline and marking of the road lines; A connecting component (7) is rotatably connected at one end to the slider (4) and at the other end to the feeding hopper assembly (6), for transmitting the movement of the slider (4) to the feeding hopper assembly (6); The control system receives the alignment signal and controls the operation of the power component (2).

2. The road marking reference visual recognition alignment device according to claim 1, characterized in that: The fixed bracket (1) is used to integrate and fix the power unit (2), the straight module (3), the road baseline vision and the slider (4) on the line marking machine.

3. The road marking reference visual recognition alignment device according to claim 1, characterized in that: The power assembly (2) includes a servo motor (201) and a reducer (202), and the output end of the servo motor (201) is connected to the linear module (3) through the reducer (202).

4. The road marking reference visual recognition alignment device according to claim 1, characterized in that: The road baseline vision component (5) includes a navigation camera adjustment mount (501) and a navigation camera mount (502). The navigation camera adjustment mount (501) is connected to the straight line module (3), and the navigation camera mount (502) is used to mount the navigation camera.

5. The road marking reference visual recognition alignment device according to claim 1, characterized in that: The hopper assembly (6) includes a hopper body (601), a first fixing frame (602), a second fixing frame (603), a baffle (604), a blade (605), a fixed side plate (606), a movable bracket (607), a cylinder bracket (608), and an ultra-thin cylinder (609). The end of the connecting component (7) away from the slider (4) is connected to the hopper body (601). The first fixing frame (602) is installed at the lower end of the hopper body (601), and the second fixing frame (603) is installed at the lower end of the hopper body (601). The first fixed frame (602) is located at the lower end. The baffle (604) is installed on one side of the second fixed frame (603). The blade (605) is installed at the lower end of the second fixed frame (603). The fixed side plate (606) is installed on both sides of the blade (605). The movable bracket (607) is installed on the side of the second fixed frame (603) away from the baffle (604). The cylinder bracket (608) is installed on one side of the hopper body (601). The ultra-thin cylinder (609) is installed on the cylinder bracket (608).

6. The road marking reference visual recognition alignment device according to claim 5, characterized in that: Two connecting rings (8) are installed on one side of the hopper body (601), and a handle (9) is provided on one side of the hopper body (601).

7. The road marking reference visual recognition alignment device according to claim 1, characterized in that: The connecting assembly (7) includes an L-shaped connecting plate (701), a sliding part (702), and a connector (703). One end of the L-shaped connecting plate (701) is rotatably connected to the slider (4), and one end of the connector (703) is connected to the hopper body (601).

8. The road marking reference visual recognition alignment device according to claim 7, characterized in that: The sliding part (702) includes a sliding block (7021) and a sliding frame (7022). The sliding block (7021) is connected to the end of the L-shaped connecting plate (701) away from the slider (4). The sliding frame (7022) is connected to the end of the connecting piece (703) away from the hopper body (601). The sliding block (7021) is slidably connected in the sliding frame (7022).

9. The road marking reference visual recognition alignment device according to claim 8, characterized in that: The sliding block (7021) is provided with limiting blocks (7023) on both sides, and the sliding frame (7022) is provided with limiting grooves (7024) on both sides for the limiting blocks (7023) to slide and connect.

10. A precise control method for a road marking reference visual recognition alignment device, characterized in that, The following methods and steps are included: S1: Start the road baseline vision component (5), collect real-time images of the road baseline, identify the current position information of the road baseline, compare it with the preset alignment reference value, and generate a deviation signal; S2: The control system calculates the required moving direction and moving distance of the slider (4) based on the deviation signal, and drives the power component (2) to drive the linear module (3) to move, so that the slider (4) moves to the target alignment position; S3: The slider (4) drives the scouring hopper assembly (6) to move laterally through the connecting component (7), so that the scouring opening of the scouring hopper assembly (6) is precisely aligned with the road baseline; S4: During the marking process, the road baseline vision component (5) continuously collects road baseline information and feeds back deviation signals to the control system in real time to form a closed-loop control, dynamically adjusts the position of the slider (4), and ensures that the marking hopper assembly (6) always maintains precise alignment with the road baseline. S5: After completing the marking of the current road section, the control system resets the slider (4) to the initial position and waits for the next operation instruction.

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