Scribing robot

Abstract

The utility model discloses a scribing robot which comprises a robot body, a front wheel is arranged at the front end of the robot body, and two rear wheels are arranged at the rear end of the robot body. And the positioning and orienting assembly is at least partially arranged outside the shell of the robot body and used for positioning and orienting and providing a target position for the controller. The controller is arranged in the containing space defined by the shell and used for controlling the scribing robot to move to the target position. And the lineation assembly is installed on the shell and used for spraying and lineation on the ground. The scribing assembly comprises a first spraying system and a second spraying system which are independent of each other. Wherein the spray head of the first spraying system is fixed, and the spray head of the second spraying system is movable. A three-wheel mechanism with one front wheel and two rear wheels is arranged, and two sets of spraying systems are arranged at the same time, so that the spraying distance can be adjusted more flexibly, and marking construction operation can be better performed on road sections without road edge stones, or inclined road sections, abnormal road sections with stones and the like.

Description

Technical Field

[0001] The present application relates to the technical field of road traffic marking construction, and in particular to a road marking robot. Background Art

[0002] With the development of technology, in the existing road construction, marking robots have begun to be used instead of manual methods to complete the construction of road traffic markings on the road surface, which greatly saves labor costs.

[0003] However, currently available road marking robots are basically 4-wheel structures, and the front wheels are omnidirectional wheels. In addition, the side nozzle guide rail sliding mechanism adopts gear sliding, that is, the existing road marking robots perform road marking operations in a printing mode. Therefore, the existing road marking robots have high requirements for the working roads and only support operations on sections with curbstones. For sections without curbstones, or abnormal sections with inclined sections or stones, they cannot perform road marking operations normally.

[0004] Therefore, there is a need to further improve the existing marking robots. Utility Model Content

[0005] The purpose of the present application is to provide a road marking robot that can flexibly adapt to various road sections and better perform road marking operations.

[0006] In order to solve the above technical problems, the embodiments of the present application disclose a marking robot, comprising:

[0007] Robot body, positioning and orientation components, controller and marking components;

[0008] The robot body comprises a shell;

[0009] The front end of the robot body is provided with a front wheel, and the rear end of the robot body is provided with two rear wheels;

[0010] The positioning and orienting assembly is at least partially disposed outside the housing and is used to position and orient the marking robot and provide a target position to the controller;

[0011] The controller is disposed in the accommodating space defined by the housing and is used to control the marking robot to move to the target position;

[0012] The marking assembly is mounted on the housing and is used to spray markings on the ground;

[0013] The marking assembly comprises: a first spraying system and a second spraying system which are independent of each other; wherein the spray head of the first spraying system is fixed, and the spray head of the second spraying system is movable.

[0014] In another preferred embodiment, the front wheel is a universal wheel.

[0015] In another preferred example, the first spraying system is fixed to the bottom of the robot body, and the first spraying system includes a first spray head group.

[0016] In another preferred example, the second spraying system is fixed at the rear end of the robot body, and the second spraying system includes a slide rail and a slider that can slide on the slide rail, and a second spray head group is fixed on the slider.

[0017] In another preferred embodiment, the nozzle group includes: two breakpoint nozzles and one solid line nozzle; wherein the breakpoint nozzles are used to spray dotted lines; and the solid line nozzles are used to spray solid lines.

[0018] In another preferred example, the positioning and orientation component includes: a laser radar system and a positioning and orientation system, and the laser radar system and the positioning and orientation system are electrically connected to the controller respectively.

[0019] In another preferred example, the positioning and orientation system includes: a GNSS positioning and orientation board and an inertial measurement unit.

[0020] In another preferred example, the GNSS positioning and orientation board is configured with two antennas that are spaced a predetermined distance apart.

[0021] In another preferred example, the marking robot further comprises: a raw material containing assembly installed on the upper surface of the shell, wherein the raw material containing assembly is connected to the spray head and is used to provide the spray marking raw material to the spray head.

[0022] In another preferred embodiment, a front handle is provided on the front side wall of the shell.

[0023] In another preferred embodiment, two rear handles are provided on the rear side wall of the shell.

[0024] In another preferred example, a battery compartment door and a charging port are provided on the side wall of the shell, and a solar cell panel is also installed on the upper surface of the shell.

[0025] In another preferred embodiment, the universal wheel is made of rubber.

[0026] In another preferred embodiment, the two rear wheels are pneumatic tires.

[0027] In another preferred embodiment, the two rear wheels are assembled through a rear wheel drive shaft.

[0028] In another preferred embodiment, the two rear wheels are driven by two independently operated DC drive motors respectively.

[0029] In another preferred example, the two antennas are two RTK antennas located at the front end and the rear end of the robot body respectively.

[0030] In another preferred embodiment, the raw material containing component is made of plastic material.

[0031] In another preferred example, a battery compartment door is provided on one side wall of the shell, a charging port is provided on another side wall of the shell, and a solar cell panel is also installed on the upper surface of the shell.

[0032] In another preferred example, a WiFi signal antenna and a remote control antenna are further provided on the upper surface of the shell, wherein the remote control antenna is used to receive control instructions of the remote control.

[0033] In another preferred embodiment, an emergency stop switch and a three-color warning light are also provided on the upper surface of the shell.

[0034] In another preferred embodiment, a start switch is further provided on the side wall of the shell for controlling the start or shut down of the marking robot.

[0035] Compared with the prior art, the main differences and effects of the embodiments of the present application are:

[0036] A road marking robot disclosed in an embodiment of the present application is configured as a three-wheel structure with one front wheel and two rear wheels, and is also provided with two sets of independent spraying systems. The spraying distance can be adjusted more flexibly, and road marking operations can be better performed on abnormal road sections with curbstones, without curbstones, or inclined sections or sections with stones.

[0037] Furthermore, the front wheel uses a rubber universal wheel that supports 360-degree steering, providing stronger grip during obstacle / ditch crossing, and can rotate on the spot. It has a small turning radius and is not afraid of steep slopes and gullies. It can drive freely on all road conditions, ensuring the maximum flexibility of the line marking robot.

[0038] Furthermore, by setting up two spraying systems, when carrying out line marking construction operations, the first spraying system is used for normal ordinary road sections, and the second spraying system is used for lane lines on the edge of the road (especially when there are curbstones). This can be applied to a variety of road sections, has a wider range of applications, and is more convenient and flexible.

[0039] Furthermore, by driving the second nozzle group to slide on the slide rail via the slider, the position of the nozzle can be adjusted flexibly and conveniently, thereby achieving a marking operation at a specific distance.

[0040] Furthermore, the two rear wheels are pneumatic tires, which can cushion the impact on uneven roads and small steps, so that the marking robot runs smoothly.

[0041] Furthermore, the GNSS positioning and orienting board is equipped with two antennas set at a predetermined distance, which can provide accurate positioning data for the marking robot, thereby providing accurate map data for subsequent marking construction operations and helping to make accurate decisions.

[0042] Furthermore, the raw material containing component is made of plastic material, which can reduce the weight of the raw material containing component as much as possible, ensure the lightweight operation of the marking robot, and facilitate cleaning and replacement.

[0043] Furthermore, by providing a front handle and two rear handles, the marking robot can be more conveniently operated.

[0044] A large number of technical features are recorded in the specification of this application, which are distributed in various technical solutions. If all possible combinations of technical features of this application (i.e., technical solutions) are to be listed, the specification will be too long. In order to avoid this problem, the various technical features disclosed in the above-mentioned invention content of this application, the various technical features disclosed in the various embodiments and examples below, and the various technical features disclosed in the accompanying drawings can be freely combined with each other to form various new technical solutions (these technical solutions are all deemed to have been recorded in this specification), unless the combination of such technical features is technically infeasible. For example, in one example, feature A+B+C is disclosed, and in another example, feature A+B+D+E is disclosed, and features C and D are equivalent technical means that play the same role. Technically, only one can be used, and it is impossible to use them at the same time. Feature E can be combined with feature C technically. Then, the solution of A+B+C+D should not be deemed to have been recorded because it is technically infeasible, and the solution of A+B+C+E should be deemed to have been recorded. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1-2 It is a three-dimensional structural schematic diagram of a marking robot according to an embodiment of the utility model;

[0046] Figure 3-6 yes Figure 1 A side view of the striping robot is shown;

[0047] Figure 7 yes Figure 1 A top view of the line-marking robot is shown;

[0048] Figure 8 It is a schematic diagram of the optional module structure of a controller and a positioning and orientation component of a marking robot according to an embodiment of the utility model. DETAILED DESCRIPTION

[0049] In the following description, many technical details are provided to help readers better understand the present application. However, those skilled in the art can understand that even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the claims of the present application can be implemented.

[0050] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0051] An embodiment of the present application relates to a marking robot. Figure 1 and Figure 2 This is a schematic diagram of the three-dimensional structure of the marking robot. Figure 3 This is the front side view of the marking robot. Figure 4 This is the rear side view of the marking robot. Figure 5 This is the left side view of the marking robot. Figure 6 This is the right side view of the marking robot. Figure 7 is a top view of the marking robot.

[0052] Specifically, if Figure 1-7 As shown, the marking robot comprises: a robot body 1, a positioning and orientation component, a controller and a marking component.

[0053] The robot body 1 includes a housing 10 .

[0054] A front wheel 11 is disposed at the front end of the robot body 1 , and two rear wheels 12 are disposed at the rear end of the robot body 1 .

[0055] The positioning and orientation component is at least partially disposed outside the housing 10, and is used to position and orient the marking robot and provide a target position to the controller.

[0056] The controller (not shown) is disposed in the accommodation space defined by the housing 10 and is used to control the marking robot to move to the target position.

[0057] The marking assembly is installed on the housing 10 and is used for spraying markings on the ground.

[0058] The marking assembly includes: a first spraying system 20 and a second spraying system 30 which are independent of each other; wherein the spray head of the first spraying system 20 is fixed, and the spray head of the second spraying system 30 is movable.

[0059] By setting up a three-wheel mechanism with one front wheel and two rear wheels, and at the same time providing two independent spraying systems, the spraying distance can be adjusted more flexibly, and line marking operations can be better carried out on abnormal sections without curbstones, or inclined sections, sections with stones, etc.

[0060] In a preferred embodiment, the front wheel 11 may be a universal wheel, and the universal wheel may be made of rubber.

[0061] The front wheel uses a rubber universal wheel that supports 360-degree steering. It has stronger grip when crossing obstacles / ditches, can rotate on the spot, has a small turning radius, is not afraid of steep slopes and gullies, and can drive freely on all road conditions, ensuring the maximum flexibility of the line marking robot.

[0062] like Figure 1-4 As shown, the two rear wheels 12 can be relatively arranged on both sides of the rear end of the robot body 1.

[0063] In a preferred embodiment, the two rear wheels 12 may be pneumatic tires, which can cushion the impact on uneven roads and small steps, so that the marking robot can run smoothly.

[0064] The two rear wheels 12 can be assembled by a rear wheel drive shaft. In addition, the two rear wheels 12 can be driven by two independently operated DC drive motors, so as to control the speed difference between the two rear wheels 12, provide power output to the line marking robot, and ensure accurate direction adjustment.

[0065] In a preferred embodiment, the first spraying system 20 is fixed to the bottom of the robot body 1, and the first spraying system includes a first spray head group 21, such as Figure 3 and Figure 4 shown.

[0066] Furthermore, the first nozzle group 21 includes: two breakpoint nozzles and one solid line nozzle; wherein the breakpoint nozzles are used to spray dotted lines; and the solid line nozzles are used to spray solid lines.

[0067] like Figure 4 As shown, the first nozzle group 21 includes a total of 3 nozzles, wherein, among the 3 nozzles, the middle nozzle is a solid line nozzle for spraying solid lines; the two nozzles on both sides are breakpoint nozzles for spraying dotted lines.

[0068] In a preferred embodiment, the second spraying system 30 is fixed at the rear end of the robot body 1, and the second spraying system 30 includes a slide rail 32 and a slider that can slide on the slide rail 32, and a second spray head group 31 is fixed on the slider.

[0069] By driving the second nozzle group 31 to slide on the slide rail 32 through the slider, the positions of the nozzles of the second nozzle group 31 can be flexibly and conveniently adjusted, thereby achieving a marking operation of a specific distance.

[0070] It should be noted that, in the present embodiment, the second spraying system 30 realizes the spraying and marking operation by setting a slide rail, while the marking robot in the prior art realizes the marking operation in a printing mode similar to a printer by using gear sliding.

[0071] That is to say, in the present application, the second spraying system 30 is designed with a slide rail, and the movable range of the nozzles of the second nozzle group 31 is very flexible, so the positions of the nozzles of the second nozzle group 31 can be flexibly adjusted, thereby flexibly adjusting the spraying marking distance of the second spraying system 30.

[0072] For example Figure 2 and Figure 4 As shown, the second spray system 30 can be fixed at the lower end of the rear side wall of the housing 10. The second spray head group 31 has the same structural composition as the first spray head group 21. That is to say, similarly, the second spray head group 31 includes a total of 3 spray heads, wherein, among the 3 spray heads, the one located in the middle is a solid line spray head for spraying solid lines; and the two spray heads located on both sides are breakpoint spray heads for spraying dotted lines.

[0073] In this embodiment, the nozzles of the first nozzle group 21 of the first spraying system 20 of the marking robot are fixed, while the nozzles of the second nozzle group 31 of the second spraying system 30 can slide flexibly on the slide rail 32. For example, in general sections (for example, sections without curbstones), only the first nozzle group 21 of the first spraying system 20 can be used for spraying and marking construction operations. In special sections (for example, when marking lane lines at the edge of the road, especially in sections with curbstones), only the second nozzle group 31 of the second spraying system 30 can be used for spraying and marking construction operations. Of course, according to actual conditions, the first nozzle group 21 and the second nozzle group 31 can be combined to complete the spraying and marking construction operations.

[0074] By setting up two independent spraying systems, when carrying out line marking operations, the first spraying system is used for normal ordinary road sections, and the second spraying system is used for lane lines on the edge of the road (especially when there are curbstones). It can be applied to a variety of road sections, has a wider range of applications, and is more convenient and flexible.

[0075] In a preferred embodiment, the positioning and orientation component may include: a laser radar system 40 and a positioning and orientation system (not shown in the figure), and the laser radar system 40 and the positioning and orientation system are electrically connected to the controller respectively.

[0076] Those skilled in the art can understand that the LiDAR system continuously scans the external environment by rapidly rotating the laser emitting component while emitting a high-frequency laser beam, and provides three-dimensional point cloud data and object reflectivity through a ranging algorithm, providing strong support for positioning, navigation, obstacle avoidance, etc.

[0077] In this embodiment, the laser radar system 40 allows the marking robot to see the surrounding world, perceive the surrounding working environment, and provide important data for action decisions.

[0078] It should be noted that the controller may be an intelligent processing unit with processing and storage functions, and those skilled in the art may reasonably configure it according to the configuration requirements of different marking robots, and the specific model of the controller is not limited here.

[0079] For example, the controller can be a heterogeneous computing system that uses a PC architecture combined with GPU computing, which can be combined with positioning and orientation components to complete functions such as perception, positioning, obstacle avoidance, path planning, map processing, and navigation tracking of the external environment, thereby providing favorable decisions for the actions of the marking robot and drawing operations in different modes.

[0080] It should be noted that the Position & Orientation System (POS) integrates DGPS (Differential GPS) technology and Inertial Navigation System (INS) technology, and can obtain the spatial position and three-axis attitude information of moving objects.

[0081] In a preferred embodiment, the positioning and orientation system may include: a GNSS positioning and orientation board and an inertial measurement unit. The GNSS positioning and orientation board may use high-precision RTK (Real Time Kinematic) technology, and the inertial measurement unit may be an industrial-grade inertial measurement unit that can measure the three-axis attitude angle (or angular rate) and acceleration of an object.

[0082] In a preferred embodiment, if Figure 8As shown, the positioning and orientation system integrates the GNSS positioning and orientation board and the inertial measurement unit, thereby helping the marking robot to provide continuous, stable, and reliable real-time high-precision position and attitude information in various harsh natural environments, and can also support RTK calibration-free inclined measurement and signal-free measurement and other functions.

[0083] In a preferred embodiment, the GNSS positioning and orientation board is equipped with two antennas 50 spaced a predetermined distance apart. Figure 1 , 2 As shown in Figures 5, 6 and 7, the spacing distance between the two antennas 50 is greater than the length of the robot body 1.

[0084] like Figure 1-7 As shown, the two antennas 50 are arranged on the upper surface of the shell 10, and are respectively located at the front end and the rear end. The two RTK antennas can provide accurate positioning data for the marking robot, thereby providing accurate map data for subsequent marking construction operations and helping to make accurate decisions.

[0085] In a preferred embodiment, the marking robot further includes: a raw material containing component 60 .

[0086] The raw material containing assembly 60 is installed on the upper surface of the housing 10. The raw material containing assembly 60 is connected to the spray head to provide the spray head with the spraying and marking raw material.

[0087] The raw material containing component 60 can be made of plastic material, which can reduce the weight of the raw material containing component as much as possible, ensure the lightweight operation of the marking robot, and facilitate cleaning and replacement.

[0088] In a preferred embodiment, a front handle 13 is disposed on the front side wall of the housing 10 , and two rear handles 14 are disposed on the rear side wall of the housing 10 .

[0089] By providing a front handle and two rear handles, the marking robot can be operated more conveniently.

[0090] In a preferred embodiment, a battery compartment door 15 is provided on one side wall of the shell 10 , a charging port 17 is provided on another side wall of the shell 10 , and a solar cell panel (not shown) is also installed on the upper surface of the shell 10 .

[0091] In a preferred embodiment, a WiFi signal antenna 80 and a remote control antenna 90 are further provided on the upper surface of the housing 10 , wherein the remote control antenna 90 is used to receive control instructions of the remote control.

[0092] In a preferred embodiment, an emergency stop switch 16 and a three-color warning light 70 are further provided on the upper surface of the housing 10. The emergency stop switch 16 is used to perform emergency braking on the road marking robot in an emergency. The three-color warning light 70 is used to give a warning when performing road marking construction work on the road.

[0093] In a preferred embodiment, a start switch 18 is further provided on the side wall of the housing 10 for controlling the start or shut down of the marking robot.

[0094] It should be noted that the focus of the technical solution of this application is to combine the positioning and orientation components with the marking components in a marking robot to perform road marking operations, aiming to provide a hardware structure of the marking robot. In other words, this application seeks to protect the hardware structure of the marking robot. For the control methods and positioning and orientation that may be involved, such as the execution process of the above-mentioned controller, laser radar system, and positioning and orientation system, those skilled in the art can refer to the existing technologies in the field of positioning control and will not be further elaborated here.

[0095] It should be noted that, in the description of the present application, the terms "front end", "rear end", "front", "rear", "bottom", "up", "down", "left", "right", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the utility model product is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0096] It should be noted that the various component modules mentioned in the embodiments of the present invention are all logic modules. Physically, a logic module can be a physical module, or a part of a physical module, or can be implemented as a combination of multiple physical modules. The physical implementation of these logic modules themselves is not the most important. The combination of functions implemented by these logic modules is the key to solving the technical problems raised by the present invention. In addition, in order to highlight the innovative part of the present invention, the above embodiments of the present invention do not introduce modules that are not closely related to solving the technical problems raised by the present invention, which does not mean that there are no other modules in the above device implementation.

[0097] It should be noted that in the claims and description of this patent, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one" do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0098] Although the present application has been illustrated and described with reference to certain preferred embodiments thereof, it will be apparent to those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present application.

Claims

1. A marking robot, characterized in that: include: Robot body, positioning and orientation components, controller and marking components; The robot body comprises a shell; The front end of the robot body is provided with a front wheel, and the rear end of the robot body is provided with two rear wheels; The positioning and orienting assembly is at least partially disposed outside the housing and is used to position and orient the marking robot and provide a target position to the controller; The controller is disposed in the accommodating space defined by the housing and is used to control the marking robot to move to the target position; The marking assembly is mounted on the housing and is used to spray markings on the ground; The marking assembly comprises: a first spraying system and a second spraying system which are independent of each other; wherein the spray head of the first spraying system is fixed, and the spray head of the second spraying system is movable.

2. The line marking robot according to claim 1, characterized in that: The front wheel is a universal wheel.

3. The line marking robot according to claim 1, characterized in that: The first spraying system is fixed to the bottom of the robot body, and the first spraying system includes a first spray head group.

4. The line marking robot according to claim 3, characterized in that: The second spraying system is fixed at the rear end of the robot body, and the second spraying system comprises a slide rail and a slider that can slide on the slide rail, and a second spray head group is fixed on the slider.

5. The line marking robot according to claim 4, characterized in that: The nozzle group includes: two breakpoint nozzles and one solid line nozzle; wherein the breakpoint nozzle is used for spraying dotted lines; and the solid line nozzle is used for spraying solid lines.

6. The line marking robot according to claim 1, characterized in that: The positioning and orientation component includes: a laser radar system and a positioning and orientation system, and the laser radar system and the positioning and orientation system are electrically connected to the controller respectively.

7. The line marking robot according to claim 6, characterized in that: The positioning and orientation system comprises: a GNSS positioning and orientation board and an inertial measurement unit.

8. The line marking robot according to claim 7, characterized in that: The GNSS positioning and orientation board is equipped with two antennas which are arranged at a predetermined distance.

9. The line marking robot according to claim 1, characterized in that: The marking robot also includes: A raw material containing assembly is installed on the upper surface of the shell, and the raw material containing assembly is communicated with the spray head and is used for providing the spraying and marking raw material to the spray head.

10. The line marking robot according to claim 1, characterized in that: A front handle is arranged on the front side wall of the housing.

11. The line marking robot according to claim 1, characterized in that: Two rear handles are arranged on the rear side wall of the shell.

12. The marking robot according to any one of claims 1 to 11, characterized in that: A battery compartment door and a charging port are arranged on the side wall of the shell, and a solar cell panel is also installed on the upper surface of the shell.

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