Intelligent scribing and spraying system

Abstract

The utility model provides an intelligent lineation spraying system which comprises an automatic lineation spraying device and a laser tracker independent of the automatic lineation spraying device. The automatic scribing and spraying equipment comprises a walking chassis, a frame body installed on the walking chassis, an outer shell wrapping the frame body and a spraying and scribing assembly arranged on the front side of the walking chassis, the frame body is provided with a laser receiving and reflecting assembly, the laser receiving and reflecting assembly comprises a corner reflector, a mounting base and a holder motor, and the mounting base is rotatably installed on the holder motor; the corner reflector is detachably installed on the installation base, the corner reflector is exposed out of the outer shell, and the corner reflector receives and reflects laser emitted by the laser tracker. According to the utility model, the holder motor is configured to drive the corner reflector exposed out of the outer shell to rotate so as to ensure that the corner reflector can always receive and reflect laser signals emitted by the laser tracker in the advancing process of the automatic scribing and spraying equipment, so that the laser tracker can position the automatic scribing and spraying equipment in real time.

Description

Technical Field

[0001] The utility model belongs to the technical field of line marking and spraying equipment, and in particular relates to an intelligent line marking and spraying system. Background Art

[0002] In the fields of construction, municipal road construction, etc., for operations that require line marking and spraying, in order to improve work efficiency and quality, automatic line marking and spraying systems are usually used to replace manual line marking and spraying.

[0003] The automatic marking and spraying system is generally composed of a laser tracker and an automatic marking and spraying equipment. The automatic marking and spraying equipment is equipped with a laser receiving and reflecting component. The laser tracker is set at a fixed point and fixed, providing laser guidance to the laser receiving and reflecting component and receiving feedback to position the automatic marking and spraying equipment, so as to realize real-time control of the automatic marking and spraying equipment to perform marking operations according to a preset path.

[0004] However, when the automatic marking and spraying equipment is moving, the laser receiving and reflecting device can easily lose connection with the laser tracker due to angle problems, resulting in the laser tracker being unable to guide the movement of the automatic marking and spraying equipment and receive feedback. Utility Model Content

[0005] In view of the problems raised by the background technology, the utility model proposes an intelligent marking and spraying system to solve the problem that the laser receiving and reflecting device is easily disconnected from the laser tracker due to the angle.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] An intelligent marking and spraying system, comprising an automatic marking and spraying device and a laser tracker independent of the automatic marking and spraying device, wherein the laser tracker is set at a fixed point;

[0008] The automatic line marking and spraying equipment comprises a traveling chassis, a frame mounted on the traveling chassis, an outer shell wrapping the frame, and a spray marking and spraying assembly arranged on the front side of the traveling chassis;

[0009] The frame is installed with a laser receiving and reflecting component, which includes a corner reflector, a mounting seat and a pan-tilt motor. The mounting seat can be rotatably mounted on the pan-tilt motor, and the corner reflector can be detachably mounted on the mounting seat. The corner reflector is exposed from the outer shell, and the corner reflector receives and reflects the laser emitted by the laser tracker.

[0010] Preferably, the mounting seat is installed at the output end of the pan / tilt motor and drives the mounting seat to drive the corner reflector to rotate 360° around the central axis of the output end.

[0011] Preferably, the corner reflector is provided with a concave cavity, and a plurality of reflective surfaces are arranged in the concave cavity, and the reflective surfaces are used to receive the laser emitted by the laser tracker and feed back the laser to the laser tracker after being reflected by at least one of the reflective surfaces.

[0012] Preferably, the reflecting surface of the corner reflector in the vertical direction is inclined relative to the horizontal plane, and the inclination angle is 30°-60°.

[0013] Preferably, the corner reflector is detachably mounted on the mounting base by magnetic attraction.

[0014] Preferably, the spray marking assembly includes a transverse movement mechanism and a spray head installed on the transverse movement mechanism, the transverse movement mechanism is transmission-mounted on the front side of the walking chassis, and the transverse movement mechanism can drive the spray head to move horizontally left and right.

[0015] Preferably, the automatic marking and spraying equipment is provided with an antenna for communicating with a laser tracker and an external terminal, and the antenna is installed on the top of the outer shell.

[0016] Preferably, driving wheels are arranged on both sides of the front side of the walking chassis, and walking wheels are arranged in the middle of the rear side of the walking chassis;

[0017] The two driving wheels are driven by respective motors, and the motors are installed on the walking chassis.

[0018] Compared with the prior art, one of the above technical solutions has the following beneficial effects:

[0019] This technical solution configures a pan / tilt motor to drive the corner reflector exposed from the outer shell to rotate, so as to ensure that the corner reflector can always receive and reflect the laser signal emitted by the laser tracker during the movement of the automatic marking and spraying equipment, so that the laser tracker can locate the automatic marking and spraying equipment in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the intelligent marking spraying equipment (with an outer shell) of the utility model;

[0021] Figure 2 It is a structural schematic diagram of the intelligent marking spraying equipment (without outer shell) of the utility model;

[0022] Figure 3 It is a structural schematic diagram of the intelligent marking and spraying equipment of the utility model;

[0023] Figure 4 It is a structural schematic diagram of the laser receiving and reflecting component of the utility model.

[0024] Walking chassis 1, frame body 2, outer shell 3, corner reflector 4, mounting seat 5, pan / tilt motor 6, reflecting surface 7, lateral movement mechanism 8, spray head 9, driving wheel 10, motor 11, power supply 12, controller 13, antenna 14. DETAILED DESCRIPTION

[0025] The technical solution of the utility model is further explained below with reference to the accompanying drawings and through specific implementation methods.

[0026] In order to enable those skilled in the art to better understand the solution of the utility model, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is only a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] The terms "first", "second", etc. in the specification and claims of the utility model and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, device, product or end that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or ends.

[0028] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0029] An intelligent marking and spraying system, comprising an automatic marking and spraying device and a laser tracker independent of the automatic marking and spraying device, wherein the laser tracker is set at a fixed point;

[0030] In the present application, the intelligent marking and spraying system consists of two parts, one is the automatic marking and spraying equipment, which is used for spraying and marking in actual field operations, and the other is an independently set laser tracker. The laser tracker is set at a fixed point and does not move. The laser tracker is not shown in the figure. In the actual operation scenario, when the laser tracker sets the point, it sends a laser to the automatic marking and spraying device and receives the reflected signal of the laser to determine the real-time position of the automatic marking and spraying equipment. After knowing the real-time position of the automatic marking and spraying equipment, the automatic marking and spraying equipment can be made to perform real-time spraying and marking operations according to the set program through communication.

[0031] like Figures 1 to 3 As shown, the automatic marking and spraying equipment includes a traveling chassis 1, a frame 2 installed on the traveling chassis 1, an outer shell 3 wrapping the frame 2, and a spraying and marking assembly arranged on the front side of the traveling chassis 1;

[0032] Preferably, the driving wheels 10 are arranged on both sides of the front side of the traveling chassis 1, and the traveling wheels are arranged in the middle of the rear side of the traveling chassis 1;

[0033] The two driving wheels 10 are driven by respective motors 11 , and the motors 11 are mounted on the walking chassis 1 .

[0034] The automatic line marking and spraying equipment is designed as a vehicle structure in this embodiment, including a walking chassis 1, and the walking chassis 1 is equipped with a driving wheel 10 and a running wheel (not shown in the figure). The driving wheels 10 are arranged on both sides of the front of the walking chassis 1 and are independently controlled by two motors 11. The running wheel is arranged in the middle position of the rear of the walking chassis 1. In this application, only one running wheel is provided. The running wheel can be understood as a universal wheel without power drive, that is, the automatic line marking and spraying equipment moves by driving the front driving wheel 10 to rotate by two motors 11, so as to drive the running wheel to realize walking;

[0035] Furthermore, by utilizing the speed difference of the two motors 11, the two driving wheels 10 generate different rotation speeds so as to realize the turning of the automatic line marking and spraying equipment.

[0036] Furthermore, the traveling chassis 1 is equipped with a frame 2, which is used to be installed on the laser receiving and reflecting component. At the same time, the frame 2 is wrapped by the outer shell 3, so that a compartment space is formed between the traveling chassis 1 and the outer shell 3. In the compartment space, conventional components such as the controller 13 and the power supply 12 can be fixedly installed by the frame 2 to play a protective role.

[0037] like Figure 4As shown, the frame 2 is installed with a laser receiving and reflecting assembly, and the laser receiving and reflecting assembly includes a corner reflector 4, a mounting seat 5 and a pan-tilt motor 6. The mounting seat 5 can be rotatably mounted on the pan-tilt motor 6, and the corner reflector 4 can be detachably mounted on the mounting seat 5. The corner reflector 4 is exposed from the outer shell 3, and the corner reflector 4 receives and reflects the laser emitted by the laser tracker.

[0038] Furthermore, in the present embodiment, the corner reflector 4 is configured to receive the laser emitted by the laser tracker and reflect the laser back to the laser tracker. Since the corner reflector 4 is limited by its structural design, its body cannot receive and reflect the laser emitted by the laser tracker at all angles, which often causes the laser tracker to be unable to dock with the corner reflector 4. In order to solve this problem, the present application is configured with a pan-tilt motor 6, and the mounting seat 5 is rotatably mounted on the pan-tilt motor 6. The corner reflector 4 is then mounted on the mounting seat 5. The pan-tilt motor 6 provides power and drives the mounting seat 5 to rotate, thereby driving the corner reflector 4 to rotate. The rotation ensures that the corner reflector 4 can always dock with the laser tracker during the movement of the automatic marking and spraying equipment.

[0039] Furthermore, the corner reflector 4 is also exposed from the outer shell 3, which is convenient for docking with the laser tracker.

[0040] Preferably, the mounting seat 5 is installed at the output end of the pan / tilt motor 6 and drives the mounting seat 5 to drive the corner reflector 4 to rotate 360° around the central axis of the output end.

[0041] In this embodiment, the mounting base 5 is fixed to the output end of the pan / tilt motor 6, so that the mounting base 5 can rotate 360° around the central axis of the output end, thereby driving the corner reflector to rotate 4360°. During the continuous rotation, there is always an angle that can receive the laser emitted by the laser tracker and reflect it back, so that the automatic marking and spraying equipment can be docked with the laser tracker no matter where it is, ensuring that the laser tracker can locate the position of the automatic marking and spraying equipment in real time.

[0042] Preferably, the corner reflector 4 is provided with a concave cavity, and a plurality of reflective surfaces 7 are arranged in the concave cavity. The reflective surfaces 7 are used to receive the laser emitted by the laser tracker and feed the laser back to the laser tracker after being reflected by at least one of the reflective surfaces 7 .

[0043] In this embodiment, the corner reflector 4 is a spherical structure with a concave cavity provided in the sphere. Three reflecting surfaces 7 are arranged in the concave cavity. When the laser emitted by the laser tracker hits any reflecting surface 7, the laser can be reflected back by the hit reflecting surface 7 or refracted by the hit reflecting surface 7 to other reflecting surfaces 7 and then reflected back to the laser tracker through the other reflecting surfaces 7.

[0044] Preferably, the reflecting surface 7 of the corner reflector 4 in the vertical direction is inclined relative to the horizontal plane, and the inclination angle is 30°-60°.

[0045] In this embodiment, since the height of the laser tracker is higher than the corner reflector 4, the laser emitted by the laser tracker is emitted from the top to the bottom, and since the corner reflector 4 rotates around the output end of the pan / tilt motor 6 rather than an omnidirectional spherical rotation, the vertical reflection surface 7 of the corner reflector 4 needs to be tilted, and the tilt angle is 30°-60°, preferably 45°, to ensure that the laser can be received and reflected.

[0046] Preferably, the corner reflector 4 is detachably mounted on the mounting base 5 by magnetic attraction.

[0047] In the present application, the corner reflector 4 is detachably mounted on the mounting base 5 by means of magnetic attraction, which facilitates the subsequent replacement of the corner reflector 4 and makes disassembly and assembly more convenient.

[0048] Preferably, the spray marking assembly includes a transverse movement mechanism 8 and a spray head 9 installed on the transverse movement mechanism 8. The transverse movement mechanism 8 is transmission-mounted on the front side of the walking chassis 1. The transverse movement mechanism 8 can drive the spray head 9 to move horizontally left and right.

[0049] In this embodiment, the spray marking assembly consists of a transverse movement mechanism 8 and a spray head 9 installed on the transverse movement mechanism 8. The transverse movement mechanism 8 is installed on the front side of the walking chassis 1, that is, the front position of the vehicle. Through transmission, the transverse movement of the spray head 9 can be achieved. Combined with the forward movement of the automatic marking spraying equipment itself, the spray marking in the x-axis and y-axis directions can be achieved, and the left and right transverse movement of the spray head 9 can also expand the spraying range. Specifically, the transverse movement mechanism 8 can achieve the transverse movement of the spray head 9 by conventional methods such as the design of sliders and guide rails or screw rods, which will not be elaborated here.

[0050] Preferably, the automatic marking and spraying equipment is provided with an antenna 14 for communicating with a laser tracker and an external terminal, and the antenna 14 is installed on the top of the outer shell 3 .

[0051] In this embodiment, the automatic marking and spraying equipment is also equipped with an antenna 14, which is used to receive communication signals from the laser tracker and an external terminal, thereby controlling the movement of the automatic marking and spraying equipment. The external terminal can be understood as a control terminal such as a remote control or a tablet.

[0052] The technical principle of the present invention is described above in combination with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the protection scope of the present invention in any way. Based on the explanations here, technicians in this field can think of other specific implementation methods of the present invention without creative work, and these methods will fall within the protection scope of the present invention.

Claims

1. An intelligent marking and spraying system, comprising an automatic marking and spraying device and a laser tracker independent of the automatic marking and spraying device, wherein the laser tracker is set at a fixed point; The automatic line marking and spraying equipment comprises a traveling chassis, a frame mounted on the traveling chassis, an outer shell wrapping the frame, and a spray marking and spraying assembly arranged on the front side of the traveling chassis, and is characterized in that: The frame is installed with a laser receiving and reflecting component, which includes a corner reflector, a mounting seat and a pan-tilt motor. The mounting seat can be rotatably mounted on the pan-tilt motor, and the corner reflector can be detachably mounted on the mounting seat. The corner reflector is exposed from the outer shell, and the corner reflector receives and reflects the laser emitted by the laser tracker.

2. According to claim 1, the intelligent line marking spraying system is characterized by: The mounting seat is installed at the output end of the pan / tilt motor and drives the mounting seat to drive the corner reflector to rotate 360° around the central axis of the output end.

3. According to claim 1, the intelligent line spraying system is characterized by: The corner reflector is provided with a concave cavity, and a plurality of reflective surfaces are arranged in the concave cavity. The reflective surfaces are used to receive the laser emitted by the laser tracker and feed back the laser to the laser tracker after being reflected by at least one of the reflective surfaces.

4. The intelligent line marking spraying system according to claim 3, characterized in that: The reflecting surface of the corner reflector in the vertical direction is inclined relative to the horizontal plane, and the inclination angle is 30°-60°.

5. The intelligent line marking spraying system according to claim 1, characterized in that: The corner reflector is detachably mounted on the mounting seat by magnetic attraction.

6. The intelligent line marking spraying system according to claim 1, characterized in that: The spray marking assembly comprises a transverse movement mechanism and a spray head installed on the transverse movement mechanism. The transverse movement mechanism is transmission-installed on the front side of the walking chassis, and the transverse movement mechanism can drive the spray head to move horizontally left and right.

7. The intelligent line marking spraying system according to claim 1, characterized in that: The automatic marking and spraying equipment is provided with an antenna for communicating with a laser tracker and an external terminal, and the antenna is installed on the top of the outer shell.

8. The intelligent line marking spraying system according to claim 1, characterized in that: The front sides of the traveling chassis are provided with driving wheels, and the middle part of the rear side of the traveling chassis is provided with traveling wheels; The two driving wheels are driven by respective motors, and the motors are installed on the walking chassis.

Images