Pre-marked line calibration device and road paying-off robot

Abstract

The utility model relates to the technical field of road line drawing, in particular to a pre-marked line calibration device and a road paying-off robot, the pre-marked line calibration device comprises a driving module and a control module, the driving module comprises a moving mechanism, a calibration mechanism and a calibration display mechanism, the calibration mechanism and the calibration display mechanism are both arranged on the moving mechanism, and the control module is connected with the calibration mechanism. The moving mechanism is used for driving on an area where a pre-line needs to be calibrated, the calibration mechanism is used for calibrating the current position of the moving mechanism, and the calibration display mechanism is used for displaying a calibration point when the current position of the moving mechanism is calibrated; the control module is used for controlling the moving mechanism to run on the area where the pre-line needs to be calibrated. The calibration display mechanism is used for displaying and calibrating the calibration points in the driving calibration process, and the calibration precision is higher. The problems that in the existing manual pre-line calibration process, the workload is large, and precision deviation exists are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of road marking, in particular to a pre-marking marking device and a road line laying robot. Background Art

[0002] Road traffic markings refer to various marking lines drawn on the road surface to indicate the direction, position and restrictions of vehicle travel and help regulate traffic flow. Road traffic markings usually use lines, arrows, patterns, etc. of different colors and shapes to convey specific traffic information to improve road traffic safety and efficiency. The drawing of road traffic markings is completed by specialized road traffic marking drawing personnel or mechanical equipment. At present, the pre-marking drawing and layout mainly based on manual work not only has the problem of layout errors, but also brings heavy workload and low work efficiency. Utility Model Content

[0003] In order to solve the above problems, the utility model sets a calibration display mechanism for displaying and calibrating the calibration points during the driving calibration process, and the calibration accuracy is higher. The pre-marking line calibration device and road line laying robot solve the problems of heavy workload and accuracy deviation in the existing manual pre-marking line calibration process.

[0004] The technical solution adopted by the utility model is: a pre-marking line calibration device, including a driving module and a control module, the driving module includes a moving mechanism, a calibration mechanism and a calibration display mechanism, the calibration mechanism and the calibration display mechanism are both arranged on the moving mechanism, the moving mechanism is used to drive on an area where pre-marking line calibration is required, the calibration mechanism is used to calibrate the current position of the moving mechanism, and the calibration display mechanism is used to display the calibration point when calibrating the current position of the moving mechanism; the control module is used to control the moving mechanism to drive on an area where pre-marking line calibration is required.

[0005] A further improvement to the above solution is that the mobile mechanism includes a mobile bracket and a mobile drive module, the mobile drive module is arranged on the mobile bracket, and the mobile drive module is used to drive the mobile bracket to travel on the road surface.

[0006] A further improvement to the above solution is that a steering wheel is provided at the front end of the mobile bracket, and the steering wheel is a universal wheel.

[0007] A further improvement to the above scheme is that the mobile drive module is provided with two groups, and the two groups of mobile drive modules are respectively arranged on both sides of the mobile bracket, and the mobile drive module includes a drive motor and a drive wheel, and the drive end of the drive motor is connected to the drive wheel.

[0008] A further improvement to the above solution is that the calibration mechanism and the calibration display mechanism are both arranged on the mobile bracket, and the calibration mechanism is provided with an extension rod to extend toward the outside of the mobile bracket.

[0009] A further improvement to the above solution is that the calibration mechanism includes a position positioning element, the position positioning element is provided with a support rod, and the position positioning element is arranged on the extension rod through the support rod.

[0010] A further improvement to the above scheme is that the calibration display mechanism is a laser emitting element, and the emitting end of the laser emitting element is facing the ground to generate a marking display point by irradiating the ground.

[0011] A further improvement to the above solution is that the control module is a mobile control module, which is connected to the travel module through a wireless control to control the movement of the mobile mechanism.

[0012] A road marking robot comprises the pre-marking line calibration device.

[0013] A further improvement to the above scheme is that the road laying robot travels on the road and performs pre-line calibration on the route where the lines are drawn by means of a pre-line calibration device.

[0014] The beneficial effects of the utility model are:

[0015] Compared with the existing manual pre-line calibration, the utility model controls the mobile mechanism to travel at the position where the pre-line mark points need to be calibrated through the control module, so that the mobile mechanism drives the calibration mechanism to mark more than two pre-line mark points on the driving route. A navigation route is formed by more than two pre-line mark points, and the robot follows the navigation route to lay out and draw lines when laying out and drawing lines in the subsequent process. A calibration display mechanism is set to display and calibrate the calibration points during the driving calibration process, and the calibration accuracy is higher. It solves the problems of large workload and accuracy deviation in the existing manual pre-line calibration process.

[0016] The utility model realizes accurate calibration of the current position of the mobile mechanism through the design of the calibration mechanism and the calibration display mechanism, ensuring that the driving module can accurately drive and perform tasks in the area where the pre-line needs to be calibrated. The control module can intelligently control the mobile mechanism to drive in the target area, making the entire calibration process more automated and intelligent, and improving the convenience and accuracy of operation. The calibration display mechanism can display the calibration points in real time, providing an intuitive reference for the operator, making the calibration process more intuitive and easy to understand, and reducing the possibility of operational errors. The mobile mechanism can drive quickly and efficiently in the area that needs to be calibrated. Combined with the function of the calibration mechanism, it realizes the rapid calibration of the pre-line, saving time and labor costs. In addition to calibrating the pre-line, the device can also be used in other application fields that require precise positioning and calibration, such as map drawing, environmental survey, etc., with strong versatility and applicability.

[0017] The calibration mechanism is communicatively connected with the mobile mechanism and / or the control module to transmit the pre-line marks obtained by the marking mechanism, so as to form a navigation route for controlling driving on the control module, or transmit the pre-line marks to the mobile mechanism to form a navigation route, and the mobile mechanism will follow the navigation route to lay out and draw lines.

[0018] Applying the above-mentioned pre-line calibration to a road line-laying and marking robot can form a complete pre-line calibration and line-laying and marking system to realize automated road line marking. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the connection structure of the pre-marking line calibration device of the utility model;

[0020] Figure 2 for Figure 1 Schematic diagram of the connection structure of the mid-pre-marking line calibration device;

[0021] Figure 3 for Figure 1 A schematic diagram of the structure of the driving module of the mid-line pre-marking device;

[0022] Figure 4 for Figure 1 Schematic diagram of the structure of the driving module of the pre-marking line calibration device.

[0023] Explanation of the accompanying drawings: travel module 10, control module 20, mobile mechanism 1, mobile bracket 11, steering wheel 111, mobile drive module 12, drive motor 121, drive wheel 122, calibration mechanism 2, extension rod 21, positioning element 22, support rod 23, calibration display mechanism 3. DETAILED DESCRIPTION

[0024] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0025] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. Figure 1~Figure 4 As shown, in one embodiment of the utility model, a pre-marking line calibration device is involved, including a driving module 10 and a control module 20, the driving module 10 includes a mobile mechanism 1, a calibration mechanism 2 and a calibration display mechanism 3, the calibration mechanism 2 and the calibration display mechanism 3 are both arranged on the mobile mechanism 1, the mobile mechanism 1 is used to drive in an area where the pre-line needs to be calibrated, the calibration mechanism 2 is used to calibrate the current position of the mobile mechanism 1, and the calibration display mechanism 3 is used to display the calibration point when calibrating the current position of the mobile mechanism 1; the control module 20 is used to control the mobile mechanism 1 to drive in an area where the pre-line needs to be calibrated. In this embodiment, the control module 20 is used to control the mobile mechanism 1 to drive at a position where the pre-line punctuation points need to be calibrated, so that the mobile mechanism 1 drives the calibration mechanism 2 to mark more than two pre-line punctuation points on the driving route. A navigation route is formed by more than two pre-line punctuation points, and the robot follows the navigation route to drive, lay out and draw lines when laying out and drawing lines in the subsequent process. The calibration display mechanism 3 is set to display and calibrate the calibration points during the driving calibration process, and the calibration accuracy is higher. The problem of heavy workload and precision deviation in the existing manual pre-line calibration process is solved.

[0027] This embodiment realizes accurate calibration of the current position of the mobile mechanism 1 through the design of the calibration mechanism 2 and the calibration display mechanism 3, ensuring that the driving module 10 can accurately drive and perform tasks in the area where the pre-line needs to be calibrated. The control module 20 can intelligently control the mobile mechanism 1 to drive in the target area, making the entire calibration process more automated and intelligent, and improving the convenience and accuracy of operation. The calibration display mechanism 3 can display the calibration points in real time, providing an intuitive reference for the operator, making the calibration process more intuitive and easy to understand, and reducing the possibility of operational errors. The mobile mechanism 1 can drive quickly and efficiently in the area that needs to be calibrated. Combined with the function of the calibration mechanism 2, it realizes the rapid calibration of the pre-line, saving time and labor costs. In addition to calibrating the pre-line, the device can also be used in other application fields that require precise positioning and calibration, such as map drawing, environmental survey, etc., with strong versatility and applicability.

[0028] The mobile mechanism 1 includes a mobile bracket 11 and a mobile driving module 12, wherein the mobile driving module 12 is arranged on the mobile bracket 11, and the mobile driving module 12 is used to drive the mobile bracket 11 to travel on the road. Specifically, a steering wheel 111 is arranged at the front end of the mobile bracket 11, and the steering wheel 111 is a universal wheel. There are two groups of mobile driving modules 12, and the two groups of mobile driving modules 12 are respectively arranged on both sides of the mobile bracket 11, and the mobile driving module 12 includes a driving motor 121 and a driving wheel 122, and the driving end of the driving motor 121 is connected to the driving wheel 122. In this embodiment, a steering wheel 111 is arranged at the front end of the mobile bracket 11, and in particular, a universal wheel design is adopted, which can achieve more flexible and stable driving, adapt to different road conditions and direction changes, and improve the stability and accuracy of the device during the calibration process. Two sets of mobile drive modules 12 are respectively arranged on both sides of the mobile bracket 11. Through the cooperation of the drive motor 121 and the drive wheel 122, the mobile bracket 11 can be independently driven on both sides, so that the device has more flexible maneuverability and can be driven and calibrated freely in complex environments. The setting and design of the mobile drive module 12 enables the device to accurately drive in the area that needs to be calibrated. Combined with the control of the control module 20, accurate calibration of the target area can be achieved, and the accuracy and reliability of the calibration are improved. The use of two sets of mobile drive modules 12 can increase the stability and driving efficiency of the device, so that the calibration device can quickly and efficiently complete the pre-line calibration task, thereby improving work efficiency and production benefits.

[0029] The calibration mechanism 2 and the calibration display mechanism 3 are both arranged on the mobile bracket 11, and the calibration mechanism 2 is provided with an extension rod 21 to extend toward the outside of the mobile bracket 11. Specifically, the calibration mechanism 2 includes a position positioning element 22, and the position positioning element 22 is provided with a support rod 23, and the position positioning element 22 is arranged on the extension rod 21 through the support rod 23. In this embodiment, through the design of the extension rod 21 and the position positioning element 22, the calibration mechanism 2 can extend toward the outside of the mobile bracket 11 to achieve accurate calibration of the current position of the mobile bracket 11, ensuring that the driving module 10 can accurately travel and perform tasks in the area where the pre-calibration is required. The position positioning element 22 is provided with a support rod 23, and is arranged on the extension rod 21 through the support rod 23. This design can provide good support and fixation, ensure that the calibration mechanism 2 remains stable during movement, and improve the accuracy and reliability of calibration. The calibration display mechanism 3 can display the calibration points in real time while the calibration mechanism 2 is calibrating, providing an intuitive reference for the operator, making the calibration process more intuitive and easier to understand, and reducing the possibility of operational errors.

[0030] The calibration display mechanism 3 is a laser emitting element, and the emitting end of the laser emitting element is facing the ground to generate a mark display point on the ground. In this embodiment, the laser emitting element is used as the calibration display mechanism 3, and can generate a mark display point by irradiating the ground, so as to realize high-precision calibration of the current position of the mobile bracket 11, ensuring that the driving module 10 can accurately travel and perform tasks in the area where the pre-calibration is required. The emitting end of the laser emitting element is facing the ground, and the mark display point is generated by irradiating on the ground. The operator can see the position of the mark display point in real time, providing an intuitive reference, making the calibration process more intuitive and easy to understand, and reducing the possibility of operational errors. The method of irradiating the ground with the laser emitting element to generate the mark display point does not require contact with the ground, and can realize contactless calibration, avoid interference or errors caused by contact, and improve the accuracy and stability of calibration. The laser emitting element is coaxially arranged with the calibration mechanism 2. Thus, the accuracy is higher when calibrating.

[0031] The control module 20 is a mobile control module 20, which is connected to the travel module 10 through wireless control to control the movement of the mobile mechanism 1. In this embodiment, the specific control module 20 is a handheld carrier, which serves as a remote controller for operating the mobile mechanism 1, so as to facilitate the operation and control of the movement of the mobile mechanism 1. In actual use, it can be controlled by a tablet computer or a mobile phone.

[0032] By applying the above-mentioned pre-line calibration to a road line laying and marking robot, a complete set of pre-line calibration and line laying and marking systems can be formed to realize automated road marking. In this embodiment, through the pre-line calibration device, the road line laying robot traveling on the road can accurately calibrate the road line to be drawn, ensuring that the robot travels according to the pre-set route and draws accurate road markings. During the driving process of the road line laying robot, if it is necessary to adjust or correct the pre-calibrated route, the route can be calibrated and adjusted in real time through the pre-line calibration device to ensure the accuracy and consistency of the road markings. After the road line laying robot calibrates the route through the pre-line calibration device, it can draw road markings more quickly and accurately, which improves construction efficiency, shortens the project cycle, and is conducive to the smooth progress of traffic management and road construction.

[0033] The above embodiments only express several implementation methods of the utility model, and the descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A pre-marking line calibration device, characterized in that: include A driving module, the driving module comprising a moving mechanism, a calibration mechanism and a calibration display mechanism, the calibration mechanism and the calibration display mechanism are both arranged on the moving mechanism, the moving mechanism is used to drive in an area where a pre-line calibration is required, the calibration mechanism is used to calibrate a current position of the moving mechanism, and the calibration display mechanism is used to display a calibration point when calibrating the current position of the moving mechanism; as well as A control module is used to control the mobile mechanism to travel in an area where the pre-line needs to be calibrated; the calibration mechanism is communicatively connected with the mobile mechanism and / or the control module.

2. The pre-marking line marking device according to claim 1, characterized in that: The mobile mechanism comprises a mobile support and a mobile driving module. The mobile driving module is arranged on the mobile support, and the mobile driving module is used to drive the mobile support to travel on the road surface.

3. The pre-marking line calibration device according to claim 2, characterized in that: A steering wheel is arranged at the front end of the mobile bracket, and the steering wheel is a universal wheel.

4. The pre-marking line marking device according to claim 2, characterized in that: The mobile driving modules are provided in two groups, and the two groups of mobile driving modules are respectively arranged on both sides of the mobile bracket. The mobile driving modules include a driving motor and a driving wheel, and the driving end of the driving motor is connected to the driving wheel.

5. The pre-marking line marking device according to claim 2, characterized in that: The calibration mechanism and the calibration display mechanism are both arranged on the mobile bracket, and the calibration mechanism is provided with an extension rod to extend toward the outside of the mobile bracket.

6. The pre-marking line marking device according to claim 5, characterized in that: The calibration mechanism comprises a position positioning element, the position positioning element is provided with a support rod, and the position positioning element is arranged on the extension rod through the support rod.

7. The pre-marking line marking device according to claim 1, characterized in that: The marking display mechanism is a laser emitting element, and the emitting end of the laser emitting element faces the ground to irradiate the ground to generate a marking display point.

8. The pre-marking line marking device according to claim 1, characterized in that: The control module is a mobile control module, which is connected to the travel module through wireless control to control the movement of the mobile mechanism.

9. A road laying robot, characterized in that: It comprises the pre-marking line calibration device as described in any one of claims 1 to 8.

10. The road line laying robot according to claim 9, characterized in that: The road laying robot travels on the road and performs pre-line calibration on the travel route of the marked lines by means of the pre-line calibration device.

Images