Automatic positioning pre-marking line calibration device and paying-off robot system

Abstract

The utility model relates to the technical field of road line drawing, in particular to an automatic positioning pre-marking line calibration device and a pay-off robot system, the automatic positioning pre-marking line calibration device comprises a pre-marking line calibration module, a driving pay-off module and a driving control module, the pre-marking line calibration module comprises a calibration moving mechanism, a calibration measuring mechanism, a calibration transmission mechanism, a positioning mechanism and a calibration display mechanism; the positioning mechanism moves on a road according to the calibration moving mechanism and calibrates more than two calibration points in an area, and the calibration display mechanism is used for displaying the positions of the calibration points; the driving pay-off module is provided with a driving mechanism, a navigation mechanism and a pay-off mechanism, and the navigation mechanism and the pay-off mechanism are arranged on the driving mechanism; and the driving control module is used for connecting more than two marking points calibrated in the area in series to form a navigation route and controlling the driving mechanism to move and pay off along the navigation route. According to the utility model, the problems of large workload and precision deviation in the existing manual pre-line calibration process are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of road line drawing, in particular to an automatic positioning pre-marking device and a line laying robot system. 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 realizes the automatic and intelligent pre-line marking and dotting work of road marking, and performs line laying and drawing processing according to the dot marking. The automatic positioning pre-line marking device and line laying robot system solve the problems of large workload and accuracy deviation in the existing manual pre-line marking process.

[0004] The technical scheme adopted by the utility model is: an automatic positioning pre-marking line calibration device, including a pre-marking line calibration module, a driving line laying module and a driving control module, the pre-marking line calibration module includes a calibration moving mechanism, a calibration measuring mechanism, a calibration transmission mechanism, a positioning mechanism and a calibration display mechanism, the calibration measuring mechanism is arranged on the calibration moving mechanism, and is used to measure the distance between the positioning mechanism and the curb; the positioning mechanism moves on the road according to the calibration moving mechanism, and calibrates more than two punctuation points in the area, the calibration transmission mechanism and the positioning mechanism are both arranged on the calibration moving mechanism, the calibration display mechanism is located below the positioning mechanism, and is coaxially arranged with the positioning mechanism, and the calibration display mechanism is used to display the position of the calibration point; the driving line laying module is provided with a driving mechanism, a navigation mechanism and a line laying mechanism, and the navigation mechanism and the line laying mechanism are arranged on the driving mechanism; the driving control module is communicatively connected with the driving mechanism, the navigation mechanism and the calibration transmission mechanism, and the driving control module is used to connect more than two punctuation points calibrated in the area in series to form a navigation route, and control the driving mechanism to move and lay out the line along the navigation route.

[0005] A further improvement to the above scheme is that the calibration mobile mechanism includes a mobile bracket, a mobile drive module and a mobile connecting rod, the mobile drive module is arranged on the mobile bracket, the mobile connecting rod is arranged at the top of the mobile bracket, the mobile connecting rod is provided with a telescopic rod, the telescopic rod is provided with an extension rod, the positioning mechanism is provided on the extension rod, and the calibration display mechanism is provided on the extension rod and is coaxially arranged with the positioning mechanism.

[0006] A further improvement to the above scheme is that the mobile bracket is provided with a folding frame, a plurality of folding grooves are circumferentially arranged on the folding frame, a folding rod is arranged on the folding groove, and the mobile driving module is arranged on the folding rod to drive the mobile bracket to move; a mobile handle is arranged on one end of the mobile connecting rod close to the telescopic rod.

[0007] A further improvement to the above solution is that a fixed bracket is provided on the telescopic rod, the travel control module is arranged on the fixed bracket, a control box is provided at the top end of the telescopic rod, and the calibration transmission mechanism is arranged in the control box.

[0008] A further improvement to the above solution is that the calibration measurement mechanism includes a measurement mounting frame and a measurement element arranged on the measurement mounting frame, and the measurement element is a measuring ruler or an electronic measurement component.

[0009] A further improvement to the above scheme is that the positioning mechanism is used to locate and calibrate the position of the moving mechanism, the calibration display mechanism is a laser probe to perform ray display of the calibrated position, and the calibration measurement mechanism is used to measure the distance between the ray display and the curb.

[0010] A further improvement to the above scheme is that the traveling mechanism is provided with a positioning module, and the positioning module is used to locate the position of the traveling mechanism. The traveling control module obtains the position of the traveling mechanism according to the positioning module to control the traveling mechanism in real time to follow the navigation route.

[0011] A further improvement to the above scheme is that the traveling mechanism includes a traveling bracket and a traveling drive module, the traveling drive module is used to drive the traveling bracket to move, the line-releasing mechanism includes a water tank, a water pump and a line-releasing nozzle arranged on the traveling bracket, and the line-releasing nozzle is connected to the water tank through a water pump to pump the liquid in the water tank to the line-releasing nozzle to spray the line on the road surface.

[0012] A line-laying robot system comprises the automatic positioning pre-marking and calibration device, and the line-laying robot system is used for road line marking and laying construction.

[0013] The beneficial effects of the utility model are:

[0014] Compared with the existing manual pre-line calibration, the pre-line calibration module of the utility model performs pre-line calibration and dot marking on the route in advance, and then connects the dots to form a navigation route, so that the driving line laying module follows the driving line laying and drawing. It realizes the automatic and intelligent pre-line calibration and dot marking work of road line drawing, and performs line laying and drawing according to the dots. It solves the problems of large workload and accuracy deviation in the existing manual pre-line calibration process.

[0015] The utility model measures the distance between the positioning mechanism and the curb through a calibration measurement mechanism, and calibrates more than two punctuation points in the area, thereby realizing high-precision positioning of the road calibration points and ensuring the accuracy and reliability of the pre-line calibration. The calibration display mechanism is used to display the position of the calibration points, and the driving control module connects the calibrated multiple points in series to form a navigation route, and controls the driving mechanism to move and lay out along the navigation route, thereby realizing real-time display and navigation of the calibration points and improving the control and monitoring capabilities of the laying-out process. The driving control module is connected to the driving mechanism, the navigation mechanism and the calibration transmission mechanism in communication, and can automatically connect the calibration points in series to form a navigation route, and control the driving mechanism to move and lay out along the navigation route, thereby realizing automatic control of the laying-out process and improving the accuracy and efficiency of laying out. By calibrating more than two punctuation points in the area through the positioning mechanism, and connecting them in series to form a navigation route, the integrated calibration and navigation of multiple calibration points can be realized, making the pre-line calibration and laying-out process more comprehensive and complete. The calibration display mechanism is set to display and calibrate the calibration points during the driving calibration process, and the calibration accuracy is higher. The utility model provides a more efficient, accurate, convenient and intelligent solution for road layout operations through the characteristics of high-precision calibration, real-time display and navigation, automated layout, multi-point calibration and navigation, and intelligent operation, and is expected to improve construction efficiency, reduce costs, and promote the intelligent and modern development of road construction and traffic management. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the connection structure of the automatic positioning pre-marking device of the utility model;

[0017] Figure 2 for Figure 1 A schematic diagram of the connection structure of the automatic positioning pre-marking device;

[0018] Figure 3 for Figure 1 A structural schematic diagram of a pre-line calibration module of an automatic positioning pre-line calibration device;

[0019] Figure 4 for Figure 1 A structural schematic diagram of a pre-line calibration module of the automatic positioning pre-line calibration device from another perspective;

[0020] Figure 5 for Figure 1 A schematic diagram of the structure of the driving line laying module of the automatic positioning pre-marking line calibration device;

[0021] Figure 6 The utility model is a schematic diagram of the road pre-line marking.

[0022] Description of reference numerals: pre-line calibration module 1, calibration moving mechanism 11, moving bracket 111, moving driving module 112, moving connecting rod 113, telescopic rod 114, fixed bracket 1141, control box 1142, extension rod 115, folding bracket 116, folding rod 117, moving handle 118, calibration measuring mechanism 12, measuring mounting bracket 121, measuring element 122, calibration transmission mechanism 13, positioning mechanism 14, calibration display mechanism 15;

[0023] Traveling and line-releasing module 2, traveling mechanism 21, positioning module 211, traveling bracket 212, traveling drive module 213, navigation mechanism 22, line-releasing mechanism 23, water tank 231, water pump 232, line-releasing nozzle 233, and traveling control module 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 to Figure 6As shown, in one embodiment of the utility model, an automatic positioning pre-marking line calibration device is involved, including a pre-marking line calibration module 1, a driving line laying module 2 and a driving control module 3, the pre-marking line calibration module 1 includes a calibration moving mechanism 11, a calibration measuring mechanism 12, a calibration transmission mechanism 13, a positioning mechanism 14 and a calibration display mechanism 15, the calibration measuring mechanism 12 is arranged on the calibration moving mechanism 11, and is used to measure the distance between the positioning mechanism 14 and the curb; the positioning mechanism 14 moves on the road according to the calibration moving mechanism 11, and calibrates more than two marking points in the area, the calibration transmission mechanism 13 and the positioning mechanism 14 are both arranged The calibration display mechanism 15 is arranged on the calibration moving mechanism 11, and is located below the positioning mechanism 14 and is coaxially arranged with the positioning mechanism 14. The calibration display mechanism 15 is used to display the calibration point position; the driving and laying-out module 2 is provided with a driving mechanism 21, a navigation mechanism 22 and a laying-out mechanism 23, and the navigation mechanism 22 and the laying-out mechanism 23 are arranged on the driving mechanism 21; the driving control module 3 is connected in communication with the driving mechanism 21, the navigation mechanism 22 and the calibration transmission mechanism 13, and the driving control module 3 is used to connect more than two punctuation points in the area to form a navigation route, and control the driving mechanism 21 to move and lay out the line along the navigation route. The pre-line calibration module 1 of this embodiment performs pre-line calibration and dot marking on the route in advance, and then connects the dots to form a navigation route, so that the driving and laying-out module 2 follows the driving and laying-out and drawing. The pre-line calibration and dot marking work of road line drawing is realized automatically and intelligently, and the laying-out and drawing process is performed according to the dots. The problem of large workload and precision deviation in the existing manual pre-line calibration process is solved.

[0027] In this embodiment, the distance between the positioning mechanism 14 and the roadside is measured by the calibration measurement mechanism 12, and more than two punctuation points are calibrated in the area, so as to achieve high-precision positioning of the road calibration points and ensure the accuracy and reliability of the pre-line calibration. The calibration display mechanism 15 is used to display the position of the calibration points. The driving control module 3 connects the calibrated multiple points in series to form a navigation route, and controls the driving mechanism 21 to move along the navigation route to lay out the line, so as to achieve real-time display and navigation of the calibration points and improve the control and monitoring capabilities of the line laying process. The driving control module 3 is connected in communication with the driving mechanism 21, the navigation mechanism 22 and the calibration transmission mechanism 13, and can automatically connect the calibration points in series to form a navigation route, and control the driving mechanism 21 to move along the navigation route to lay out the line, so as to achieve automatic control of the line laying process and improve the accuracy and efficiency of the line laying. By calibrating more than two punctuation points in the area by the positioning mechanism 14 and connecting them in series to form a navigation route, it is possible to achieve integrated calibration and navigation of multiple calibration points, making the pre-line calibration and line laying process more comprehensive and complete. The calibration display mechanism 15 is used to display and calibrate the calibration points during the driving calibration process, and the calibration accuracy is higher. This embodiment provides a more efficient, accurate, convenient and intelligent solution for road line laying operations through the characteristics of high-precision calibration, real-time display and navigation, automatic line laying, multi-point calibration and navigation, and intelligent operation, which is expected to improve construction efficiency, reduce costs, and promote the intelligent and modern development of road construction and traffic management.

[0028] See also Figure 3~Figure 4 As shown, the calibration mobile mechanism 11 includes a mobile bracket 111, a mobile driving module 112 and a mobile connecting rod 113, wherein the mobile driving module 112 is arranged on the mobile bracket 111, the mobile connecting rod 113 is arranged at the top of the mobile bracket 111, the mobile connecting rod 113 is provided with a telescopic rod 114, the telescopic rod 114 is provided with an extension rod 115, the positioning mechanism 14 is arranged on the extension rod 115, and the calibration display mechanism 15 is arranged on the extension rod 115 and is coaxially arranged with the positioning mechanism 14. In this embodiment, through the structural design of the mobile driving module 112 and the mobile connecting rod 113, the highly controllable movement of the calibration mobile mechanism 11 can be achieved, so that the position and height of the calibration point can be accurately controlled when performing pre-line calibration on the road, ensuring the accuracy and consistency of the calibration. The arrangement of the telescopic rod 114 and the extension rod 115 enables the calibration mobile mechanism 11 to have flexible telescopic adjustment capabilities, and can adjust the height of the positioning mechanism 14 and the calibration display mechanism 15 according to actual conditions to adapt to different road environments and calibration requirements. The positioning mechanism 14 and the calibration display mechanism 15 are coaxially arranged with the extension rod 115, which can ensure their height consistency in the vertical direction, improve the verticality and accuracy of the calibration point, and facilitate accurate display and calibration of the pre-line calibration point.

[0029] The mobile bracket 111 is provided with a folding frame 116, on which a plurality of folding grooves are circumferentially arranged, on which a folding rod 117 is arranged, and the mobile driving module 112 is arranged on the folding rod 117 to drive the mobile bracket 111 to move; the mobile connecting rod 113 is provided with a mobile handle 118 at one end close to the telescopic rod 114. In this embodiment, the arrangement of the folding frame 116 and the folding rod 117 enables the mobile bracket 111 to have a folding function, so that it is convenient to fold it up when not in use, reduce the volume, and facilitate carrying and storage, thereby improving the portability and flexibility of the device. The folding frame 116 is provided with a plurality of folding grooves circumferentially arranged, and the folding rod 117 can be arranged on different folding grooves to realize multi-angle adjustment of the mobile bracket 111, adapt to different road calibration requirements and environmental conditions, and increase the flexibility of operation. The mobile driving module 112 is arranged on the folding rod 117 to drive the mobile bracket 111 to move, and a mobile handle 118 is arranged at one end of the mobile connecting rod 113 close to the telescopic rod 114. This design enables the operator to conveniently control the movement of the mobile bracket 111, simplifies the operation process, and improves the convenience of operation.

[0030] A fixed bracket 1141 is provided on the telescopic rod 114, the travel control module 3 is provided on the fixed bracket 1141, a control box 1142 is provided at the top of the telescopic rod 114, and the calibration transmission mechanism 13 is provided in the control box 1142. In this embodiment, the fixed bracket 1141 is used for installing the travel control module 3, so that the travel control module 3 and the pre-line calibration module 1 are integrated to facilitate operation and control. The control box 1142 is used to set the calibration transmission mechanism 13 and set components such as power supply. The travel control module 3 is an operable mobile terminal, which is convenient for operation and control.

[0031] The calibration measurement mechanism 12 includes a measurement mounting frame 121 and a measurement element 122 arranged on the measurement mounting frame 121, and the measurement element 122 is a measuring ruler or an electronic measuring component. In this embodiment, according to actual use, the measuring ruler is a conventional ruler, which is used as a physical measuring ruler for measurement. Convenient measurement operation and real-time observation. In addition, the measuring ruler can be slidably adjusted and can be adjusted according to the required size, which is highly practical. In another embodiment, an electronic measuring component is used to measure the distance of the curb, and the data transmission can be displayed in real time for easy operation.

[0032] The positioning mechanism 14 is used to locate the position of the calibration moving mechanism 11, the calibration display mechanism 15 is a laser probe, which is used to display the calibration position by rays, and the calibration measurement mechanism 12 is used to measure the distance between the ray display and the curb. In this embodiment, the positioning mechanism 14 is used to locate the position of the calibration moving mechanism 11, and the laser probe is used as the calibration display mechanism 15, which can intuitively display the calibration position in the form of rays. Through the ray display of the laser probe, the operator can accurately determine the position of the calibration point, and realize high-precision positioning and visual display of the calibration position. The calibration measurement mechanism 12 is used to measure the distance between the laser probe ray display and the curb. Through accurate distance measurement, the distance between the calibration point and the curb can be accurately measured, ensuring the accuracy and reliability of the pre-line calibration. The laser probe is used as the calibration display mechanism 15, which can realize real-time ray display of the calibration point position, so that the operator can intuitively observe the position of the calibration point in actual work, improving the monitoring and control capabilities of the calibration process.

[0033] See also Figure 5 As shown, the traveling mechanism 21 is provided with a positioning module 211, and the positioning module 211 is used to locate the position of the traveling mechanism 21. The driving control module 3 obtains the position of the traveling mechanism 21 according to the positioning module 211, so as to control the traveling mechanism 21 in real time to follow the navigation route. In this embodiment, the position of the traveling mechanism 21 is located in real time by the positioning module 211, and the driving control module 3 can realize real-time control of the traveling mechanism 21 according to the position information of the traveling mechanism 21 obtained by the positioning module 211, so that the traveling mechanism 21 can accurately follow the navigation route. The driving control module 3 can realize automatic navigation driving of the traveling mechanism 21 according to the position information obtained by the positioning module 211, so that the traveling mechanism 21 can automatically drive on the pre-set navigation route, thereby improving the accuracy and efficiency of driving.

[0034] The travel mechanism 21 includes a travel support 212 and a travel drive module 213, wherein the travel drive module 213 is used to drive the travel support 212 to move, and the line-releasing mechanism 23 includes a water tank 231, a water pump 232, and a line-releasing nozzle 233 arranged on the travel support 212, wherein the line-releasing nozzle 233 is connected to the water tank 231 through the water pump 232 to pump the liquid in the water tank 231 to the line-releasing nozzle 233, and spray the line on the road surface. In this embodiment, the automatic travel control of the travel mechanism 21 is realized through the design of the travel support 212 and the travel drive module 213, and the automatic control of the line-releasing process can be realized by combining the water tank 231, the water pump 232, and the line-releasing nozzle 233 in the line-releasing mechanism 23, so that the entire pre-line calibration operation process is more automated and efficient. The liquid in the water tank 231 is pumped to the line-laying nozzle 233 by the water pump 232, so that the precise spraying operation on the road surface can be realized, the accuracy and consistency of the line-laying are ensured, and the quality and reliability of the pre-line calibration are improved. The automated driving and line-laying process reduces the demand for human resources and improves work efficiency. At the same time, through the precise liquid supply, the use of liquid resources is saved and the cost is reduced.

[0035] A wire-laying robot system adopts the above-mentioned automatic positioning pre-marking and calibration device to realize wire-laying after automatic pre-marking and calibration.

[0036] See also Figure 1 to Figure 6 As shown, a pre-line marking method includes the automatic positioning pre-marking marking device;

[0037] The pre-line punctuation method includes the following steps:

[0038] Step S1, pre-line basic marking: the calibration mobile mechanism 11 is placed in the area where the pre-line needs to be calibrated, and the distance between the positioning mechanism 14 and the curb is measured by the calibration measurement mechanism 12. During the measurement process, the vertical position of the positioning mechanism 14 is marked by the calibration display mechanism 15, and after the position is confirmed, the current position is calibrated and marked a;

[0039] Step S2, pre-line marking: After completing the calibration marking a in step S1, the calibration moving mechanism 11 will travel a distance s along the road, and measure the distance between the positioning mechanism 14 and the current road edge through the calibration measuring mechanism 12. During the measurement process, the vertical position of the positioning mechanism 14 is marked by the calibration display mechanism 15. After confirming the position, the current position is calibrated and marked a1, and step S2 is repeated to continuously calibrate and mark a2...an;

[0040] Step S3, laying out the route: the driving control module 3 forms a navigation route with the distance s between a~a1, and the driving control module 3 forms a control instruction for the route and transmits the instruction to the driving laying out module 2. The driving laying out module 2 draws and lays out the route according to the navigation route, according to the calibrated points a2···an, until the drawing and laying out of the route are completed in the current area.

[0041] The pre-line marking method uses the calibration measurement mechanism 12 to measure the distance between the positioning mechanism 14 and the curb through steps S1 and S2, and generates marks for the vertical position of the positioning mechanism 14 in combination with the calibration display mechanism 15, thereby realizing the precise calibration of the pre-line basic marking and the pre-line marking, and ensuring the accuracy and consistency of the marks. After completing the calibration mark a of step S1, the calibration mobile mechanism 11 drives along the road and continuously performs the pre-line marking a1, a2 to an, thereby realizing continuous calibration marks in the entire area, and providing complete calibration information for the subsequent line laying operation. The driving control module 3 forms a navigation route according to the distance s between the calibration marks a~an, and transmits the route formation control instruction to the driving line laying module 2. The driving line laying module 2 draws the line and lays the line according to the navigation route, thereby realizing the automatic control of the line laying route, and improving the accuracy and efficiency of the line laying. The entire pre-line marking method combines the intelligent features of the automatic pre-line marking device, and realizes the intelligent operation of the pre-line marking process through a variety of sensors and control modules, reducing the impact of human factors and improving the accuracy and stability of the operation. The pre-line marking method combines the automatic positioning pre-marking marking device, and through the characteristics of precise marking, continuous calibration, automatic line laying and intelligent operation, it provides a more efficient, accurate, convenient and intelligent solution for road line laying operations, which is expected to improve construction efficiency, reduce costs, and promote the intelligent and modern development of road construction and traffic management.

[0042] 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. An automatic positioning pre-marking line calibration device, characterized in that: include A pre-line calibration module, the pre-line calibration module includes a calibration moving mechanism, a calibration measuring mechanism, a calibration transmission mechanism, a positioning mechanism and a calibration display mechanism, the calibration measuring mechanism is arranged on the calibration moving mechanism, and is used to measure the distance between the positioning mechanism and the curb; the positioning mechanism moves on the road according to the calibration moving mechanism, and calibrates more than two marks in the area, the calibration transmission mechanism and the positioning mechanism are both arranged on the calibration moving mechanism, the calibration display mechanism is located below the positioning mechanism, and is coaxially arranged with the positioning mechanism, and the calibration display mechanism is used to display the position of the calibration point; the calibration measuring mechanism includes a measuring mounting frame and a measuring element arranged on the measuring mounting frame, and the measuring element is a measuring ruler or an electronic measuring component; A traveling and wire-releasing module, wherein the traveling and wire-releasing module is provided with a traveling mechanism, a navigation mechanism and a wire-releasing mechanism, wherein the navigation mechanism and the wire-releasing mechanism are arranged on the traveling mechanism; and A driving control module is communicatively connected with a driving mechanism, a navigation mechanism and a calibration transmission mechanism, and is used to connect two or more calibrated points in a region in series to form a navigation route, and to control the driving mechanism to move and lay out the route along the navigation route.

2. The automatic positioning pre-marking device according to claim 1 is characterized in that: The calibration mobile mechanism includes a mobile bracket, a mobile driving module and a mobile connecting rod, the mobile driving module is arranged on the mobile bracket, the mobile connecting rod is arranged at the top of the mobile bracket, the mobile connecting rod is provided with a telescopic rod, the telescopic rod is provided with an extension rod, the positioning mechanism is provided on the extension rod, and the calibration display mechanism is provided on the extension rod and is coaxially arranged with the positioning mechanism.

3. The automatic positioning pre-marking device according to claim 2 is characterized in that: The mobile bracket is provided with a folding frame, a plurality of folding grooves are circumferentially provided on the folding frame, a folding rod is provided on the folding groove, and the mobile driving module is provided on the folding rod to drive the mobile bracket to move; a mobile handle is provided on one end of the mobile connecting rod close to the telescopic rod.

4. The automatic positioning pre-marking device according to claim 2 is characterized in that: A fixed bracket is arranged on the telescopic rod, the travel control module is arranged on the fixed bracket, a control box is arranged on the top end of the telescopic rod, and the calibration transmission mechanism is arranged in the control box.

5. The automatic positioning pre-marking device according to claim 1 is characterized in that: The positioning mechanism is used to locate and calibrate the position of the moving mechanism, and the calibration display mechanism is a laser probe to perform ray display on the calibrated position.

6. The automatic positioning pre-marking device according to claim 5, characterized in that: The calibration measurement mechanism is used to measure the distance between the ray display and the curb.

7. The automatic positioning pre-marking device according to claim 1 is characterized in that: The traveling mechanism is provided with a positioning module, and the positioning module is used to locate the position of the traveling mechanism. The traveling control module obtains the position of the traveling mechanism according to the positioning module, so as to control the traveling mechanism to follow the navigation route in real time.

8. The automatic positioning pre-marking device according to claim 1 is characterized in that: The traveling mechanism comprises a traveling support and a traveling driving module, and the traveling driving module is used for driving the traveling support to move.

9. The automatic positioning pre-marking device according to claim 8, characterized in that: The line-releasing mechanism comprises a water tank, a water pump and a line-releasing nozzle arranged on a traveling support. The line-releasing nozzle is connected to the water tank through the water pump to pump the liquid in the water tank to the line-releasing nozzle to spray the line-releasing nozzle on the road surface.

10. A wire-laying robot system, characterized in that: It comprises the automatic positioning pre-marking marking device as described in any one of claims 1 to 9, and the line-laying robot system is used for road line marking and laying out construction.

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