Automatic cruise 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 cruise pre-marking line calibration device and a pay-off robot system, which comprise a driving calibration mechanism and an automatic cruise mechanism, and the driving calibration mechanism comprises a driving robot, a positioning assembly and a positioning display assembly. The positioning assembly and the positioning display assembly are both arranged on the driving robot, and the driving robot drives on an area where a pre-line needs to be calibrated; the automatic cruise mechanism comprises a road condition acquisition element, a driving control module and a mark control module; the road condition acquisition element is used for acquiring the road edge condition of a specified road area, and the driving control module is used for controlling the driving robot to drive on one side of the road edge and controlling the positioning assembly to make a pre-line marking point on one side of the road edge through the marking control module in the driving process. 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 marking, in particular to an automatic cruise pre-marking calibration device and a wire 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 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. Currently, the pre-marking layout mainly by manual work not only has the problem of layout error, but also brings heavy workload and low operation efficiency. Summary of the Utility Model

[0003] To solve the above problems, the utility model realizes the automation and intelligent pre-line calibration dotting work of road marking, and performs wire laying and marking processing according to the dots. An automatic cruise pre-marking calibration device and a wire laying robot system that solve the problems of large workload and deviation in accuracy during the existing manual pre-line calibration process.

[0004] The technical solution adopted by the utility model is: an automatic cruise pre-marking calibration device, including a driving calibration mechanism and an automatic cruise mechanism. The driving calibration mechanism includes a driving robot, a positioning component and a positioning display component. The positioning component and the positioning display component are both arranged on the driving robot. The driving robot travels on the area where the pre-line needs to be calibrated. The positioning component is used to position the current position of the driving robot, and the positioning display component is used to display the calibration points when the driving robot calibrates the position. The automatic cruise mechanism includes a road condition acquisition element, a driving control module and a marking control module. The road condition acquisition element is used to acquire the road edge condition of a specified road area. The driving control module is used to control the driving robot to travel on one side of the road edge, and the positioning component is controlled by the marking control module to make pre-line punctuation marks on one side of the road edge during the travel process.

[0005] For further improvement of the above solution, the driving robot includes a driving bracket and a driving drive module. The driving drive module is arranged on the driving bracket and is used to drive the driving bracket to move. The positioning component and the positioning display component are both arranged on the driving bracket.

[0006] For further improvement of the above solution, two groups of driving drive modules are arranged. The two groups of driving drive modules are respectively arranged on both sides of the driving bracket. The driving drive module includes a driving motor and a driving wheel. The driving end of the driving motor is connected to the driving wheel.

[0007] A further improvement to the above solution is that an extension rod is provided on one side of the traveling bracket, the positioning component is provided on the extension rod, and the positioning display component is provided on the lower side of the positioning component; the positioning component is provided with positioning components, the positioning components are provided with support rods connected to the extension rod, and the positioning display component is a laser emitting element and is coaxially arranged with the positioning components.

[0008] A further improvement to the above solution is that the emitting end of the laser emitting element faces the ground to generate a marked display point when irradiated on the ground.

[0009] A further improvement to the above solution is that a distance measuring element is provided on one side of the traveling robot, and the distance measuring element is used to measure the distance between the traveling robot and the road edge.

[0010] A further improvement to the above solution is that the road condition acquisition element is a detection lens and is provided on the traveling robot and is used to acquire the road conditions in the traveling direction of the traveling robot; the traveling control module controls the traveling robot to travel parallel to the road edge according to the acquired road conditions of the road edge and controls the traveling robot to form a vertical parallel line with the road edge according to the distance measuring element.

[0011] A further improvement to the above solution is that the traveling control module is a mobile terminal, and the marking control module is provided on the traveling control module to control the positioning component to make dot markings during the traveling of the traveling robot.

[0012] A pre-line marking dotting system includes the automatic cruise pre-line calibration device described above. The pre-line marking dotting system automatically makes dot markings on the road through the automatic cruise pre-line calibration device.

[0013] A pre-line marking dotting method includes the automatic cruise pre-line calibration device described above;

[0014] The pre-line marking dotting method includes the following steps:

[0015] Step S1, obtaining the traveling route: The traveling robot travels on the road, obtains the road conditions during the traveling through the road condition acquisition element, and constructs a traveling route parallel to the road edge based on the obtained road edge information. The traveling control module controls the traveling robot to travel along the traveling route.

[0016] Step S2, marking dotting: During the traveling of the traveling robot on the traveling route, the marking control module controls the positioning component to sequentially make markings a on the traveling route according to the current position of the traveling robot, and make markings a1, a2... an after traveling a distance s; the traveling control module constructs a pre-line based on the positions of the markings a, a1, a2... an.

[0017] The beneficial effects of the present utility model are as follows:

[0018] Compared with the existing manual pre-line calibration, the present utility model uses a road condition acquisition component to obtain the route before driving during the forward driving of the driving robot, and drives along one side of the road edge, thereby making pre-line marking points on one side of the road edge to construct a pre-line through the pre-line marking points, which is convenient for the subsequent wire laying and line drawing of the robot. The automatic cruise pre-line calibration is realized through the road condition acquisition module, which solves the problems of large workload and deviation in accuracy during the existing manual pre-line calibration process.

[0019] The positioning component and the positioning display component of the present utility model cooperate with the driving robot to accurately position the current position of the driving robot and display the marked points, thereby realizing the precise control and monitoring of the pre-line calibration process and improving the accuracy of calibration. The road condition acquisition component in the automatic cruise mechanism can obtain the road edge conditions of the road area, and the driving control module can drive the driving robot along one side of the road edge according to the road condition information. Combined with the control of the marking control module, the automatic pre-line calibration operation can be realized, which simplifies the operation process and improves the work efficiency. By obtaining the road conditions of the specified road area through the road condition acquisition component, the changes in the road environment can be sensed in real time, so that the automatic cruise mechanism can make corresponding adjustments according to the actual road conditions, ensuring the smooth progress of the pre-line calibration operation. The driving control module in the automatic cruise mechanism can drive the driving robot along one side of the road edge and control the positioning component to make pre-line marking points on one side of the road edge through the marking control module, improving the efficiency and accuracy of pre-line calibration and saving human resources and time costs. The precise pre-line calibration, automatic cruise operation, real-time road condition perception, efficient pre-line calibration, intelligent operation and control of the present utility model provide a more precise, efficient, intelligent and convenient solution for the pre-line calibration operation, which helps to improve the work efficiency and the experience of the pre-line calibration operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic connection structure diagram of the automatic cruise pre-line calibration device of the present utility model;

[0021] Figure 2 is Figure 1 a schematic structure diagram of the driving robot of the automatic cruise pre-line calibration device in

[0022] Figure 3 is Figure 1 a schematic structure diagram of the driving robot of the automatic cruise pre-line calibration device in another perspective in

[0023] Figure 4 It is a schematic flow diagram of the pre-line marking and dotting method of the present utility model;

[0024] Figure 5 This is a schematic diagram of the road pre-line punctuation of the present utility model.

[0025] Description of reference numerals in the drawings: traveling calibration mechanism 10, automatic cruise mechanism 20, traveling robot 1, traveling bracket 11, extension rod 111, traveling drive module 12, drive motor 121, drive wheel 122, distance measuring element 13, positioning component 2, positioning element 21, support rod 22, positioning display component 3, road condition acquisition element 4, traveling control module 5, marking control module 6. Detailed implementation manners

[0026] To facilitate the understanding of the present utility model, the present utility model will be described more comprehensively below with reference to the relevant drawings. Preferred embodiments of the present utility model are shown in the drawings. However, the present utility model can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure of the present utility model more thorough and comprehensive.

[0027] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present utility model belongs. The terms used in the specification of the present utility model herein are only for the purpose of describing specific embodiments and are not intended to limit the present utility model. As Figures 1 to 5As shown in the figure, in an embodiment of the present utility model, an automatic cruise pre-line calibration device is involved, including a driving calibration mechanism 10 and an automatic cruise mechanism 20. The driving calibration mechanism 10 includes a driving robot 1, a positioning component 2, and a positioning display component 3. The positioning component 2 and the positioning display component 3 are both arranged on the driving robot 1. The driving robot 1 travels on the area where the pre-line needs to be calibrated. The positioning component 2 is used to position the current position of the driving robot 1, and the positioning display component 3 is used to display the calibration points when the driving robot 1 calibrates the position. The automatic cruise mechanism 20 includes a road condition acquisition element 4, a driving control module 5, and a marking control module 6. The road condition acquisition element 4 is used to acquire the curb situation of a specified road area. The driving control module 5 is used to control the driving robot 1 to travel on one side of the curb, and during the driving process, the positioning component 2 is controlled by the marking control module 6 to make pre-line marking points on one side of the curb. In this embodiment, the road condition acquisition element 4 acquires the route before driving during the forward driving of the driving robot 1 and travels along one side of the curb, so as to make pre-line marking points on one side of the curb, and a pre-line is constructed through the pre-line marking points, which is convenient for the subsequent wire laying and line drawing of the robot. The automatic cruise pre-line calibration is realized through the road condition acquisition module, which solves the problems of large workload and deviation in accuracy during the existing manual pre-line calibration process.

[0029] In this embodiment, the positioning component 2 and the positioning display component 3 cooperate with the driving robot 1 to realize the accurate positioning of the current position of the driving robot 1 and the display of the calibration points, thus realizing the accurate control and monitoring of the pre-line calibration process and improving the accuracy of calibration. The road condition acquisition element 4 in the automatic cruise mechanism 20 can acquire the curb situation of the road area. The driving control module 5 can realize the driving of the driving robot 1 on one side of the curb according to the road condition information. Combined with the control of the marking control module 6, the automatic pre-line calibration operation can be realized, which simplifies the operation process and improves the work efficiency. By acquiring the road condition of the specified road area through the road condition acquisition element 4, the change of the road environment can be sensed in real time, so that the automatic cruise mechanism 20 can make corresponding adjustments according to the actual road conditions, ensuring the smooth progress of the pre-line calibration operation. The driving control module 5 in the automatic cruise mechanism 20 can realize the driving of the driving robot 1 on one side of the curb and control the positioning component 2 to make pre-line marking points on one side of the curb through the marking control module 6, improving the efficiency and accuracy of the pre-line calibration, and saving human resources and time costs. The accurate pre-line calibration, automatic cruise operation, real-time road condition perception, efficient pre-line calibration, intelligent operation and control in this embodiment provide a more accurate, efficient, intelligent and convenient solution for the pre-line calibration operation, which helps to improve the work efficiency and the experience of the pre-line calibration operation.

[0030] Refer to Figures 2 to 3As shown in the figure, the driving robot 1 includes a driving bracket 11 and a driving drive module 12. The driving drive module 12 is arranged on the driving bracket 11 and is used to drive the driving bracket 11 to move. The positioning component 2 and the positioning display component 3 are both arranged on the driving bracket 11. Specifically, there are two sets of the driving drive modules 12, and the two sets of the driving drive modules 12 are respectively arranged on both sides of the driving bracket 11. The driving drive 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, two sets of driving drive modules 12 are arranged on the driving bracket 11, respectively located on both sides of the driving bracket 11, and each set includes a driving motor 121 and a driving wheel 122. This design can improve the balance and stability of the driving robot 1, making it more stable and reliable during driving. Through the arrangement of the two sets of driving drive modules 12, bilateral independent driving of the driving bracket 11 can be realized, thereby enhancing the flexibility and accuracy of the driving robot 1, enabling it to better adapt to different road environments and calibration requirements. The positioning component 2 and the positioning display component 3 are arranged on the driving bracket 11, which can achieve precise positioning and display of the position of the driving robot 1, improve the accuracy and reliability of pre-line calibration, and at the same time facilitate the operator to monitor and adjust the calibration process. The bilateral arrangement of each set of driving drive modules 12 can achieve bilateral independent control. By independently controlling the driving motor 121 and the driving wheel 122 on each side, more flexible driving control and path adjustment can be realized, improving the flexibility and adaptability of driving.

[0031] On one side of the traveling bracket 11, an extension rod 111 is provided. The positioning component 2 is arranged on the extension rod 111, and the positioning display component 3 is arranged on the lower side of the positioning component 2. The positioning component 2 is provided with a positioning element 21, and the positioning element 21 is provided with a support rod 22 connected to the extension rod 111. The positioning display component 3 is a laser emitting element and is coaxially arranged with the positioning element 21. Specifically, the emitting end of the laser emitting element faces the ground to generate a marked display point on the ground. In this embodiment, by providing the extension rod 111 on one side of the traveling bracket 11 and arranging the positioning component 2 and the positioning display component 3 thereon, where the positioning element 21 is connected to the support rod 22 and the laser emitting element is coaxially arranged with the positioning element 21, high-precision positioning and display can be achieved. The laser emitting element irradiates the ground to generate a marked display point, improving the accuracy and clarity of the calibration point. The positioning display component 3 uses a laser emitting element for display, which can directly generate a marked display point on the ground, simplifying the operation process of the operator, reducing the operation complexity, and improving the convenience and efficiency of the operation. The laser emitting element irradiates the ground to mark the display point, enabling real-time monitoring of the position and situation of the calibration point, helping the operator to adjust and optimize the pre-line calibration process in a timely manner, and ensuring the accuracy and stability of the calibration. By generating a marked display point on the ground through the laser emitting element, the influence of manual operation on the calibration result is reduced, the possibility of human error is decreased, and the precision and reliability of the pre-line calibration are improved.

[0032] On one side of the traveling robot 1, a ranging element 13 is provided, and the ranging element 13 is used to measure the distance between the traveling robot 1 and the road edge. The road condition acquisition element 4 is a detection lens and is arranged on the traveling robot 1 and is used to acquire the road conditions in the traveling direction of the traveling robot 1; the traveling control module 5 controls the traveling robot 1 to travel parallel to the road edge according to the acquired road conditions of the road edge, and controls the traveling robot 1 to travel to form a vertical parallel line with the road edge according to the ranging element 13. In this embodiment, by arranging the detection lens on the traveling robot 1 as the road condition acquisition element 4, the road conditions in the traveling direction of the traveling robot 1 can be monitored in real time. In this way, the operator can obtain the road conditions in a timely manner, which helps to adjust the traveling strategy to adapt to different road environments. The traveling control module 5 can control the traveling robot 1 to travel parallel to the road edge according to the acquired road condition information, maintaining the accuracy and stability of the pre-line calibration. This precise road edge control helps to ensure the accuracy and reliability of the pre-line calibration. By controlling the traveling robot 1 to travel to form a vertical parallel line with the road edge according to the ranging element 13, the vertical parallelism of the traveling path can be achieved, which is beneficial to accurately determining the position of the pre-line calibration point and improving the accuracy and consistency of the pre-line calibration. Combining the designs of the road condition acquisition element 4, the traveling control module 5, and the ranging element 13 realizes intelligent traveling control, enabling the traveling robot 1 to make corresponding adjustments according to real-time road conditions and distance information, improving the automation degree and operation convenience of the system.

[0033] The traveling control module 5 is a mobile terminal, and the marking control module 6 is arranged on the traveling control module 5 to control the positioning component 2 to make dot marks during the traveling of the traveling robot 1. In this embodiment, the traveling control module 5 adopts a mobile terminal, which can realize remote operation and control, enabling the operator to control the pre-line calibration device through the mobile terminal at any time and anywhere, improving the operation convenience and flexibility. The marking control module 6 is arranged on the traveling control module 5, and can realize dot marking of the positioning component 2 during the traveling of the traveling robot 1. This design can realize real-time marking control, helping the operator to calibrate the pre-line in a timely manner and improving the accuracy and efficiency of the calibration.

[0034] Refer to Figures 1 to 5As shown, a pre-line marking dotting system includes the automatic cruise pre-line calibration device. The pre-line marking dotting system automatically dots and marks the pre-line on the road through the automatic cruise pre-line calibration device. The system can independently perform the dotting operation of the pre-line marking, reducing the need for manual intervention, improving the consistency and accuracy of the marking, and also saving human resources. Using the automatic cruise pre-line calibration device for automatic dotting and marking can achieve efficient and rapid pre-line marking operations, improve the operation efficiency, and shorten the marking time cycle. Through the positioning function of the automatic cruise pre-line calibration device, the accurate positioning of the pre-line marking position can be achieved, ensuring the accuracy and consistency of the marking points and meeting the requirements of road markings.

[0035] A pre-line marking dotting method includes the automatic cruise pre-line calibration device described above;

[0036] The pre-line marking dotting method includes the following steps:

[0037] Step S1, obtaining the driving route: The driving robot 1 drives on the road, and the road condition acquisition component 4 acquires the road conditions during the driving process, and constructs a driving route parallel to the road edge through the acquired road edge information. The driving control module 5 controls the driving robot 1 to drive along the driving route;

[0038] Step S2, marking and dotting: During the driving process of the driving robot 1 on the driving route, the marking control module 6 controls the positioning component 2 to sequentially make marks a on the driving route according to the current position of the driving robot 1, and make marks a1, a2,... an after driving a distance s; the driving control module 5 constructs a pre-line based on the positions of the marks a, a1, a2,... an. By obtaining the road conditions through the road condition acquisition component 4 and constructing a driving route parallel to the road edge according to the road edge information, the accurate construction of the driving route can be realized, ensuring the accuracy and stability of the driving path during the pre-line calibration process. During the driving process on the driving route, by controlling the positioning component 2 to sequentially make marks according to the current position of the driving robot 1 through the marking control module 6 and making a series of marks according to the driving distance s, the dotting work of the pre-line marking can be efficiently completed, saving time and labor costs. The cooperation of the marking control module 6 and the driving control module 5 can realize the automatic control of the positioning component 2 and the driving robot 1, thereby realizing the automation of the pre-line marking dotting operation, simplifying the operation process and improving the work efficiency. By constructing a pre-line based on the positions of the marks a, a1, a2,... an, the accurate construction of the pre-line can be realized, ensuring the accuracy and reliability of the pre-line calibration and improving the accuracy of the pre-line marking. The utility model combines the positioning, automatic cruise and pre-line calibration functions in the automatic cruise pre-line calibration device, realizes intelligent operation and control, improves the intelligent level and automation degree of the entire pre-line marking dotting process, and brings a more convenient and efficient use experience to users.

[0039] The above embodiments only represent several implementation manners of the utility model, and the description thereof is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the utility model. It should be noted that for those of ordinary skill in the art, without departing from the concept of the utility model, several modifications and improvements can still be made, and these all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be subject to the appended claims.

Claims

1. An automatic cruise pre-mark calibration device, characterized in that: including a driving calibration mechanism, which includes a driving robot, a positioning component, and a positioning display component. The positioning component and the positioning display component are both arranged on the driving robot. The driving robot travels on the area where the pre-line needs to be calibrated. The positioning component is used to position the current position of the driving robot, and the positioning display component is used to display the calibration points when the driving robot calibrates the position; and an automatic cruise mechanism, which includes a road condition acquisition element, a driving control module, and a marking control module. The road condition acquisition element is used to acquire the curb condition of a specified road area. The driving control module is used to control the driving robot to travel on one side of the curb, and during the driving process, the marking control module is used to control the positioning component to make pre-line marking points on one side of the curb. A distance measuring element is arranged on one side of the driving robot, and the distance measuring element is used to measure the distance between the driving robot and the curb.

2. The automatic cruise pre-mark calibration device according to claim 1, wherein: The driving robot includes a driving bracket and a driving drive module. The driving drive module is arranged on the driving bracket and is used to drive the driving bracket to move. The positioning component and the positioning display component are both arranged on the driving bracket.

3. The automatic cruise pre-mark calibration device according to claim 2, wherein: There are two groups of the driving drive modules, and the two groups of the driving drive modules are respectively arranged on both sides of the driving bracket. The driving drive module includes a driving motor and a driving wheel, and the driving end of the driving motor is connected to the driving wheel.

4. The automatic cruise pre-calibration line marking device according to claim 2, characterized in that: An extension rod is arranged on one side of the driving bracket. The positioning component is arranged on the extension rod, and the positioning display component is arranged on the lower side of the positioning component.

5. The automatic cruise pre-calibration line marking device according to claim 4, characterized in that: The positioning component is provided with positioning components. The positioning components are provided with support rods connected to the extension rod. The positioning display component is a laser emitting element and is coaxially arranged with the positioning components.

6. The automatic cruise pre-mark calibration device according to claim 5, wherein: The emitting end of the laser emitting element faces the ground to generate a marked display point on the ground by irradiation.

7. The automatic cruise pre-mark calibration device according to claim 6, characterized in that: The road condition acquisition element is a detection lens and is arranged on the driving robot and is used to acquire the road condition in the driving direction of the driving robot.

8. The automatic cruise pre-mark calibration device according to claim 7, characterized in that: The driving control module controls the driving robot to travel parallel to the curb according to the acquired road condition of the curb, and controls the driving robot to travel to form a vertical parallel line with the curb according to the distance measuring element.

9. The automatic cruise pre-mark calibration device according to claim 1, wherein: The driving control module is a mobile terminal, and the marking control module is arranged on the driving control module to control the positioning component to make dot markings during the driving process of the driving robot.

10. A wire laying robot system, characterized in that: including the automatic cruise pre-line calibration device according to any one of claims 1 to 9. The wire laying robot system automatically makes dot markings for the pre-line on the road through the automatic cruise pre-line calibration device.

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