Full-automatic intelligent lofting and scribing machine

Abstract

The utility model discloses a full-automatic intelligent lofting and scribing machine. The full-automatic intelligent lofting and scribing machine comprises a shell, a plurality of lofting and scribing devices and a controller, the advancing device is arranged at the bottom of the shell; the main control device is arranged in the shell and electrically connected with the advancing device so as to send a control instruction to the advancing device, and the advancing device moves or stops based on the control instruction; the image acquisition device is arranged at the top of the shell, electrically connected with the main control device and used for acquiring an image and sending the image to the main control device, and the main control device generates a control instruction based on the image; and the spraying device is arranged in the shell, a through hole is formed in the bottom of the shell, and a spray head of the spraying device penetrates through the through hole and extends to the outside. The image acquisition device acquires images in real time and transmits the images to the main control device, the main control device can analyze the images acquired in real time to obtain an advancing strategy and automatically control the ruling machine to advance and ruling according to the advancing strategy, manual pushing or control is not needed, the manual requirement is reduced, and the ruling accuracy is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of road construction equipment, and in particular discloses a fully automatic intelligent layout and marking machine. Background Art

[0002] With the continuous construction and improvement of transportation infrastructure, the drawing of road markings has become an important link. At present, road marking is generally completed by spray-painting vehicles. Large spray-painting vehicles need to be driven by humans, while small spray-painting vehicles need to be manually pushed and driven. The paint is controlled to solidify on the ground according to a certain width, forming road traffic lines. However, the existing road marking method mainly relies on manual operation, which is not only inefficient, but also has certain limitations in terms of safety and accuracy. Especially in busy urban traffic environments, manual road marking work may also cause problems such as traffic congestion. Utility Model Content

[0003] The utility model provides a fully automatic intelligent layout and marking machine, which aims to solve the problem that the existing layout and marking relies on manual operation.

[0004] In order to solve the above problems, the utility model provides a fully automatic intelligent layout and marking machine, which includes: a shell; a traveling device, which is arranged at the bottom of the shell; a main control device, which is arranged inside the shell and is electrically connected to the traveling device to send control instructions to the traveling device, and the traveling device moves or stops based on the control instructions; an image acquisition device, which is arranged at the top of the shell and is electrically connected to the main control device, and is used to acquire images and send them to the main control device, and the main control device produces control instructions based on the images; a spraying device, which is arranged inside the shell and is electrically connected to the main control device, and a through hole is provided at the bottom of the shell, and the nozzle of the spraying device extends to the outside through the through hole.

[0005] As a further improvement of the present invention, it also includes a Beidou satellite positioning device, which is arranged in the shell and electrically connected to the main control device, and is used to collect positioning signals and transmit them to the main control device.

[0006] As a further improvement of the present invention, the traveling device includes a universal wheel arranged at the bottom of the front end of the shell, and a first servo drive wheel and a second servo drive wheel arranged side by side at the bottom of the rear end of the shell. The universal wheel, the first servo drive wheel, and the second servo drive wheel are all electrically connected to the main control device.

[0007] As a further improvement of the present invention, Hall sensors are provided on both the first servo drive wheel and the second servo drive wheel, and the Hall sensors are electrically connected to the main control device.

[0008] As a further improvement of the present invention, the universal wheel includes a connecting head and a roller with an inverted triangle structure. The connecting head is arranged at the bottom of the front end of the shell and is rotatably connected to the shell. The roller is rotatably connected to the connecting head, and the spraying device is arranged at the front end inside the shell.

[0009] As a further improvement of the present invention, the image acquisition device includes a monocular camera and a support column. The support column runs through the top of the shell, and the monocular camera is arranged on the top of the support column.

[0010] As a further improvement of the present invention, it further includes a power supply device, which is disposed in the housing and electrically connected to the main control device.

[0011] As a further improvement of the present invention, the spraying device includes a material storage tank, a nozzle and a controller. The nozzle is connected to the material storage tank, and the controller is electrically connected to the nozzle and the main control device. The controller controls the operation of the nozzle.

[0012] As a further improvement of the present invention, the shell includes a base, an upper cover shell and a flip cover part. The upper cover shell covers the base. An opening matching the flip cover part is provided on the top of the upper cover shell. The flip cover part covers the opening and one end is hinged to the upper cover shell. The feeding port of the storage tank is provided at the opening.

[0013] As a further improvement of the present invention, it also includes an ultrasonic distance measuring sensor, which is arranged at the front end of the shell.

[0014] The beneficial effects achieved by the utility model are:

[0015] The utility model provides a fully automatic intelligent layout and marking machine. An image acquisition device is arranged on the top of the shell, and the image acquisition device is used to collect images in the forward direction of the marking machine in real time and transmit them to the main control device, so that the main control device can analyze the images in the forward direction to generate a corresponding forward strategy. Combined with the marking instructions input by the user, the machine moves in the specified area and performs marking operations. It does not require human push or control, realizes automatic marking, thereby reducing labor requirements, and compared with manual marking operations, the accuracy and safety of automatic marking by the machine are higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the fully automatic intelligent marking and staking machine of the present utility model;

[0017] Figure 2 This is a schematic diagram of the exploded structure of an embodiment of the fully automatic intelligent marking and staking machine of the present invention. DETAILED DESCRIPTION

[0018] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0019] Figure 1 and Figure 2 The following is a schematic diagram showing the structure of an embodiment of the fully automatic intelligent marking and staking machine of the present invention. Figure 1 and Figure 2 As shown, the fully automatic intelligent marking and lofting machine includes a housing 1, a traveling device 2, a main control device 3, an image acquisition device 4 and a spraying device 5.

[0020] The shell 1 is a hollow structure. The traveling device 2 is arranged at the bottom of the shell 1 and is used to drive the marking machine to move. The main control device 3 is arranged inside the shell 1 and is electrically connected to the traveling device 2 to send control instructions to the traveling device 2. The traveling device 2 moves or stops based on the control instructions. The image acquisition device 4 is arranged at the top of the shell 1 and is electrically connected to the main control device 3. It is used to collect images and send them to the main control device 3. The main control device 3 produces control instructions based on the images; the spraying device 5 is arranged inside the shell 1 and is electrically connected to the main control device 3. A through hole is provided at the bottom of the shell 1, and the nozzle 52 of the spraying device 5 extends to the outside through the through hole.

[0021] Specifically, when the fully automatic intelligent marking and staking machine is in operation, the image acquisition device 4 captures images in real time along its travel direction and transmits them to the main control device 3. Using a built-in motion control algorithm, the main control device 3 plans and controls the machine's real-time path, ensuring the robot follows the set path and following a preset trajectory, meeting the marking requirements in various road environments. During the machine's operation, the spraying device 5 sprays the corresponding locations based on the images transmitted in real time by the image acquisition device 4 and pre-set spraying requirements, thus achieving automatic road marking.

[0022] The fully automatic intelligent layout and marking machine of this embodiment is equipped with an image acquisition device 4 on the top of the shell 1. The image acquisition device 4 is used to collect images in the forward direction of the marking machine in real time and transmit them to the main control device 3, so that the main control device 3 can analyze the images in the forward direction to generate a corresponding forward strategy. Combined with the marking instructions input by the user, the machine moves in the designated area and performs marking operations. It does not require human push or control, realizes automatic marking, thereby reducing labor requirements, and compared with manual marking operations, the accuracy and safety of automatic marking by the machine are higher.

[0023] Furthermore, in order to improve the accuracy of the marking machine's movement and marking, based on the above embodiments, in other embodiments, the fully automatic intelligent layout and marking machine also includes a Beidou satellite positioning device 6, which is arranged in the shell 1 and electrically connected to the main control device 3, for collecting positioning signals and transmitting them to the main control device 3.

[0024] Specifically, by setting up a Beidou satellite positioning device 6, the Beidou satellite positioning device 6 is used to obtain the precise positioning signal of the road marking machine in real time and send it to the main control device 3. The main control device 3 can combine the image currently collected by the image acquisition device 4 and the positioning signal to accurately analyze the current position of the road marking machine. By integrating the Beidou high-precision positioning system and visual perception technology, it is ensured that the road marking machine can achieve centimeter-level positioning accuracy in various road environments, and the marking error is controlled within an extremely small range, exceeding the accuracy of manual marking, thereby improving the accuracy of marking.

[0025] Furthermore, in order to ensure that the road marking machine can adapt to various road environments, based on the above embodiments, in other embodiments, the traveling device 2 includes a universal wheel 21 arranged at the bottom of the front end of the shell 1, and a first servo drive wheel 22 and a second servo drive wheel 23 arranged side by side at the bottom of the rear end of the shell 1. The universal wheel 21, the first servo drive wheel 22, and the second servo drive wheel 23 are all electrically connected to the main control device 3.

[0026] Specifically, the universal wheels 21 of the travel device 2 control the direction of the striper's movement based on commands from the main control device 3. The first and second servo drive wheels 22 and 23 are independently driven by separate servo motors, enabling differential speed control. Differential speed control involves adjusting the speed difference between the two wheels, enabling the robot to flexibly complete turns and straight-line travel. Each drive wheel can independently control its speed and direction, and the speed difference between the two wheels enables the striper to turn and move.

[0027] Furthermore, both the first servo drive wheel 22 and the second servo drive wheel 23 are provided with Hall sensors (not shown in the figure), and the Hall sensors are electrically connected to the main control device 3 .

[0028] Specifically, in this embodiment, the servo motor adopts a DC brushed motor and cooperates with a Hall sensor to realize angle and speed closed-loop control, so that the main control device 3 can more accurately control the steering and movement of the marking machine, thereby ensuring higher marking accuracy.

[0029] Furthermore, the universal wheel 21 includes a connecting head 211 and a roller 212 with an inverted triangle structure. The connecting head 211 is arranged at the bottom of the front end of the shell 1 and is rotationally connected to the shell 1. The roller 212 is rotationally connected to the connecting head 211, and the spraying device 5 is arranged at the front end inside the shell 1.

[0030] Specifically, connector 211 is rotatably connected to the bottom of housing 1, allowing connector 211 to rotate 360° relative to the bottom surface of housing 1. Roller 212 is rotatably connected to connector 211, allowing roller 212 to roll. By positioning spray device 5 at the front end of housing 1, i.e., above universal wheel 21, universal wheel 21 bears the load. The inverted triangular structure of connector 211 effectively compensates for the steering damping caused by the forward placement of the water tank, improving overall control response efficiency.

[0031] Furthermore, in order to ensure that the image acquisition device 4 can more accurately and comprehensively capture images in the forward direction of the marking machine, based on the above embodiments, in other embodiments, the image acquisition device 4 includes a monocular camera 41 and a support column 42, the support column 42 passes through the top of the shell 1, and the monocular camera 41 is arranged on the top of the support column 42.

[0032] Specifically, by setting a support column 42, the monocular camera 41 is set on the top of the support column 42, so that the monocular camera 41 is at a higher position, so that it can more comprehensively capture images in the forward direction of the marking machine to obtain more comprehensive image information, thereby providing a guarantee for the main control device 3 to analyze the travel strategy.

[0033] Furthermore, the fully automatic intelligent marking and staking machine also includes a power supply device 7 , which is disposed in the housing 1 and electrically connected to the main control device 3 .

[0034] Specifically, the power supply device 7 is used to supply power to the traveling device 2, the main control device 3, the image acquisition device 4, and the spraying device 5. The power supply device 7 uses a rechargeable lithium battery that can be repeatedly charged.

[0035] Furthermore, the spraying device 5 includes a material storage tank 51, a nozzle 52 and a controller (not shown in the figure). The nozzle 52 is connected to the material storage tank 51, and the controller is electrically connected to the nozzle 52 and the main control device 3. The controller controls the operation of the nozzle 52.

[0036] Specifically, the storage tank 51 is used to store paint for spraying. The nozzle 52 is arranged at the bottom of the housing 1 and is connected to the storage tank 51 via a pipe (not shown in the figure). The controller is used to control the operation of the nozzle 52 based on pre-set parameter requirements, such as spray pattern shape, width, length and other parameter information, combined with the current position of the marking machine located by the image captured by the image acquisition device 4, to ensure accurate marking according to the parameter requirements. The controller is implemented based on a hydraulic control circuit system to automatically control the release of paint and ensure stable and uniform liquid discharge.

[0037] Preferably, the nozzle 52 is detachably arranged at the bottom of the housing 1 , so that the nozzle 52 can be replaced as needed.

[0038] Furthermore, the shell 1 includes a base 11, an upper cover shell 12 and a flip cover portion 13. The upper cover shell 12 covers the base 11. An opening matching the flip cover portion 13 is provided on the top of the upper cover shell 12. The flip cover portion 13 covers the opening and one end is hinged to the upper cover shell 12. The feeding port 511 of the storage tank 51 is provided at the opening.

[0039] Specifically, when it is necessary to add paint to the storage tank 51 , the flip cover 13 is opened to add paint from the feeding port 511 of the storage tank 51 . After the adding is completed, the flip cover 13 is closed.

[0040] Furthermore, the fully automatic intelligent lofting and marking machine also includes an ultrasonic distance measuring sensor 8, which is arranged at the front end of the shell 1.

[0041] Specifically, an ultrasonic distance measuring sensor 8 is provided at the front end of the road marking machine to detect obstacle information in the forward direction of the road marking machine in real time, and combined with the image captured by the image acquisition device 4, a guarantee is provided for realizing the obstacle avoidance function.

[0042] Although preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they are aware of the basic inventive concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention. Clearly, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, to the extent such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to encompass such changes and modifications.

Claims

1. A fully automatic intelligent marking and staking machine, characterized in that: It includes: case; A traveling device, arranged at the bottom of the housing; a main control device, disposed inside the housing and electrically connected to the traveling device, for sending a control instruction to the traveling device, wherein the traveling device moves or stops based on the control instruction; An image acquisition device, disposed on the top of the housing and electrically connected to the main control device, for acquiring images and sending them to the main control device, wherein the main control device generates the control instructions based on the images; The spraying device is arranged inside the shell and is electrically connected to the main control device. A through hole is provided at the bottom of the shell, and the nozzle of the spraying device extends to the outside through the through hole.

2. The fully automatic intelligent marking and staking machine according to claim 1, characterized in that: It also includes a Beidou satellite positioning device, which is arranged in the shell and electrically connected to the main control device, and is used to collect positioning signals and transmit them to the main control device.

3. The fully automatic intelligent marking and staking machine according to claim 1, characterized in that: The traveling device includes a universal wheel arranged at the bottom of the front end of the shell, and a first servo drive wheel and a second servo drive wheel arranged side by side at the bottom of the rear end of the shell. The universal wheel, the first servo drive wheel and the second servo drive wheel are all electrically connected to the main control device.

4. The fully automatic intelligent marking and staking machine according to claim 3, characterized in that: The first servo drive wheel and the second servo drive wheel are both provided with Hall sensors, and the Hall sensors are electrically connected to the main control device.

5. The fully automatic intelligent marking and staking machine according to claim 3, characterized in that: The universal wheel includes a connecting head with an inverted triangle structure and a roller. The connecting head is arranged at the bottom of the front end of the shell and is rotatably connected to the shell. The roller is rotatably connected to the connecting head. The spraying device is arranged at the front end inside the shell.

6. The fully automatic intelligent marking and staking machine according to claim 1, characterized in that: The image acquisition device includes a monocular camera and a support column, the support column passes through the top of the shell, and the monocular camera is arranged on the top of the support column.

7. The fully automatic intelligent marking and staking machine according to claim 1, characterized in that: It also includes a power supply device, which is arranged in the shell and electrically connected to the main control device.

8. The fully automatic intelligent marking and staking machine according to claim 1, characterized in that: The spraying device includes a material storage tank, a nozzle and a controller. The nozzle is connected to the material storage tank. The controller is electrically connected to the nozzle and the main control device. The controller controls the operation of the nozzle.

9. The fully automatic intelligent marking and staking machine according to claim 8, characterized in that: The shell includes a base, an upper cover shell and a flip cover part. The upper cover shell covers the base. An opening matching the flip cover part is provided on the top of the upper cover shell. The flip cover part covers the opening and one end is hinged to the upper cover shell. The feeding port of the storage tank is provided at the opening.

10. The fully automatic intelligent marking and staking machine according to claim 1, characterized in that: It also includes an ultrasonic distance measuring sensor, which is arranged at the front end of the shell.

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