Unmanned marking vehicle

Abstract

The utility model relates to the technical field of road marking, and provides an unmanned marking vehicle which comprises a vehicle body, a charging barrel and a marking mechanism which are arranged on the vehicle body, moving wheels and steering wheels which are arranged at the bottom of the vehicle body, a visual box which is arranged in front of the marking mechanism, a camera, a steering wheel connecting steering unit and a feeding unit which is further arranged on the vehicle body. The feeding unit is connected with the charging barrel; the steering unit comprises a steering power part and a transmission assembly, the steering power part is arranged on the vehicle body, the output end of the steering power part is connected with the transmission assembly, and the transmission assembly is arranged on the steering wheel; the feeding unit comprises an opening and closing power part, an opening and closing assembly and a liquid level distance measuring sensor, the opening and closing power part is arranged on the vehicle body, the output end of the opening and closing power part is connected with a discharging baffle of the charging barrel through the opening and closing assembly, and the liquid level distance measuring sensor is arranged above a hopper of the lineation mechanism. The steering angle of the marking vehicle can be accurately controlled, meanwhile, paint can be automatically added, the labor intensity is relieved, and the marking efficiency and quality are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of road marking, in particular to an unmanned road marking vehicle. Background Art

[0002] Road marking vehicles are specialized vehicles used to mark or demarcate road boundaries, lanes, stop lines, and other traffic markings. Their role is to ensure neat and clear road markings, thereby improving road safety and orderly traffic flow. As specialized machinery for road marking, road marking vehicles are gradually becoming a popular sight.

[0003] Traditional road marking equipment requires frequent manual adjustments of switches and procedures during operation, which not only complicates the workflow, but also leads to low work efficiency and is prone to repetitive work. When using a traditional road marking vehicle to align the road marking construction guide waterline (referred to as the guide waterline), the human eye has a large error in aligning the guide waterline. In addition, traditional universal wheels do not have precise steering measurement standards, and the steering angle cannot be quantified, which is not conducive to achieving automatic and precise alignment of the guide waterline. Workers using traditional hand-pushed road marking vehicles need to manually open and close the barrel valve according to the liquid level of the road marking paint in the hopper. In other words, they need to control not only the steering of the road marking vehicle but also the opening and closing of the barrel valve, which is inefficient.

[0004] Therefore, in view of the above problems, an unmanned lane marking vehicle is proposed to solve the above problems. Utility Model Content

[0005] In response to the shortcomings of the existing technology, the utility model develops an unmanned road marking vehicle, which can achieve precise control of the steering angle of the road marking vehicle and automatically add paint according to the liquid level of road marking paint, thereby reducing the labor intensity of workers and improving efficiency and marking quality.

[0006] In order to achieve the above-mentioned purpose, the present invention is realized through the following technical solutions:

[0007] The invention discloses an unmanned road marking vehicle, comprising a vehicle body, a material barrel and a marking mechanism provided on the vehicle body, movable wheels and steering wheels provided at the bottom of the vehicle body, a visual box provided in front of the marking mechanism, the visual box being hollow inside and open at the bottom, a camera and a light strip provided in the visual box, the camera lens facing the ground for capturing an image of a guide waterline, the light strip for providing a stable light source for making the camera image clearer; a steering wheel connected to a steering unit, a feeding unit further provided on the vehicle body, the feeding unit connected to the material barrel; the steering unit comprising a steering power member and a transmission assembly, the steering power member being provided on the vehicle body, the output end of the steering power member being connected to the transmission assembly, the transmission assembly being provided on the steering wheel for changing the angle of the steering wheel; the feeding unit comprising an opening and closing power member, an opening and closing assembly and a liquid level distance measuring sensor, the opening and closing power member being provided on the vehicle body, the output end of the opening and closing power member being connected to a discharge baffle of the material barrel via the opening and closing assembly for controlling the discharge baffle to open and close the material discharge; and a liquid level distance measuring sensor provided above a hopper of the marking mechanism for measuring the liquid level of the road marking paint in the hopper.

[0008] Preferably, the transmission assembly includes an upper gear and a lower gear, the upper gear is connected to the output end of the steering power component for transmitting power, the lower gear is arranged at the bottom of the vehicle body, and the lower gear is connected to the steering wheel frame, and the steering wheel is arranged on the steering wheel frame. The upper gear is meshed with the lower gear, and the lower gear can drive the steering wheel frame and the steering wheel to rotate.

[0009] Preferably, the steering power component is arranged on a fixed bracket, and the fixed bracket is arranged on the vehicle body.

[0010] Preferably, the steering unit also includes a switching assembly, which includes a switching switch and a movable block. The switching switch is movably arranged on a fixed bracket. The switching switch is connected to the movable block through a connecting rod. The axis of the connecting rod is parallel to the axis of the output end of the steering power component, and is used to drive the movable block to move along the axis direction of the connecting rod. The movable block is rotatably connected to the upper gear and can drive the upper gear to move, so that the upper gear and the lower gear are disconnected from the meshing state.

[0011] Preferably, the steering unit also includes a return to zero component, which includes a return to zero sensor and a return to zero sensing patch. The return to zero sensor is arranged on the vehicle body through a return to zero bracket, the return to zero sensing patch is arranged on the steering wheel frame, and the return to zero sensor can detect the return to zero sensing patch.

[0012] Preferably, the opening and closing assembly includes a lever, a rotating shaft and a connecting rod. The rotating shaft is rotatably set on the vehicle body, the lever is set on the rotating shaft, one end of the lever is connected to the output end of the opening and closing power part, and the connecting rod is rotatably set on the other end of the lever. The opening and closing power part and the connecting rod are respectively located on both sides of the rotating shaft, and the end of the connecting rod away from the lever is connected to the discharge baffle.

[0013] Preferably, the feeding unit further includes a limit assembly, including an upper limit sensor and a lower limit sensor, both of which are arranged on the opening and closing power member to limit the maximum output and retraction amount of the output end of the opening and closing power member.

[0014] The effects provided in the content of the utility model are only the effects of the embodiments, rather than all the effects of the utility model. The above technical solution has the following advantages:

[0015] The utility model is capable of accurately adjusting the angle according to the image information of the guide waterline captured by the vision box by providing a steering unit, so as to avoid the problem of large errors in the direction of travel controlled by the human eye, and is provided with a zero return component to avoid the zero point static error caused by the unstable direction when the wheel is placed, thereby improving the accuracy and stability of the angle control of the device; by providing a feeding unit, the liquid level height of the marking paint in the marking mechanism is detected in real time, and the discharge baffle of the barrel is opened when the liquid level height is lower than the set value to add the marking paint into the marking mechanism, and the discharge baffle is closed after the paint height reaches the set value, thereby achieving the effect of automatic feeding and improving the efficiency of the marking construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention.

[0017] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the utility model;

[0018] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0019] Figure 3 This is a schematic diagram of the overall rear view structure of an embodiment of the utility model;

[0020] Figure 4 It is a schematic diagram of the overall side structure of an embodiment of the utility model.

[0021] In the figure, 1. body; 2. barrel; 3. marking mechanism; 4. moving wheel; 5. steering wheel; 6. vision box; 7. steering power part; 8. opening and closing power part; 9. liquid level distance sensor; 10. discharge baffle; 11. upper gear; 12. lower gear; 13. steering wheel frame; 14. fixed bracket; 15. switching switch; 16. movable block; 17. connecting rod; 18. return to zero sensor; 19. return to zero sensing patch; 20. return to zero bracket; 21. lever; 22. rotating shaft; 23. connecting rod; 24. limit assembly. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] like Figures 1-4 As shown, the utility model provides a technical solution:

[0024] An unmanned marking vehicle comprises a vehicle body 1, on which a barrel 2 and a marking mechanism 3 are arranged. The barrel 2 and the marking mechanism 3 both adopt the structure of a traditional hand-pushed marking vehicle. A moving wheel 4 and a steering wheel 5 are arranged at the bottom of the vehicle body 1. The moving wheel 4 is connected to a driving motor for driving the device to move. A visual box 6 is arranged in front of the marking mechanism 3. The visual box 6 is hollow inside and has an opening at the bottom. A camera and a light strip are arranged in the visual box. The direction in which the marking vehicle moves is regarded as the front. In order to avoid the influence of sunlight on the working process of the device, specifically, in order to avoid the influence on the clarity of the camera image, the bottom of the visual box is placed close to the ground, and the camera lens is facing the ground to capture the image of the guide waterline. The light strip is used to provide a stable light source for the camera, so that the camera can clearly capture and identify the guide waterline. The camera can be a high-definition camera commonly available on the market; the steering wheel 5 is connected to a steering wheel Element, the steering unit is used to change the direction of the steering wheel 5, and a feeding unit is also provided on the vehicle body 1, which is connected to the discharge baffle 10 of the barrel 2; the steering unit includes a steering power part 7 and a transmission assembly, the steering power part 7 is a motor, which is provided on the vehicle body 1, the output end of the steering power part 7 is connected to the transmission assembly, and the transmission assembly is connected to the steering wheel 5, which is used to change the angle of the steering wheel 5; the feeding unit includes an opening and closing power part 8, an opening and closing assembly and a liquid level distance sensor 9, the opening and closing power part 8 is provided on the vehicle body 1, and the output end of the opening and closing power part 8 is connected to the discharge baffle 10 of the barrel 2 through the opening and closing assembly, which is used to control the opening and closing of the discharge baffle 10 to control the discharge, and the liquid level distance sensor 9 is located above the hopper of the marking mechanism 3, and is used to measure the liquid level height of the marking paint in the hopper. The liquid level distance sensor 9 is a laser distance sensor, which is set facing the liquid level of the marking paint in the hopper.

[0025] In this embodiment, the transmission assembly includes an upper gear 11 and a lower gear 12. The upper gear 11 is connected to the output end of the steering power component 7 for transmitting power. The lower gear 12 is rotatably arranged at the bottom of the vehicle body 1, and the lower gear 12 is connected to the steering wheel 5 frame. The steering wheel 5 is set on the steering wheel 5 frame. The upper gear 11 is meshed and connected with the lower gear 12. The lower gear 12 can drive the steering wheel 5 frame to rotate, thereby changing the direction of the steering wheel 5. Specifically, the gear ratio of the upper gear 11 and the lower gear 12 is 1:4.5, the number of teeth of the upper gear 11 is 40, and the number of teeth of the lower gear 12 is 180, so that the rotation angle of the lower gear 12 can be accurately adjusted. Further preferably, an angle sensor is connected to the lower gear 12, which can timely know the rotation angle of the lower gear 12, so that the rotation angle is more accurate.

[0026] In another embodiment, the steering power member 7 is arranged on a fixed bracket 14, and the fixed bracket 14 is arranged on the vehicle body 1; the steering unit also includes a switching assembly for switching the device to an automatic control state or a manual control state; the switching assembly includes a switching switch 15 and a movable block 16, the switching switch 15 is movably arranged on the fixed bracket 14, the switching switch 15 can adopt a common push-pull switch on the market, the switching switch 15 is connected to the movable block 16 through a connecting rod 17, the axis of the connecting rod 17 is parallel to the axis of the output end of the steering power member 7, and is used to drive the movable block 16 to move along the axis direction of the connecting rod 17 When the gear 11 is engaged, the steering wheel 5 is in an automatic control state, and the steering power part 7 drives the steering wheel 5 to adjust the angle, which is better than when the gear 11 is engaged.

[0027] In this embodiment, the steering unit also includes a return to zero component, which includes a return to zero sensor 18 and a return to zero sensing patch 19. The return to zero sensor 18 is set on the vehicle body 1 through the return to zero bracket 20, keeping the position of the return to zero sensor 18 unchanged. The return to zero sensing patch 19 is set on the steering wheel frame 5, and the return to zero sensor 18 can detect the return to zero sensing patch 19. The motor position when the return to zero sensor 18 first recognizes the return to zero sensing patch 19 is used as the motor zero point, avoiding the deviation problem that exists in each wheel alignment and improving the accuracy and stability of steering.

[0028] In this embodiment, the opening and closing assembly includes a lever 21, a rotating shaft 22 and a connecting rod 23. The rotating shaft 22 is rotatably set on the vehicle body 1, and the lever 21 is set on the rotating shaft 22. One end of the lever 21 is connected to the output end of the opening and closing power member 8, and the other end of the lever 21 is rotatably set with a connecting rod 23. The opening and closing power member 8 and the connecting rod 23 are respectively located on both sides of the rotating shaft 22. The opening and closing power member 8 can use a through-type screw motor. The end of the connecting rod 23 away from the lever 21 is connected to the discharge baffle 10. The opening and closing power member 8 drives the lever 21 to rotate around the axis of the rotating shaft 22 to drive the discharge baffle 10 to rise so that the barrel 2 discharges the material, or drives the discharge baffle 10 to fall and disconnect the barrel 2 from discharging the material, instead of manually opening the discharge baffle 10, which reduces the labor intensity of the staff and improves the construction efficiency.

[0029] In another embodiment, the feeding unit also includes a limit assembly 24, including an upper limit sensor and a lower limit sensor, both of which are arranged on the opening and closing power part 8, and are used to limit the maximum output and retraction amount of the output end of the opening and closing power part 8. Specifically, the upper limit sensor is arranged at the upper end of the through-type screw motor, and the lower limit sensor is arranged at the lower end of the through-type screw motor, and is used to detect the position of the screw and stop the through-type screw motor when the screw reaches the upper and lower limits, so as to avoid the output end of the opening and closing power part 8 from rising or falling sharply out of the limit and causing damage to parts, thereby improving the practicality of the device.

[0030] In this embodiment, a control unit is also included, including a battery and a controller. The battery is connected to the controller to provide electrical energy. The controller is connected to the camera, light strip, drive motor, various power parts and various sensors to receive images taken by the camera and process the images, and then control the movement and marking action of the marking vehicle, thereby realizing unmanned marking function and improving the intelligence and construction efficiency of the device.

[0031] Working principle: First, move the device to the starting position of marking, and enable the camera to capture the guide waterline, start the marking vehicle, and under the premise of the light strip providing a stable light source, the camera can continuously capture the guide waterline image, and the controller performs image processing to obtain the distance between the image centerline and the guide waterline, and calculates the steering angle of the steering wheel according to the distance between the midpoint of the image centerline and the midpoint of the guide waterline feature. The controller calculates the steering pulse, and then the controller outputs the steering angle information to the steering power component 7, so that the image centerline gradually approaches and coincides with the guide waterline, thereby achieving the effect of automatically controlling the moving direction; at the same time, the liquid level ranging sensor 9 detects the paint level height in the hopper, and makes a difference between the detected liquid level value and the preset expected liquid level value, and substitutes the difference into the controller to determine whether the paint needs to be replenished; when replenishment is needed, the opening and closing power component 8 moves, opens the discharge baffle 10, and outputs a pulse number when the output end of the opening and closing power component 8 reaches the upper and lower limits, and controls the opening and closing power component 8 to stop moving, thereby achieving the function of the protective device.

[0032] Anything not described in detail in the present invention is a conventional technical means known to those skilled in the art.

[0033] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0034] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more such features. In the description of this utility model, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0035] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

[0036] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An unmanned marking vehicle, comprising a vehicle body (1), a material barrel (2) and a marking mechanism (3) being arranged on the vehicle body (1), a moving wheel (4) and a steering wheel (5) being arranged at the bottom of the vehicle body (1), and a visual box (6) being arranged in front of the marking mechanism (3), characterized in that: The visual box (6) is hollow inside and has an opening at the bottom. A camera and a light strip are arranged inside the visual box (6). The camera lens faces the ground and is used to capture the guide waterline image. The steering wheel (5) is connected to the steering unit. A feeding unit is also provided on the vehicle body (1), and the feeding unit is connected to the barrel (2). The steering unit comprises a steering power component (7) and a transmission assembly, wherein the steering power component (7) is arranged on the vehicle body (1), an output end of the steering power component (7) is connected to the transmission assembly, and the transmission assembly is arranged on the steering wheel (5) for changing the angle of the steering wheel (5); The feeding unit comprises an opening and closing power piece (8), an opening and closing assembly and a liquid level distance measuring sensor (9); the opening and closing power piece (8) is arranged on the vehicle body (1); the output end of the opening and closing power piece (8) is connected to a discharge baffle (10) of a barrel (2) through the opening and closing assembly, and is used to control the discharge baffle (10) to open and close the discharge; the liquid level distance measuring sensor (9) is arranged above the hopper of the marking mechanism (3) and is used to measure the liquid level height of the marking paint in the hopper.

2. The unmanned lane marking vehicle according to claim 1, characterized in that: The transmission assembly comprises an upper gear (11) and a lower gear (12). The upper gear (11) is connected to the output end of the steering power member (7) for transmitting power. The lower gear (12) is arranged at the bottom of the vehicle body (1) and is connected to the steering wheel (5) frame. The steering wheel (5) is arranged on the steering wheel (5) frame. The upper gear (11) is meshed and connected with the lower gear (12). The lower gear (12) can drive the steering wheel (5) frame and the steering wheel (5) to rotate.

3. The unmanned lane marking vehicle according to claim 2, characterized in that: The steering power component (7) is arranged on a fixed bracket (14), and the fixed bracket (14) is arranged on the vehicle body (1).

4. The unmanned lane marking vehicle according to claim 3, characterized in that: The steering unit further comprises a switching assembly, which comprises a switching switch (15) and a movable block (16). The switching switch (15) is movably arranged on a fixed bracket (14). The switching switch (15) is connected to the movable block (16) via a connecting rod (17). The axis of the connecting rod (17) is parallel to the axis of the output end of the steering power member (7). The connecting rod (17) is used to drive the movable block (16) to move along the axis direction of the connecting rod (17). The movable block (16) is rotatably connected to the upper gear (11) and can drive the upper gear (11) to move, so that the upper gear (11) and the lower gear (12) are disconnected from the meshing state.

5. The unmanned lane marking vehicle according to claim 4, characterized in that: The steering unit further comprises a return-to-zero component, which comprises a return-to-zero sensor (18) and a return-to-zero inductive patch (19). The return-to-zero sensor (18) is arranged on the vehicle body (1) via a return-to-zero bracket (20), and the return-to-zero inductive patch (19) is arranged on the steering wheel (5) frame, and the return-to-zero sensor (18) can detect the return-to-zero inductive patch (19).

6. The unmanned lane marking vehicle according to claim 5, characterized in that: The opening and closing assembly comprises a lever (21), a rotating shaft (22) and a connecting rod (23); the rotating shaft (22) is rotatably arranged on the vehicle body (1); the lever (21) is arranged on the rotating shaft (22); one end of the lever (21) is connected to the output end of the opening and closing power member (8); the other end of the lever (21) is rotatably arranged to connect the connecting rod (23); the opening and closing power member (8) and the connecting rod (23) are respectively located on both sides of the rotating shaft (22); and one end of the connecting rod (23) away from the lever (21) is connected to the discharge baffle (10).

7. The unmanned lane marking vehicle according to claim 6, characterized in that: The feeding unit further comprises a limit assembly (24), comprising an upper limit sensor and a lower limit sensor, both of which are arranged on the opening and closing power member (8) and are used to limit the maximum output and retraction amount of the output end of the opening and closing power member (8).

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