Parking space line marking vehicle

Abstract

The utility model discloses a parking space line marking vehicle which comprises a movable chassis, a gas circuit assembly, a spraying assembly and a spraying controller. The air path assembly comprises an air pump, a surge tank and a micro-pressure switch, the air pump is connected with an air inlet of the surge tank, and the micro-pressure switch is connected with an air outlet of the surge tank and detects air pressure; the spraying assembly comprises a coating tank, a control valve and a spray head, the control valve is connected between a discharging port of the coating tank and the spray head, and a pressurizing port of the coating tank is connected with an air outlet of the pressure stabilizing tank; the spraying controller is used for controlling the air pump and the control valve to be opened and closed according to instructions and controlling the air pump to be closed according to detection signals sent by the micro-pressure switch, and safety is improved. The air pump provides air pressure for the pressure stabilizing tank and the coating tank, coating in the coating tank is sprayed out through the spray head after the control valve is opened, and scribing is conducted on the ground along with the traveling moving chassis, so that the working efficiency can be improved, and the labor cost is saved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of spraying line marking equipment, concretely relates to a warehouse position line marking vehicle. BACKGROUND

[0002] The warehouse planning and design of a logistics warehouse directly affects operation efficiency and warehouse capacity. If the warehouse planning is unreasonable, a large amount of manpower and material resources will be wasted. Large goods, especially refrigerators, washing machines and other home appliances, have their throughput affected by seasons. These changes require the planning of the warehouse positions to be changed accordingly, so the warehouse positions are periodically re-planned by hand and re-marked with paint.

[0003] However, the traditional manual line marking method has low work efficiency and high cost, and cannot meet the requirements of modern warehouse management. SUMMARY

[0004] The utility model aims at providing a warehouse position line marking vehicle to solve the problems of low efficiency and high cost of manual line marking in the prior art.

[0005] To achieve the above technical purpose, the utility model adopts the following technical scheme.

[0006] According to a first aspect of the utility model, a warehouse position line marking vehicle is provided, comprising:

[0007] A mobile chassis is provided with a main controller;

[0008] A gas circuit assembly comprises a gas pump, a pressure stabilizing tank and a micro-pressure switch arranged on the mobile chassis. The pressure stabilizing tank is provided with an air inlet and an air outlet. The gas pump is connected to the air inlet. The micro-pressure switch is connected to the air outlet and detects the air pressure.

[0009] A spraying assembly comprises a paint tank, a control valve and a spray head arranged on the mobile chassis. The paint tank is provided with a pressurizing port and a discharge port. The control valve is connected between the discharge port and the spray head. The pressurizing port is connected to the air outlet.

[0010] A spraying controller is electrically connected to the gas pump, the micro-pressure switch and the control valve, respectively, for controlling the opening and closing of the gas pump and the control valve according to instructions, and for controlling the gas pump to be closed according to the detection signal sent by the micro-pressure switch.

[0011] In some embodiments of the utility model, the main controller and the spraying controller are electrically connected. The spraying controller is configured to control the opening and closing of the gas pump and the control valve according to the instructions of the main controller.

[0012] In some embodiments of the utility model, pressure sensor is equipped on the paint tank, pressure sensor with spraying controller electricity is connected, spraying controller is configured as based on pressure signal of pressure sensor control gas pump opens.

[0013] In some embodiments of the utility model, gas pump is equipped with a plurality of, a plurality of gas pump connects the air inlet in parallel, spraying controller is configured as based on pressure signal of pressure sensor respectively control a plurality of gas pump opens or closes.

[0014] In some embodiments of the utility model, the gas path between the gas pump and the air inlet is provided with a first check valve.

[0015] In some embodiments of the utility model, the gas path between the air outlet and the pressurizing port is provided with a second check valve.

[0016] In some embodiments of the utility model, the paint tank is provided with a material injection port, and the material injection port is connected with a sealing cover.

[0017] In some embodiments of the utility model, the mobile chassis is provided with a data acquisition module, and the data acquisition module is electrically connected with the main controller.

[0018] In some embodiments of the utility model, the data acquisition module includes a laser radar and a depth camera for collecting environmental data.

[0019] In some embodiments of the utility model, the data acquisition module includes an inertial measurement unit and an odometer for providing motion state data.

[0020] Compared with the prior art, the utility model has the advantages and positive effects that:

[0021] The warehouse position line marking vehicle comprises a mobile chassis, a gas path assembly, a spraying assembly and a spraying controller, the gas path assembly comprises a gas pump, a pressure stabilizing tank and a micro-pressure switch, the spraying assembly comprises a paint tank, a control valve and a spray head, the gas pump, the pressure stabilizing tank, the paint tank, the control valve and the spray head are sequentially connected, the gas pump and the control valve are controlled to be opened and closed by the spraying controller, the gas pump provides gas pressure to the pressure stabilizing tank and the paint tank after being opened, the pressure stabilizing tank is beneficial to stabilize the gas pressure, the paint in the paint tank is sprayed out through the spray head after the control valve is opened, and the mobile chassis marks lines on the ground during driving, thereby replacing the traditional manual line marking mode, effectively improving work efficiency and saving labor cost; the spraying controller controls the gas pump to be closed after the micro-pressure switch detects that the gas pressure of the pressure stabilizing tank reaches a predetermined value, the gas path pressure is prevented from being too high, and safety is improved.

[0022] Other features and advantages of the present application will become more apparent from the following detailed description when read in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings described in the following are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0024] Figure 1 is the overall structure schematic diagram of the warehouse position line marking vehicle proposed in the present application;

[0025] Figure 2 is Figure 1 the schematic diagram of another angle of the warehouse position line marking vehicle;

[0026] Figure 3 is the connection relationship schematic diagram of the gas circuit assembly, the spraying assembly and the spraying controller of the warehouse position line marking vehicle proposed in the present application;

[0027] Figure 4 is the control principle schematic diagram of the warehouse position line marking vehicle proposed in the present application.

[0028] In the drawings, the reference signs and the corresponding component names are as follows:

[0029] 1, mobile chassis; 11, main controller; 12, driving device; 13, power supply;

[0030] 2, gas circuit assembly; 21, gas pump; 22, pressure stabilizing tank; 23, micro pressure switch; 221, air inlet; 222, air outlet; 24, first one-way valve; 25, second one-way valve; 201, first gas pipe; 202, second gas pipe;

[0031] 3, spraying assembly; 31, paint tank; 32, control valve; 33, spray head; 311, pressurizing port; 312, discharge port; 313, material injection port; 314, sealing cover; 35, pressure sensor; 301, third gas pipe;

[0032] 4, spraying controller;

[0033] 5, data acquisition module; 51, laser radar; 52, depth camera; 53, inertial measurement unit; 54, odometer. DETAILED DESCRIPTION

[0034] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by those skilled in the art without creative efforts belong to the scope of the present application.

[0035] In the description of the present application, it should be understood that the terms "front", "back", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation to the present application.

[0036] In the description of the present application, it should be understood that, unless otherwise specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0037] In the description of the embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0038] The terms "first", "second" are only used for description purpose, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features with "first", "second" can explicitly or implicitly include one or more features.

[0039] In the description of the present application, unless otherwise specified, the meaning of "multiple" is two or more. Unless otherwise specified, the numerical range in this paper includes not only the entire range between the two endpoints, but also several sub-ranges contained therein.

[0040] As far as possible, the various aspects and features described and shown in the specification can be applied individually, and these individual aspects can be the subject of a divisional application.

[0041] Figures 1 to 4 A warehouse site line marking vehicle provided by the present application is shown, which comprises a mobile chassis 1, an air path assembly 2, a spraying assembly 3 and a spraying controller 4.

[0042] The mobile chassis 1 is provided with a main controller 11 for controlling the movement of the mobile chassis 1. The gas circuit assembly 2 includes a gas pump 21, a pressure stabilizing tank 22 and a micro pressure switch 23 provided on the mobile chassis 1. The pressure stabilizing tank 22 is provided with an air inlet 221 and an air outlet 222. The gas pump 21 is connected to the air inlet 221. The micro pressure switch 23 is connected to the air outlet 222 and detects the air pressure in the air outlet 222.

[0043] The spraying assembly 3 includes a paint tank 31, a control valve 32 and a spray head 33 provided on the mobile chassis 1. The paint tank 31 is provided with a pressurizing port 311 and a discharge port 312. The pressurizing port 311 is connected to the air outlet 222 of the pressure stabilizing tank 22. The control valve 32 is connected between the discharge port 312 and the spray head 33. The paint tank 31 stores paint for marking,

[0044] The gas pump 21, the micro pressure switch 23 and the control valve 32 are electrically connected to the spraying controller 4. The spraying controller 4 is configured to control the opening and closing of the gas pump 21 and the control valve 32 according to instructions, and to control the closing of the gas pump 21 according to the signal sent by the micro pressure switch 23.

[0045] The gas pump 21 delivers gas to the pressure stabilizing tank 22 through the gas pipeline after being turned on. The pressure stabilizing tank 22 temporarily stores the gas, stabilizes the pressure of the gas, and then delivers the gas to the paint tank 31 to increase the pressure in the paint tank 31. The paint in the paint tank 31 is sprayed out through the spray head 33 after the control valve 32 is turned on. The spray head 33 faces the ground and sprays paint on the ground.

[0046] The mobile chassis 1 is provided with a driving device 12 for driving the movement of the driving wheels of the mobile chassis 1. The main controller 11 controls the movement of the mobile chassis 1 by controlling the driving device 12. The main controller can control the movement of the mobile chassis 1 on the ground according to the planned route. The spraying controller 4 controls the time point and duration of the opening and closing of the control valve 32 to make the spray head 33 mark on the ground along the movement route. When the mobile chassis 1 moves to the starting position of the marking, the control valve 32 is opened to start marking. When the mobile chassis 1 moves to the termination position of the marking, the control valve 32 is closed to stop marking.

[0047] The micro pressure switch 23 detects the air pressure of the air outlet 222 of the pressure stabilizing tank 22. The micro pressure switch 23 triggers a detection signal when the air pressure reaches a predetermined value P1 and sends the detection signal to the spraying controller 4. The spraying controller 4 controls the gas pump 21 to close according to the detection signal sent by the micro pressure switch 23 to avoid excessive air pressure in the gas circuit assembly 2 and the spraying assembly 3, thereby improving safety. After the gas pump 21 is closed, the pressure stabilizing tank 22 can continue to provide pressure gas to the paint tank 31, and the spray head 33 can continue to mark.

[0048] The line marking vehicle for the storage location can travel on the ground according to the planned route and mark the storage location, replaces the traditional manual line marking mode, and can effectively improve work efficiency and save labor cost.

[0049] The mobile chassis 1 can adopt an Ackerman chassis, and steering control can be realized. The main controller 11 is configured with a ROS (Robot Operating System), to realize motion control, path planning, state monitoring and other functions of the mobile chassis 1. The main controller 11 can uniformly manage the driving device, steering system, sensor and the like of the mobile chassis 1 through a hardware interface, and acquire sensor (such as an encoder, a gyroscope and the like) data in real time.

[0050] Specifically, the paint tank 31 can be fixed on the mobile chassis 1 through a support, the pressurizing port 311 is arranged at the top of the paint tank 31, and the discharge port 312 is arranged at the bottom of the paint tank 31. The gas entering the paint tank 31 from the pressurizing port 311 is concentrated at the top, and provides the paint with the spraying pressure. The spray head 33 can be a duckbill spray head, which can spray a specified wide line, and the duckbill spray head can give the paint pressure and spray a fan-shaped area, the projection of which is a straight line with a width, and the specified width line can be drawn during the movement of the mobile chassis 1. The spray head 33 can be fixedly arranged at the front, rear, side or other positions of the mobile chassis 1.

[0051] As shown in Figure 4 The main controller 11 of the mobile chassis 1 and the spraying controller 4 are electrically connected, and the spraying controller 4 controls the opening and closing of the air pump 21 and the control valve 32 according to the instruction of the main controller 11.

[0052] The mobile chassis 1 is further provided with a power supply 13 for supplying power to the main controller 11 and the driving device 12. The air pump 21, the control valve 32 and the spraying controller 4 can be powered by the power supply 13 of the mobile chassis 1, or can be powered by other power supplies.

[0053] In some embodiments, the micro pressure switch 23 is configured to trigger a detection signal and send it to the spraying controller 4 when detecting that the air pressure of the steady pressure tank 22 is lower than a predetermined value P2, and P2

[0054] In some embodiments, as shown in Figure 3 and 4As shown, a pressure sensor 34 can be arranged on the paint tank 31 to detect the air pressure in the paint tank 31. The pressure sensor 34 is electrically connected to the spraying controller 4 and sends a pressure signal to the spraying controller 4. The spraying controller 4 is configured to control the opening and closing of the air pump 21 based on the pressure signal sent by the pressure sensor 34, further ensuring the safety of the paint tank 31.

[0055] The spraying controller 4 is configured to control the air pump 21 to open when the pressure value detected by the pressure sensor 34 is less than a preset value P3, so as to increase the air pressure in the pressure stabilizing tank 22 and ensure that the air pressure in the paint tank 31 is sufficient. Specifically, the preset value P3 is set to be less than the predetermined value PI of the micro-pressure switch 23.

[0056] In an embodiment, the spraying controller 4 is further configured to control the air pump 21 to close when the pressure value detected by the pressure sensor 34 reaches a preset value P4. The preset value P4 is greater than the preset value P3. When the micro-pressure switch 23 detects that the air pressure reaches the preset value PI or the pressure value detected by the pressure sensor 34 reaches the preset value P4, the spraying controller 4 controls the air pump 21 to close. If the micro-pressure switch 23 fails, the pressure sensor 34 can prevent the air pressure in the paint tank 31 from being too high. Since the air pressure in the pressure stabilizing tank 22 is not lower than the air pressure in the paint tank 31, the preset value P4 is set to be less than the predetermined value PI of the micro-pressure switch 23. After the air pump 21 is closed, the pressure stabilizing tank 22 can still continue to deliver a certain amount of gas to the paint tank 31.

[0057] In another embodiment, a safety valve (not shown in the figure) can be arranged on the paint tank 31 to improve the safety of the paint tank 31. When the air pressure in the paint tank 31 is greater than the set value of the safety valve, the safety valve can release the gas in the paint tank 31 to prevent the air pressure from being too high. If the micro-pressure switch 23 fails, the safety valve can also ensure the safety of the paint tank 31.

[0058] In some embodiments, as shown in Figure 1 As shown, a first one-way valve 24 is arranged in the gas path between the air pump 21 and the gas inlet 221 of the pressure stabilizing tank 22. Specifically, the first one-way valve 24 can be installed on the first gas pipe 201 connecting the output end of the air pump 21 and the gas inlet 221, to prevent the gas in the pressure stabilizing tank 22 from flowing back to the air pump 21.

[0059] In some embodiments, as shown in Figure 1 As shown, a second one-way valve 25 is arranged in the gas path between the gas outlet 222 of the pressure stabilizing tank 22 and the pressurizing port 311 of the paint tank 31. Specifically, the second one-way valve 25 can be installed on the second gas pipe 202 connecting the gas outlet 222 and the pressurizing port 311, to prevent the gas in the paint tank 31 from flowing back to the pressure stabilizing tank 22.

[0060] As Figure 2 In the specific embodiment shown in the description, the first one-way valve 24 is installed on the air inlet 221 of the pressure stabilizing tank 22, and the first air pipe 201 is connected to the air pump 21 and the first one-way valve 24 through quick connectors. Further, the air outlet 222 of the pressure stabilizing tank 22 can be provided with a three-way connector, and the three-way connector is connected to the micro-pressure switch 23 and the second air pipe 202. The second air pipe 202 is connected to the three-way connector and the pressurizing port 311 through quick connectors. The discharge port 312 of the paint tank 31 and the control valve 32 can be connected through the third air pipe 301, and the opposite ends of the third air pipe 301 can be connected to the discharge port 312 and the control valve 32 through quick connectors. Each quick connector facilitates the quick installation and disassembly of the air path assembly 2 and the spraying assembly 3, and facilitates maintenance and repair.

[0061] In some embodiments, as Figure 1 shown, the paint tank 31 is provided with a filling port 313 for supplementing paint in the paint tank 31. The filling port 313 is connected to a sealing cover 314 to prevent loss of gas at the filling port 313.

[0062] In some embodiments, as Figure 1 shown, multiple air pumps 21 can be provided, and the output ends of the multiple air pumps 21 are connected to the air inlet 221 of the pressure stabilizing tank 22 in a parallel manner to provide sufficient air pressure. The spraying controller 4 is configured to control the multiple air pumps 21 to open or close respectively.

[0063] Specifically, the multiple air pumps 21 are connected in parallel to one end of the first air pipe 201, and the multiple air pumps 21 are electrically connected to the spraying controller 4 respectively. The spraying controller 4 can control the multiple air pumps 21 to open or close simultaneously, or can select some of the air pumps 21 to open or close. After opening the sealing cover 314 to inject paint into the paint tank 31, the filling port 313 is in communication with the outside air, and the air pressure is relatively low. At this time, the spraying controller 4 can control the multiple air pumps 21 to open simultaneously to quickly increase the air pressure, reduce the waiting time, and improve the work efficiency. When the pressure sensor 34 detects that the pressure value in the paint tank 31 reaches a preset value P5, the spraying controller 4 can control some of the air pumps 21 to close to save electric energy.

[0064] The relationship between the preset values P3, P4, and P5 of the spraying controller 4 is set as P3 < P5 < P4. The pressure sensor 34 detects the air pressure in the paint tank 31 in real time. The spraying controller 4 is configured to control the opening and closing of the multiple air pumps 21 based on the pressure signal of the pressure sensor 34. When the pressure signal detected by the pressure sensor 34 is lower than the preset value P3, all of the multiple air pumps 21 are controlled to open; when the pressure signal detected by the pressure sensor 34 reaches P5, some of the air pumps 21 are controlled to close; and when the pressure signal detected by the pressure sensor 34 reaches P4, all of the multiple air pumps 21 are controlled to close.

[0065] In some embodiments, as shown in Figure 1 and Figure 4 The mobile chassis 1 is provided with a data acquisition module 5, which is electrically connected with the main controller 11. The main controller 11 is configured to generate an environmental map and estimate the pose of the mobile chassis 1 according to the data acquired by the data acquisition module 5.

[0066] As shown in Figure 4 The data acquisition module 5 includes a laser radar 51 and a depth camera 52 for acquiring environmental data. The laser radar 51 and the depth camera 52 are respectively electrically connected with the main controller 11, and send the acquired environmental data to the main controller 11. The laser radar 51 and the depth camera 52 can be arranged at the front of the mobile chassis 1 to facilitate data acquisition.

[0067] As shown in Figure 4 The data acquisition module 5 further includes an inertial measurement unit 53 and an odometer 54 for providing motion state data. The inertial measurement unit 53 and the odometer 54 are respectively electrically connected with the main controller 11, and send the acquired motion state data of the mobile chassis 1 to the main controller 11.

[0068] In order to enable the storage location planning vehicle to generate a map in an unknown environment and locate itself, the SLAM (Simultaneous Localization and Mapping) function is realized through the ROS system of the main controller 11, and the data acquired by the laser radar 51, the depth camera 52, the inertial measurement unit 53 and the odometer 54 are combined to construct an environmental map and locate itself.

[0069] The laser radar 51 is used to obtain 360-degree two-dimensional plane data, and its scanning data can help the storage location planning vehicle to identify the surrounding obstacles and objects in real time, and provide accurate map information for SLAM.

[0070] The depth camera 52 specifically adopts a TOF (Time of Flight) depth camera, which can help the storage location planning vehicle to obtain three-dimensional environmental data, and can also be used to supplement the scanning data of the laser radar 51, especially for environmental perception in the vertical direction, to improve the mapping accuracy.

[0071] The inertial measurement unit 53 and the odometer 54 are used to provide motion state data (such as speed, acceleration, displacement) of the storage location planning vehicle, and estimate the pose of the storage location planning vehicle in combination with sensor data and motion model.

[0072] The warehouse location planning vehicle corrects its position in the map in real time during movement, generates a two-dimensional map of the current area, and provides a basis for subsequent path planning and navigation. In addition to needing to generate a map according to its own scanning, the warehouse location planning vehicle also needs to import a pre-designed warehouse location planning map as a reference for route planning. Through a global route planning module, a global travel route of the warehouse location planning vehicle from a starting point to a target point is generated. After the warehouse location planning vehicle reads the combined environment map and route data, automatic navigation is performed. During travel, data of the laser radar 51 and the depth camera 52 are used to monitor the surrounding environment, dynamic adjustments are made, and it is ensured that the warehouse location planning vehicle remains stable when traveling along the path.

[0073] The warehouse location planning vehicle can generate a map, perform positioning, and achieve automatic spray marking in a warehouse environment, has the advantages of accurate spraying, automatic operation, strong environmental adaptability, and a simple and reliable structure.

[0074] The above embodiments are only used to illustrate the technical solutions of the utility model, and not to limit them; although the utility model has been described in detail with reference to the foregoing embodiments, for those skilled in the art, the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced equivalently; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions claimed by the utility model.

Claims

1. A rack marking vehicle, characterized in that, The utility model relates to a warehouse position line marking vehicle, comprising: a mobile chassis provided with a main controller; an air path assembly comprising an air pump, a pressure stabilizing tank and a micro pressure switch provided on the mobile chassis, the pressure stabilizing tank being provided with an air inlet and an air outlet, the air pump being connected to the air inlet, and the micro pressure switch being connected to the air outlet and detecting air pressure; a spraying assembly comprising a paint tank, a control valve and a spray head provided on the mobile chassis, the paint tank being provided with a pressurizing port and a discharge port, the control valve being connected between the discharge port and the spray head, and the pressurizing port being connected to the air outlet; a spraying controller being electrically connected to the air pump, the micro pressure switch and the control valve respectively, for controlling the air pump and the control valve to open and close according to instructions respectively, and for controlling the air pump to close according to a detection signal sent by the micro pressure switch.

2. The warehouse position line marking vehicle according to claim 1, wherein: the main controller and the spraying controller are electrically connected, and the spraying controller is configured to control the air pump and the control valve to open and close according to instructions of the main controller.

3. The warehouse position line marking vehicle according to claim 1, wherein: a pressure sensor is provided on the paint tank, the pressure sensor is electrically connected to the spraying controller, and the spraying controller is configured to control the air pump to open based on a pressure signal sent by the pressure sensor.

4. The warehouse position line marking vehicle according to claim 3, wherein: a plurality of air pumps are provided, the plurality of air pumps are connected to the air inlet in parallel, and the spraying controller is configured to control the plurality of air pumps to open or close respectively based on pressure signals of the pressure sensor.

5. The warehouse position line marking vehicle according to claim 1, wherein: a first one-way valve is arranged in an air path between the air pump and the air inlet.

6. The warehouse position line marking vehicle according to claim 1, wherein: a second one-way valve is arranged in an air path between the air outlet and the pressurizing port.

7. The warehouse position line marking vehicle according to claim 1, wherein: a filling port is provided on the paint tank, and the filling port is connected to a sealing cover.

8. The warehouse position line marking vehicle according to any one of claims 1 to 7, wherein: the mobile chassis is provided with a data acquisition module, the data acquisition module is electrically connected to the main controller, and the main controller is configured to generate an environmental map and estimate a pose of the mobile chassis according to data acquired by the data acquisition module.

9. The warehouse position line marking vehicle according to claim 8, wherein: the data acquisition module comprises a laser radar and a depth camera for acquiring environmental data.

10. The warehouse position line marking vehicle according to claim 8, wherein: the data acquisition module comprises an inertial measurement unit and an odometer for providing motion state data.

Images