Intelligent line marking machine

Abstract

The utility model relates to an intelligent line marking machine, including positioning module, attitude detection module and laser radar scanning module, positioning module, attitude detection module and laser radar scanning module all with controller communication connection, the number of spray head is multiple, multiple spray head is provided with elevating system, multiple spray head is arranged in matrix and constitutes spray head matrix, and the spray head matrix is arranged in the middle position of the bottom surface of the body, and the front of the bottom surface of the body is provided with cleaning mechanism, and the rear of the bottom surface of the body is provided with drying mechanism, spray head is provided with pipeline, and spray head is connected pump machine through pipeline, and the electromagnetic valve is arranged between spray head and pump machine, and the electromagnetic valve is electrically connected with controller, and elevating system, cleaning mechanism and drying mechanism all are connected with controller, still include host computer, and the host computer is connected with controller communication, and the controller includes MCU chip, the utility model provides the hardware basis for planning path, realizes the distance adjustable of spray head and ground, removes the small granular impurity of operation surface, improves the spraying precision and effect.

Description

Technical Field

[0001] This utility model relates to the field of road and site marking technology, specifically to an intelligent marking machine. Background Technology

[0002] Road marking vehicles, also known as road marking machines or road marking plaque machines, are specialized equipment used for marking roads and sites, playing a crucial role in traffic infrastructure construction and other fields. They are classified into manual and automatic types based on their operation, with automatic types gradually replacing manual ones as technology advances. Because there are many styles of traffic and site markings, existing automatic road marking vehicles possess both straight-line and turning capabilities, enabling the painting of straight and curved patterns.

[0003] Because the surface being painted may be uneven, dusty, or contain debris, the painting effect of existing automatic line marking machines is often compromised. Furthermore, most existing automatic line marking machines are remotely controlled, which is insufficient for long-distance work scenarios and can easily lead to problems such as misaligned lines.

[0004] Therefore, there is an urgent need for a high-precision marking machine to complete accurate spraying operations. Summary of the Invention

[0005] To address the problem of poor spraying effect in existing intelligent line marking machines, this invention proposes an intelligent line marking machine. It incorporates a positioning module, an attitude detection module, and a laser radar scanning module to provide the hardware foundation for path planning. Combined with a lifting mechanism, the distance between the nozzle and the ground is adjustable. A cleaning mechanism removes small particles and debris from the work surface, and a drying mechanism performs preliminary drying of the sprayed paint surface, thereby improving spraying accuracy and effect.

[0006] To achieve the above objectives, this utility model proposes an intelligent line marking machine, comprising a machine body, a moving mechanism comprising an execution unit and a turning unit, both of which are equipped with a drive module, the drive module being connected to a controller, a spraying mechanism comprising a storage tank, a pump, and a nozzle, and a positioning module, an attitude detection module, and a laser radar scanning module, all of which are communicatively connected to the controller;

[0007] The number of nozzles is multiple, and each nozzle is equipped with a lifting mechanism. The multiple nozzles are arranged in a matrix to form a nozzle matrix. The nozzle matrix is ​​located in the middle of the bottom surface of the machine body. A cleaning mechanism is located in front of the bottom surface of the machine body, and a drying mechanism is located behind the bottom surface of the machine body.

[0008] The nozzle is equipped with a pipe, which connects to the pump. A solenoid valve is installed between the nozzle and the pump. The solenoid valve is electrically connected to the controller. The lifting mechanism, cleaning mechanism, and drying mechanism are all connected to the controller.

[0009] It also includes a host computer, which is communicatively connected to the controller, and the controller includes an MCU chip.

[0010] Furthermore, the lifting mechanism includes an electric actuator and a mounting plate. The electric actuator includes a fixed end and an extended end. The fixed end and the machine body are respectively threaded. The electric actuator is fixed to the machine body by the thread. The electric actuator is set in a direction perpendicular to the ground. The extended end of the electric actuator is fixedly mounted with the mounting plate. The mounting plate is parallel to the ground. The mounting plate has a rectangular array of multiple circular mounting holes. The nozzle is fixedly mounted in each of the multiple mounting holes.

[0011] The pipeline includes a distributor, a distribution pipe, and a main pipe. The distributor is a cylindrical tube with multiple through holes evenly spaced on one side. One end of the distributor is connected to the pump through the main pipe. The distribution pipe is fixedly installed on the through hole of the distributor. The other end of the distribution pipe is connected to the nozzle. The solenoid valve is installed on each of the multiple distribution pipes.

[0012] The electric actuator can change the distance between the mounting plate and the working surface, so that the spraying distance of the nozzle is consistent on both undulating and level working surfaces, thus improving the spraying effect.

[0013] Furthermore, both the electric actuator and the solenoid valve are equipped with a drive circuit. The drive circuit includes a MOS transistor drive circuit and a drive chip. The MCU chip is electrically connected to the MOS transistor drive circuit and the drive chip. The electric actuator is connected to the power supply through the drive chip. The multiple solenoid valves are connected to the power supply through multiple MOS transistor drive circuits respectively.

[0014] The pump is equipped with a pump controller, which is connected to an MCU chip.

[0015] The pump's power is adjustable to control the spraying effect, and multiple solenoid valves can be controlled independently, allowing each nozzle to operate separately and improving spraying flexibility. This results in better coating of complex patterns.

[0016] Furthermore, the cleaning mechanism includes an air source, a solenoid valve, and a nozzle. The air source and the nozzle are connected via an air pipe, and the solenoid valve is installed on the air pipe. The nozzle opening faces downward.

[0017] A MOS transistor drive circuit is provided between the MCU chip and the solenoid valve. The coil of the solenoid valve is connected to the MOS transistor drive circuit, and the control terminal of the MOS transistor drive circuit is connected to the MCU chip.

[0018] A gas source is set up, containing high-pressure gas. When the solenoid valve opens, the high-pressure gas is ejected from the nozzle, blowing away small particles of debris from the work surface and keeping it clean.

[0019] Furthermore, the drying mechanism includes a hot air blower and a relay. A MOS transistor driving circuit is provided between the relay and the MCU chip. The coil of the relay is connected to the MOS transistor driving circuit. The control terminal of the MOS transistor driving circuit is connected to the MCU chip. The hot air blower is connected to the power supply through the relay.

[0020] The coating surface is blown by a hot air blower to improve the forming effect.

[0021] Furthermore, a base plate is provided at the bottom of the machine body, and the base plate is detachably connected to the machine body by bolts. The base plate has notches corresponding to the nozzle matrix, cleaning mechanism and drying mechanism.

[0022] The beneficial effects of this utility model through the above technical solution are as follows:

[0023] This invention achieves high-precision positioning, attitude monitoring, and environmental scanning, ensuring the marking machine operates with high precision along the set route and that the sprayed pattern matches the settings. The nozzle matrix, in conjunction with the lifting mechanism, automatically adjusts the nozzle height according to the undulations of the work surface, maintaining a stable spraying distance and improving spraying uniformity and effect. Multiple nozzles can be controlled independently, combined with an adjustable-power pump, to meet the needs of spraying complex patterns, improving spraying flexibility and adaptability. A cleaning mechanism uses high-pressure gas to blow away debris from the work surface in front of the nozzle matrix, improving nozzle performance. The drying mechanism's hot air fan accelerates the imaging and drying of the coating, ensuring marking quality and efficiency. Attached Figure Description

[0024] Figure 1 This is one of the structural schematic diagrams of an intelligent line marking machine according to this utility model;

[0025] Figure 2 This is the second structural schematic diagram of an intelligent line marking machine according to this utility model;

[0026] Figure 3 This is the third structural schematic diagram of an intelligent line marking machine according to this utility model;

[0027] Figure 4 This is the fourth structural schematic diagram of an intelligent line marking machine according to this utility model;

[0028] Figure 5 This is one of the circuit diagrams for an intelligent line marking machine according to this utility model;

[0029] Figure 6 This is the second circuit diagram of an intelligent line marking machine according to this utility model.

[0030] Reference numerals: 1 is pump, 2 is nozzle, 3 is positioning module, 4 is attitude detection module, 5 is lidar scanning module, 6 is lifting mechanism, 7 is cleaning mechanism, 8 is drying mechanism, 9 is host computer, 10 is MCU chip, 11 is electric actuator, 12 is mounting plate, 13 is distributor, 14 is distribution pipe, 15 is main pipe, 16 is drive circuit, 17 is air source, and 18 is nozzle. Detailed Implementation

[0031] Example 1

[0032] like Figures 1-6 As shown, an intelligent line marking machine includes a body, a moving mechanism, an execution unit and a turning unit, both of which are equipped with a drive module connected to a controller. The body also has a spraying mechanism, which includes a storage tank, a pump 1, and a nozzle 2. The body further includes a positioning module 3, an attitude detection module 4, and a laser radar scanning module 5, all of which are communicatively connected to the controller.

[0033] The number of nozzles 2 is multiple, and each nozzle 2 is equipped with a lifting mechanism 6. The multiple nozzles 2 are arranged in a matrix to form a nozzle 2 matrix. The nozzle 2 matrix is ​​located in the middle of the bottom surface of the machine body. A cleaning mechanism 7 is provided in front of the bottom surface of the machine body, and a drying mechanism 8 is provided in the rear of the bottom surface of the machine body.

[0034] The nozzle 2 is equipped with a pipe, and the nozzle 2 is connected to the pump 1 through the pipe. A solenoid valve is installed between the nozzle 2 and the pump 1. The solenoid valve is electrically connected to the controller. The lifting mechanism 6, the cleaning mechanism 7 and the drying mechanism 8 are all connected to the controller.

[0035] It also includes a host computer 9, which is communicatively connected to the controller, and the controller includes an MCU chip 10.

[0036] The MCU chip 10 includes an STM32 microcontroller, and the host computer 9 and the MCU chip 10 communicate via a USB module.

[0037] The positioning module 3 includes a GNSS module, which includes a UM980 module. The UM980 module is connected to the MCU chip 10 via a UART serial port. The GNSS antenna of the UM980 module is located on the top of the device.

[0038] The attitude detection module 4 includes an MPU6050 six-axis attitude sensor, which is connected to the MCU chip 10 via an I2C serial port. The MPU6050 six-axis attitude sensor is located in the middle of the machine body.

[0039] The lidar scanning module 5 includes an RPLIDAR module, and a USB module is provided between the RPLIDAR module and the MCU chip 10. The RPLIDAR module and the MCU chip 10 communicate through the USB module.

[0040] The RPLIDAR module is located at the front of the aircraft.

[0041] The lifting mechanism 6 includes an electric push rod 11 and a mounting plate 12. The electric push rod 11 includes a fixed end and an extended end. The fixed end and the machine body are respectively threaded. The electric push rod 11 is fixed to the machine body by the thread. The electric push rod 11 is set in a direction perpendicular to the ground. The extended end of the electric push rod 11 is fixedly mounted with the mounting plate 12. The mounting plate 12 is parallel to the ground. The mounting plate 12 has a rectangular array of multiple circular mounting holes. The nozzle 2 is fixedly mounted in each of the multiple mounting holes.

[0042] The pipeline includes a distributor 13, a distribution pipe 14, and a main pipe 15. The distributor 13 is a cylindrical tube with multiple through holes equidistantly opened on one side. One end of the distributor 13 is connected to the pump 1 through the main pipe 15. The distribution pipe 14 is fixedly installed on the through holes of the distributor 13. The other end of the distribution pipe 14 is connected to the nozzle 2. The solenoid valve is installed on each of the multiple distribution pipes 14.

[0043] Both the electric push rod 11 and the solenoid valve are provided with a drive circuit 16. The drive circuit 16 includes a MOS transistor drive circuit and a drive chip. The MCU chip 10 is electrically connected to the MOS transistor drive circuit and the drive chip. The electric push rod 11 is connected to the power supply through the drive chip. The multiple solenoid valves are connected to the power supply through multiple MOS transistor drive circuits respectively.

[0044] The pump 1 is equipped with a pump controller, which is communicatively connected to the MCU chip 10.

[0045] The driver chip includes the L289N driver chip.

[0046] The cleaning mechanism 7 includes an air source 17, a solenoid valve, and a nozzle 18. The air source 17 and the nozzle 18 are connected by an air pipe. The solenoid valve is installed on the air pipe, and the nozzle 18 has its opening facing downward.

[0047] A MOS transistor drive circuit is provided between the MCU chip 10 and the solenoid valve. The coil of the solenoid valve is connected to the MOS transistor drive circuit, and the control terminal of the MOS transistor drive circuit is connected to the MCU chip 10.

[0048] The drying mechanism 8 includes a hot air blower and a relay. A MOS transistor drive circuit is provided between the relay and the MCU chip 10. The coil of the relay is connected to the MOS transistor drive circuit. The control terminal of the MOS transistor drive circuit is connected to the MCU chip 10. The hot air blower is connected to the power supply through the relay.

[0049] The bottom of the machine body is provided with a base plate, which is detachably connected to the machine body by bolts. The base plate has notches corresponding to the nozzle matrix 2, the cleaning mechanism 7 and the drying mechanism 8.

[0050] The electric actuator 11 is a CNXCI XC759 electric actuator 11, the pump 1 is a high-pressure plunger pump, and the hot air blower is a DC hot air blower. A power module is installed inside the unit, which includes a lithium battery, an inverter module, and a power conversion module to supply power to each device.

[0051] First, the operator sets the drawing route, pattern, and other task instructions through the host computer 9. These instructions are transmitted to the MCU chip 10 (STM32 microcontroller) in the controller for parsing and processing. At the same time, the paint is loaded into the storage tank, the power supply is connected, and the air source 17, hot air blower, and other equipment are ensured to be in normal working condition.

[0052] At this time, the GNSS module (UM980 module) in positioning module 3 uses its GNSS antenna set on the top of the aircraft to receive satellite signals and communicates with MCU chip 10 through UART serial port to obtain the precise geographical location information of the aircraft; the MPU6050 six-axis attitude sensor in attitude detection module 4 is set in the middle of the aircraft and communicates with MCU chip 10 through I2C serial port to detect the attitude data of the aircraft in real time; the RPLIDAR module in lidar scanning module 5 is installed at the front of the aircraft and communicates with MCU chip 10 through USB module to scan the terrain and obstacle information of the working area, providing data support for subsequent path planning.

[0053] Based on the instructions issued by the host computer 9 and the data fed back from the positioning module 3, attitude detection module 4, and lidar scanning module 5, the MCU chip 10 plans the movement path of the marking machine. Then, by controlling the drive modules of the execution unit and turning unit in the moving mechanism, the machine body is driven to move along the planned path. After receiving the signals from the MCU chip 10, the drive modules of the execution unit and turning unit work in coordination to realize the straight-line movement and turning actions of the machine body.

[0054] When the machine moves to the starting position of the marking, the MCU chip 10 controls the cleaning mechanism 7 to start working. At this time, the MCU chip 10 sends a signal to the solenoid valve on the air pipe of the cleaning mechanism 7 through the MOS transistor drive circuit, opening the solenoid valve. The gas in the air source 17 is sprayed out from the nozzle 18 through the air pipe. The downward nozzle 18 blows away the dust, debris and other objects on the ground in the marking area, cleaning the area to be marked and ensuring the quality of the marking.

[0055] The MCU chip 10 controls the pump 1 (high-pressure plunger pump) to start via the drive circuit 16 (including a MOSFET drive circuit and a driver chip L289N), drawing paint from the storage tank. The paint enters the distributor 13 via the main pipe 15, and then is delivered to each nozzle 2 via the distribution pipe 14. Simultaneously, the MCU chip 10 controls the solenoid valve on the distribution pipe 14 to open, and the paint is sprayed from the nozzle 2, forming patterns on the ground. Since the multiple nozzles 2 are arranged in a matrix, multiple lines can be sprayed simultaneously as needed, improving the efficiency of line marking. During the spraying process, the MCU chip 10 also adjusts the position and attitude of the machine body and the spraying parameters of the nozzles 2 in real time based on the data fed back by the positioning module 3, the attitude detection module 4, and the laser radar scanning module 5, ensuring the accuracy and consistency of the line marking. When encountering undulating terrain, the laser radar scanning module 5 detects the height difference in front of and behind the work area, and the MCU chip 10 controls the lifting mechanism 6 to rise or fall according to the height difference via the electric actuator 11. The fixed end of the electric actuator 11 is fixed to the machine body by threads. Under the control of the MCU chip 10, its extended end drives the mounting plate 12 to move downward or upward so that the nozzle 2 reaches the appropriate height.

[0056] As the machine moves forward, the drying mechanism 8 begins to operate. The MCU chip 10 controls the relay through the MOS transistor drive circuit, causing the relay to close, energizing the DC hot air blower to start and blowing hot air to dry the freshly painted lines, accelerating the curing of the paint, shortening the drying time, and ensuring that subsequent operations are not affected.

[0057] The embodiments described above are merely preferred embodiments of this utility model and are not intended to limit the scope of implementation of this utility model. Therefore, all equivalent changes or modifications made to the structure, features and principles described in the patent claims of this utility model should be included within the scope of the patent application of this utility model.

Claims

1. An intelligent line marking machine, comprising a machine body, wherein the machine body is provided with a moving mechanism, the moving mechanism comprising an execution unit and a turning unit, both the execution unit and the turning unit being provided with a drive module, the drive module being connected to a controller, and the machine body also being provided with a spraying mechanism, the spraying mechanism comprising a storage tank, a pump (1) and a spray nozzle (2), characterized in that, The body is also equipped with a positioning module (3), an attitude detection module (4) and a laser radar scanning module (5), and the positioning module (3), attitude detection module (4) and laser radar scanning module (5) are all connected to the controller. The number of nozzles (2) is multiple, and each nozzle (2) is provided with a lifting mechanism (6). The multiple nozzles (2) are arranged in a matrix to form a nozzle (2) matrix. The nozzle (2) matrix is ​​located in the middle of the bottom surface of the machine body. A cleaning mechanism (7) is provided in front of the bottom surface of the machine body, and a drying mechanism (8) is provided behind the bottom surface of the machine body. The nozzle (2) is provided with a pipe, and the nozzle (2) is connected to the pump (1) through the pipe. A solenoid valve is provided between the nozzle (2) and the pump (1). The solenoid valve is electrically connected to the controller. The lifting mechanism (6), cleaning mechanism (7) and drying mechanism (8) are all connected to the controller. It also includes a host computer (9), which is connected to the controller in communication, and the controller includes an MCU chip (10).

2. The intelligent line marking machine according to claim 1, characterized in that, The lifting mechanism (6) includes an electric push rod (11) and a mounting plate (12). The electric push rod (11) includes a fixed end and an extended end. The fixed end and the machine body are respectively threaded. The electric push rod (11) is fixed to the machine body by the thread. The electric push rod (11) is set in a direction perpendicular to the ground. The extended end of the electric push rod (11) is fixedly mounted with the mounting plate (12). The mounting plate (12) is parallel to the ground. The mounting plate (12) has a rectangular array of multiple circular mounting holes. The nozzle (2) is fixedly mounted in each of the multiple mounting holes. The pipeline includes a distributor (13), a distribution pipe (14), and a main pipe (15). The distributor (13) is a cylindrical tube. Multiple through holes are equally spaced on one side of the distributor (13). One end of the distributor (13) is connected to the pump (1) through the main pipe (15). The distribution pipe (14) is fixedly installed on the through hole of the distributor (13). The other end of the distribution pipe (14) is connected to the nozzle (2). The solenoid valve is installed on each of the multiple distribution pipes (14).

3. The intelligent line marking machine according to claim 2, characterized in that, Both the electric push rod (11) and the solenoid valve are provided with a drive circuit (16). The drive circuit (16) includes a MOS transistor drive circuit and a drive chip. The MCU chip (10) is electrically connected to the MOS transistor drive circuit and the drive chip. The electric push rod (11) is connected to the power supply through the drive chip. The multiple solenoid valves are connected to the power supply through multiple MOS transistor drive circuits respectively. The pump (1) is equipped with a pump controller, which is connected in communication with the MCU chip (10).

4. The intelligent line marking machine according to claim 1, characterized in that, The cleaning mechanism (7) includes an air source (17), a solenoid valve and a nozzle (18). The air source (17) and the nozzle (18) are connected by an air pipe. The solenoid valve is installed on the air pipe and the nozzle (18) has its opening facing downward. A MOS transistor drive circuit is provided between the MCU chip (10) and the solenoid valve. The coil of the solenoid valve is connected to the MOS transistor drive circuit, and the control terminal of the MOS transistor drive circuit is connected to the MCU chip (10).

5. The intelligent line marking machine according to claim 1, characterized in that, The drying mechanism (8) includes a hot air blower and a relay. A MOS transistor drive circuit is provided between the relay and the MCU chip (10). The coil of the relay is connected to the MOS transistor drive circuit. The control terminal of the MOS transistor drive circuit is connected to the MCU chip (10). The hot air blower is connected to the power supply through the relay.

6. The intelligent line marking machine according to claim 1, characterized in that, The bottom of the machine body is provided with a base plate, which is detachably connected to the machine body by bolts. The base plate has notches corresponding to the nozzle (2) matrix, cleaning mechanism (7) and drying mechanism (8).

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