A court marking robot

Abstract

The utility model relates to a kind of court marking robot, it includes rack and walking mechanism, walking mechanism includes one front wheel and two rear drive wheels, each rear drive wheel is connected with a servo drive motor, it further includes control box, prism, spraying supply system and spray head position compensation mechanism set on rack, spray head position compensation mechanism side, away from front wheel, is slidably connected with spray head mechanism by connecting block, spray head mechanism includes baffle lifting assembly, line width adjustment mechanism, spray head, two circular baffles set on the both sides of spray head, baffle lifting assembly is slidably connected with fixed frame, line width adjustment mechanism is fixed on baffle lifting assembly, spray head is fixed on line width adjustment mechanism, two baffles are engagedly connected with line width adjustment mechanism. The utility model is not afraid of GPS shelter and complex terrain challenge, realizes hundred meters scene millimeter level mark positioning and marking, and can flexibly adjust marking width according to demand, improves the precision and adaptability of court marking operation.

Description

Technical Field

[0001] This utility model belongs to the field of line marking robot technology, specifically a sports field line marking robot. Background Technology

[0002] In the field of sports events, marking lines on various stadiums such as football, rugby, and baseball fields is a crucial foundational task, as its accuracy directly affects the fairness and standardization of the competition. For a long time, traditional stadium marking methods relied primarily on manual measurement and drawing. Experienced staff had to spend considerable time using tools such as measuring tapes and theodolites to determine the line positions before applying appropriate paint. This process was not only inefficient and labor-intensive but also highly susceptible to human error, easily leading to measurement deviations and compromising marking accuracy, thus jeopardizing the smooth running of subsequent events. With the rapid development of technology, automated stadium marking robots have emerged, bringing new development opportunities to this field. Currently, several such robot products are available on the international market. They all utilize GPS positioning technology, guided by satellite signals, to quickly plan marking paths and automatically drive the equipment for marking and painting operations, greatly improving marking speed and theoretically enabling the marking of large areas of stadiums in a short time. However, existing GPS-based stadium marking robots have many limitations in practical applications. On the one hand, many golf courses are located inside large stadiums. Large trees and buildings outside the stadium, as well as the stadium's own structure, metal shielding, or obstacles within the marked lines, can all obstruct, interfere with, or even completely block GPS signals. This leads to signal delays and unstable transmission, making it difficult for the robot to accurately locate itself and correct deviations in a timely manner, thus reducing the accuracy of line marking. On the other hand, in some remote areas, GPS signal coverage is inherently weak. In severe weather conditions such as heavy rain or sandstorms, satellite signal transmission is affected, making it difficult for the robot to function properly and significantly reducing its stability. Furthermore, the accuracy of current GPS positioning technology is only at the centimeter level, which inevitably introduces some line marking errors and cannot meet the stringent accuracy requirements of professional tournament-level golf courses. Utility Model Content

[0003] To address the problems existing in the prior art, this utility model aims to provide a court marking robot capable of millimeter-level marking and positioning in a 100-meter scene and possessing high-precision line marking function.

[0004] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: a court marking robot, comprising a robot body, the robot body including a frame and a walking mechanism, the walking mechanism including a front wheel and two rear drive wheels both located at the bottom of the frame, the front wheel being located at the center of the front end of the frame, each of the rear drive wheels being connected to a servo drive motor, the court marking robot also including a control box, a prism, a spraying material supply system and a nozzle position compensation mechanism mounted on the frame, the nozzle position compensation mechanism being slidably connected to a nozzle mechanism on the side opposite to the front wheel via a connecting block. The nozzle mechanism includes a fixed frame fixedly connected to the connecting block, a baffle lifting assembly, a line width adjustment mechanism, a nozzle, and two circular baffles on both sides of the nozzle, all located on the side of the fixed frame away from the front wheel. The baffle lifting assembly is slidably connected to the fixed frame. The line width adjustment mechanism is fixed on the baffle lifting assembly. The nozzle is fixed on the line width adjustment mechanism via a first L-shaped bracket and is positioned downwards. The two baffles are engaged with the line width adjustment mechanism. The servo drive motor, the nozzle position compensation mechanism, the baffle lifting assembly, and the spraying material supply system are all electrically connected to the control box.

[0005] Preferably, the nozzle position compensation mechanism includes a transverse slide rail and an axial mounting block fixedly mounted on the frame. The transverse slide rail is perpendicular to the movement direction of the traveling mechanism, and a transverse slider is slidably connected to the transverse slide rail. A compensation motor and a swing arm are respectively provided on both sides of the axial mounting block. The output shaft of the compensation motor passes through the axial mounting plate and is rotatably connected to one end of the swing arm. The other end of the swing arm is provided with a first guide groove. A connecting block is fixedly mounted on the top of the transverse slider, and a first motion shaft that engages with the first guide groove is fixedly provided on the side of the connecting block facing the swing arm. The compensation motor is electrically connected to the control box.

[0006] Preferably, the spraying material supply system includes a paint tank, a pump, and a solenoid valve. The paint tank has an inlet and an outlet. The outlet has two pipe joints. One of the pipe joints on the outlet is connected to the inlet pipe of the pump. The outlet of the pump is connected to the inlet of the solenoid valve through a pipe. A branch is provided on the pipe at the front end of the inlet of the solenoid valve and connected to the nozzle pipe. The outlet of the solenoid valve is connected to the other pipe joint of the outlet. The pump and the solenoid valve are both electrically connected to the control box.

[0007] Preferably, the baffle lifting assembly includes a rotary motor, a first connecting rod, a second connecting rod, and a support base. The rotary motor and the first connecting rod are respectively located on both sides of the fixed frame, with one end of the first connecting rod connected to the output shaft of the rotary motor and the other end of the first connecting rod rotatably connected to one end of the second connecting rod. The support base is fixedly connected to a vertical slider via a second L-shaped bracket. The vertical slider is slidably connected to a vertical slide rail, which is located on the side of the fixed frame facing the support base. The vertical portion of the second L-shaped bracket is located between the vertical slider and the second connecting rod, and a second motion shaft is fixedly connected to the vertical portion of the second L-shaped bracket. The second motion shaft engages with the second guide groove of the second connecting rod and moves up and down along the second guide groove through the lifting and lowering of the second L-shaped bracket. The line width adjustment mechanism is fixedly located on the side of the support base away from the fixed frame.

[0008] Preferably, the line width adjustment mechanism includes a mounting box and a threaded rod extending through the mounting box. One end of the threaded rod has a knob, and two nuts are matched on the threaded rod located inside the mounting box. The two nuts are a positive thread nut and a negative thread nut, respectively. The direction of the threaded rod is perpendicular to the forward direction of the traveling mechanism. At the same time, a line width adjustment scale is provided on one side of the top of the mounting box. Each baffle is rotatably connected to a support arm via a pivot. The end of the support arm away from the baffle is fixedly connected to one end of a connecting arm, and the other end of the connecting arm is engaged with the threaded rod. At the same time, the two connecting arms are fixedly connected to the outside of the positive thread nut and the negative thread nut, respectively.

[0009] Preferably, an adjustment seat is fixedly provided on the outside of the mounting box, and an adjustment groove is provided in the adjustment seat that runs vertically through the box. The vertical part of the first L-shaped bracket moves vertically within the adjustment groove and is locked and positioned by a locking nut. A nozzle is fixedly connected to the bottom of the horizontal part of the first L-shaped bracket.

[0010] Preferably, the court marking robot is equipped with a laser tracker and a wireless access point (AP) on its exterior. A wireless receiver is mounted on the frame, and the wireless receiver is connected to the wireless AP via a wireless signal. The wireless receiver is also electrically connected to the control box. The laser tracker emits a laser to a prism, and the prism reflects the laser back to the laser tracker. The court marking robot receives the position information sent by the laser tracker through the wireless receiver and the wireless AP, compares it with the corresponding stored court marking position information, and adjusts its position in real time.

[0011] Preferably, handles are provided on both sides of the frame.

[0012] Preferably, the court marking robot is also equipped with a shell and an emergency stop button.

[0013] Preferably, the front wheel is a swivel wheel.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. High-precision positioning and marking: This invention combines a robotic device with laser positioning technology, successfully overcoming the challenges posed by GPS signal obstruction and complex terrain. The laser tracker transmits data stably to the robot control box via a wireless AP and wireless receiver, achieving long-distance data transmission at the 100-meter level, and thus achieving millimeter-level marking and positioning in 100-meter scenarios, with a marking accuracy of ±3mm. Compared with traditional GPS centimeter-level positioning technology, this invention has made a qualitative improvement in marking accuracy, enabling more reliable and accurate completion of marking work for various professional competition-level stadiums.

[0016] 2. Stable and flexible walking performance: The walking mechanism adopts a three-wheel walking chassis, and the rear drive wheel is controlled by two independent servo drive motors, replacing the traditional differential device. This design gives the walking mechanism good stability, while enabling it to move and turn flexibly, adapting to the complex terrain and marking requirements of different courts.

[0017] 3. Highly Efficient and Precise Sprinkler Control: The combination of a sprinkler position compensation mechanism and a prism is a key technology for achieving accurate and straight line marking. By precisely controlling the position and trajectory of the sprinkler, predetermined accuracy requirements can be strictly met, ensuring the accuracy and standardization of court line marking. Furthermore, the time for the compensation motor to rotate and adjust the entire sprinkler offset position is only 0.1-0.3 seconds, significantly reducing the position offset adjustment time and greatly improving work efficiency compared to the traditional method of adjusting the sprinkler by adjusting wheels.

[0018] 4. Stable paint supply and management: The spraying supply system ensures that the paint is evenly distributed and flows continuously in the system, effectively avoiding paint settling and curing, ensuring that the clarity of the marking lines is always consistent, and improving the marking quality.

[0019] 5. Extend the service life of the baffle: The design of the baffle lifting assembly allows the baffle to contact the ground when working, effectively fixing the width of the paint when the nozzle is marking lines; when not working, it is raised to avoid scratching the ground, thereby extending the service life of the baffle and reducing equipment maintenance costs.

[0020] 6. Flexible and diverse line width adjustment methods: The line width adjustment mechanism achieves simultaneous relative movement of the two side baffles by rotating the forward and reverse threaded rods, making it convenient and quick to adjust the spray line width; at the same time, the nozzle height can be adjusted by tightening the locking nut to further refine the line width adjustment, which can meet the diverse needs of different types of courts and different marking standards for line width. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0022] Figure 2 This is a schematic diagram of the robot body structure in this utility model;

[0023] Figure 3 yes Figure 2 Enlarged view of point A in the middle;

[0024] Figure 4 This is a three-dimensional structural diagram of the present invention without the outer shell;

[0025] Figure 5 This is a three-dimensional structural diagram of the nozzle mechanism in this utility model;

[0026] Figure 6 This is a three-dimensional structural diagram of the nozzle mechanism in this utility model from another angle. Detailed Implementation

[0027] The following will combine Figure 1-6 The present invention will be described in detail below. The illustrative embodiments and descriptions of the present invention are used to explain the present invention, but are not intended to limit the present invention.

[0028] A court marking robot includes a robot body, which comprises a frame 1 and a walking mechanism. Handles 35 are provided on both sides of the frame for easy transport of the robot. The robot also has a shell 42 and an emergency stop button 43; pressing the emergency stop button in case of an emergency will stop the robot immediately. The walking mechanism includes one front wheel 2 and two rear drive wheels 3, both located at the bottom of the frame. The front wheel is positioned at the center of the front end of the frame and is a swivel wheel. Each rear drive wheel is connected to a servo drive motor 4. By employing a three-wheeled chassis, the rear drive wheels utilize two independent servo drive motors instead of a differential gear to control the speed of the left and right drive wheels respectively. This walking mechanism provides a certain degree of stability and allows for flexible forward and backward movement and turning of the court marking robot. The court marking robot also includes a control box 5, a prism 6, a spraying supply system, and a nozzle position compensation mechanism mounted on a frame. Externally, the robot is equipped with a laser tracker and a wireless access point (AP). A wireless receiver 41 is mounted on the frame, connected wirelessly to the AP and electrically to the control box. The laser tracker emits a laser beam to the prism, which then reflects the beam back to the tracker. The tracker processes the captured laser signal to obtain the real-time position information of the court marking robot and transmits this information wirelessly to the robot via the AP and receiver. The robot receives the position information from the laser tracker and compares it with the stored corresponding court marking position information. If there is a discrepancy, the robot adjusts its position in real-time according to its current heading and attitude. After adjusting the speed of the drive wheel and the angle of the nozzle position compensation mechanism, the ball marking robot can adjust its working position in real time, compensate for the offset trajectory, and ensure the marking accuracy. The nozzle position compensation mechanism is slidably connected to the nozzle mechanism on the side away from the front wheel through the connecting block 7. The nozzle mechanism includes a fixed frame 8 fixedly connected to the connecting block, a baffle lifting assembly, a line width adjustment mechanism, a nozzle 9, and two circular baffles 28 on both sides of the nozzle. The baffle lifting assembly is slidably connected to the fixed frame, the line width adjustment mechanism is fixed on the baffle lifting assembly, the nozzle is fixed on the line width adjustment mechanism through the first L-shaped bracket 38 and the nozzle is set downwards, and the two baffles are engaged with the line width adjustment mechanism. The servo drive motor, the nozzle position compensation mechanism, the baffle lifting assembly, and the spraying material supply system are all electrically connected to the control box.

[0029] Furthermore, the nozzle position compensation mechanism includes a transverse slide rail 10 and an axial mounting block 11 fixed on the frame. The transverse slide rail is perpendicular to the movement direction of the traveling mechanism, and a transverse slider 12 is slidably connected on the transverse slide rail. A compensation motor 13 and a swing arm 14 are respectively provided on both sides of the axial mounting block. The output shaft of the compensation motor passes through the axial mounting plate and is rotatably connected to one end of the swing arm. The other end of the swing arm is provided with a first guide groove 15. A connecting block is fixed on the top of the transverse slider, and a first motion shaft that engages with the first guide groove is fixed on the side of the connecting block facing the swing arm. The compensation motor is electrically connected to the control box.

[0030] Furthermore, the spray coating supply system includes a paint tank 17, a pump 18, and a solenoid valve 19. The paint tank has an inlet 20 and an outlet 21. The outlet has two pipe joints 22. One pipe joint of the outlet is connected to the inlet pipe of the pump, and the outlet of the pump is connected to the inlet of the solenoid valve through a pipe. A branch on the pipe at the front end of the solenoid valve inlet is connected to the nozzle pipe. The outlet of the solenoid valve is connected to the other pipe joint of the outlet. Both the pump and the solenoid valve are electrically connected to the control box. By controlling the working state of the pump and the solenoid valve, the paint can be ensured to flow continuously in the system, avoiding paint settling and curing.

[0031] Furthermore, the baffle lifting assembly includes a rotary motor 26, a first connecting rod 27, a second connecting rod 29, and a support base 30. The rotary motor and the first connecting rod are respectively located on both sides of the fixed frame. One end of the first connecting rod is connected to the output shaft of the rotary motor, and the other end of the first connecting rod is rotatably connected to one end of the second connecting rod. The support base is fixedly connected to the vertical slider 32 via a second L-shaped bracket 31. The vertical slider is slidably connected to a vertical slide rail 36, which is located on the side of the fixed frame facing the support base. The vertical portion of the second L-shaped bracket is located between the vertical slider and the vertical slider. Between the second connecting rods, and simultaneously, a second motion shaft is fixedly connected to the vertical part of the second L-shaped bracket. The second motion shaft engages with the second guide groove 37 of the second connecting rod and moves up and down along the second guide groove via the lifting and lowering of the second L-shaped bracket. Through the arrangement of the vertical slider, vertical slide rail, second motion shaft, and second guide groove, the baffle connected to the support base can adaptively rise and fall according to the undulation of the ground and its own weight during the marking process. When not in operation, the baffle can be automatically raised by the lifting component to avoid scratching the ground and effectively extend the service life of the baffle. The line width adjustment mechanism is fixedly located on the side of the support base away from the fixed frame.

[0032] Furthermore, the line width adjustment mechanism includes a mounting box 23 and a threaded rod 24 extending through the mounting box. Specifically, the mounting box is fixedly connected to the support base. A knob 16 is located at one end of the threaded rod, and two nuts 25 are matched on the threaded rod located inside the mounting box. The two nuts are a positive thread nut and a negative thread nut, respectively. The direction of the threaded rod is perpendicular to the forward direction of the traveling mechanism. A line width adjustment scale 44 is provided on one side of the top of the mounting box. Each baffle is rotatably connected to a support arm 33 via a pivot. Because the baffle is circular and the pivot allows it to rotate, it moves with the traveling mechanism. The end of the support arm away from the baffle is fixedly connected to one end of a connecting arm 34, and the other end of the connecting arm is engaged with the threaded rod. Simultaneously, the two connecting arms are fixedly connected to the outer sides of the positive thread nut and the negative thread nut, respectively. By rotating the threaded rod, the two baffles can be simultaneously moved closer or further apart, thereby adjusting the spray line width.

[0033] Furthermore, an adjustment seat 39 is fixedly provided on the outside of the mounting box. The adjustment seat has an adjustment groove that runs vertically through it. The vertical part of the first L-shaped bracket moves vertically within the adjustment groove and is locked in place by a locking nut 40. The bottom of the horizontal part of the first L-shaped bracket is fixedly connected to a nozzle. The nozzle and the baffle rise or fall together with the baffle lifting assembly. This design allows for easy adjustment of the nozzle height, which can then be coordinated with the baffle spacing adjustment to achieve more flexible and precise line width adjustment, meeting the needs of different line width scenarios.

[0034] In practical applications, the court marking robot is first transported to the designated court. Before marking begins, the court is calibrated using a laser tracker. After calibration, the operator selects different standard court drawings built into the robot via a computer connected to the control box, or imports custom drawings from an external device, based on actual needs. The robot automatically generates a work path based on the selected drawing, and then clicking the start button initiates the marking operation along the predetermined route.

[0035] During the marking process, a laser tracker located on the field emits a laser beam that shines onto a prism, which then reflects the laser beam back to the tracker. The tracker processes the captured laser signal to determine the real-time position of the field marking robot, and transmits this information to the robot via a wireless access point (AP) and receiver. Upon receiving the position information, the robot compares it with the stored position information in the control box. If a deviation exists, the control box adjusts the speed of the two rear drive wheels and the angle of the nozzle position compensation mechanism in real time, based on the robot's current heading and attitude, to achieve position adjustment and trajectory compensation, ensuring marking accuracy.

[0036] For example, when the robot needs to move from point A to point B, to adjust its orientation and relative position, the control box adjusts the rotation speed of the rear drive wheels by controlling the rotation speed of the servo drive motors. Since the two rear drive wheels are each driven by an independent servo drive motor, the control box can control the rotation speed of each rear drive wheel individually. To move to the left, the control box increases the rotation speed of the right rear drive wheel; to move to the right, it increases the rotation speed of the left rear drive wheel; to move in a straight line, it controls both rear drive wheels to rotate in the same direction and at the same speed; to turn in place, it makes one rear drive wheel rotate clockwise and the other rotate counterclockwise while maintaining the same speed.

[0037] When the court marking robot receives real-time position information from the laser tracker, it compares it with the corresponding position information on the work drawing stored in the control box. If a position deviation is found to be too large, and the required accuracy cannot be achieved solely by relying on the rear drive wheel for correction, the nozzle position compensation mechanism begins to function. The prism receives the laser and reflects it back to the laser tracker. The laser tracker then feeds back the processed real-time position information to the court marking robot via a wireless AP and a wireless receiver. The control box controls the rotation angle of the compensation motor based on the feedback information, causing the pendulum to rotate at the corresponding angle. The rotation of the pendulum causes the lateral slider to slide left and right. Since the lateral slider can only move left and right, the first motion shaft, which engages with the first guide groove, can also only move left and right within the guide groove, not up and down. Therefore, when the pendulum rotates, different positions of the first guide groove engage with the first motion shaft, causing the lateral slider to move synchronously with the pendulum, thereby adjusting the nozzle position to match the pre-set court marking position.

[0038] During the marking process, the paint supply system operates continuously. The pump remains open at all times. When the solenoid valve is open and in the conducting state, the paint circulates back to the paint tank; when the solenoid valve is closed, the paint flows into the nozzle and is sprayed out from the nozzle, thus completing the marking operation.

[0039] Meanwhile, the baffle lifting assembly also plays a role. A rotary motor drives the entire nozzle mechanism up and down via a first link, a second link, a vertical slider, and a vertical slide rail, which in turn drives the baffles on both sides to move up and down. When the marking robot is working, the baffles contact the ground. Through the combination of the second guide groove and the second motion axis with the vertical slider and vertical slide rail, the baffles can adaptively rise and fall according to the undulations of the ground and their own weight. When not in operation, the baffles are raised to prevent scratching the ground and extend their service life.

[0040] In addition, operators can rotate the positive and negative threaded screws by turning the knob according to the actual line width requirements. The positive thread nut and the negative thread nut move closer or further apart, thereby adjusting the distance between the two baffles to adapt to different line widths. At the same time, by adjusting the locking nut, the height of the first L-shaped bracket is changed, and the height of the nozzle is further adjusted to achieve more precise line width adjustment and meet different line width requirements.

[0041] The technical solutions provided by the embodiments of this utility model have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the embodiments of this utility model. The description of the above embodiments is only for helping to understand the principles of the embodiments of this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the embodiments of this utility model. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A court marking robot, characterized in that: The robot body includes a frame (1) and a walking mechanism. The walking mechanism includes a front wheel (2) and two rear drive wheels (3) located at the bottom of the frame. The front wheel is located at the center of the front end of the frame. Each of the rear drive wheels is connected to a servo drive motor (4). The ball marking robot also includes a control box (5), a prism (6), a spraying material supply system, and a nozzle position compensation mechanism located on the frame. The nozzle position compensation mechanism is slidably connected to a nozzle mechanism on the side away from the front wheel via a connecting block (7). The nozzle mechanism includes components fixed to the connecting block. The fixed frame (8) is connected to the fixed frame and the baffle lifting assembly, line width adjustment mechanism, nozzle (9) are all located on the side of the front wheel behind the fixed frame. Two circular baffles (28) are located on both sides of the nozzle. The baffle lifting assembly is slidably connected to the fixed frame. The line width adjustment mechanism is fixed on the baffle lifting assembly. The nozzle is fixed on the line width adjustment mechanism through the first L-shaped bracket (38) and the nozzle is set downward. The two baffles are engaged with the line width adjustment mechanism. The servo drive motor, nozzle position compensation mechanism, baffle lifting assembly, and spraying material supply system are all electrically connected to the control box.

2. The court marking robot according to claim 1, characterized in that: The nozzle position compensation mechanism includes a transverse slide rail (10) and an axial mounting block (11) fixed on the frame. The transverse slide rail is perpendicular to the movement direction of the traveling mechanism and a transverse slider (12) is slidably connected on the transverse slide rail. A compensation motor (13) and a swing arm (14) are respectively provided on both sides of the axial mounting block. The output shaft of the compensation motor passes through the axial mounting plate and is rotatably connected to one end of the swing arm. The other end of the swing arm is provided with a first guide groove (15). The connecting block is fixed on the top of the transverse slider and a first motion shaft that engages with the first guide groove is fixed on the side of the connecting block facing the swing arm. The compensation motor is electrically connected to the control box.

3. The court marking robot according to claim 1, characterized in that: The spraying material supply system includes a paint tank (17), a pump (18), and a solenoid valve (19). The paint tank is provided with an inlet (20) and an outlet (21). The outlet is provided with two pipe joints (22). One of the pipe joints on the outlet is connected to the inlet pipe of the pump. The outlet of the pump is connected to the inlet of the solenoid valve through a pipe. A branch is provided on the pipe at the front end of the inlet of the solenoid valve and connected to the nozzle pipe. The outlet of the solenoid valve is connected to the other pipe joint of the outlet. The pump and the solenoid valve are both electrically connected to the control box.

4. The court marking robot according to claim 1, characterized in that: The baffle lifting assembly includes a rotary motor (26), a first connecting rod (27), a second connecting rod (29), and a support base (30). The rotary motor and the first connecting rod are respectively located on both sides of the fixed frame. One end of the first connecting rod is connected to the output shaft of the rotary motor, and the other end of the first connecting rod is rotatably connected to one end of the second connecting rod. The support base is fixedly connected to the vertical slider (32) through a second L-shaped bracket (31). The vertical slider is slidably connected to the vertical slide rail (36). The vertical slide rail is located on the side of the fixed frame facing the support base. The vertical part of the second L-shaped bracket is located between the vertical slider and the second connecting rod. At the same time, the vertical part of the second L-shaped bracket is fixedly connected to a second motion shaft. The second motion shaft engages with the second guide groove (37) of the second connecting rod and moves up and down along the second guide groove through the lifting of the second L-shaped bracket. The line width adjustment mechanism is fixedly located on the side of the support base away from the fixed frame.

5. The court marking robot according to claim 1, characterized in that: The line width adjustment mechanism includes a mounting box (23) and a positive and negative threaded rod (24) passing through the mounting box. One end of the positive and negative threaded rod is provided with a knob (16), and two nuts (25) are matched on the positive and negative threaded rod located inside the mounting box. The two nuts are a positive threaded nut and a negative threaded nut, respectively. The direction of the positive and negative threaded rod is perpendicular to the forward direction of the walking machine mechanism. At the same time, a line width adjustment scale value (44) is provided on one side of the top of the mounting box. Each baffle is rotatably connected to a support arm (33) through a rotating shaft. The end of the support arm away from the baffle is fixedly connected to one end of a connecting arm (34). The other end of the connecting arm is engaged with the positive and negative threaded rod. At the same time, the two connecting arms are fixedly connected to the outside of the positive threaded nut and the negative threaded nut, respectively.

6. The court marking robot according to claim 5, characterized in that: An adjustment seat (39) is fixedly provided on the outside of the mounting box. An adjustment groove is provided inside the adjustment seat, which runs vertically through the box. The vertical part of the first L-shaped bracket moves vertically within the adjustment groove and is locked and positioned by a locking nut (40). A nozzle is fixedly connected to the bottom of the horizontal part of the first L-shaped bracket.

7. The court marking robot according to claim 1, characterized in that: The ball field marking robot is equipped with a laser tracker and a wireless AP on its exterior. A wireless receiver (41) is installed on the frame. The wireless receiver is connected to the wireless AP via a wireless signal and is electrically connected to the control box. The laser tracker emits a laser to a prism and the prism reflects the laser back to the laser tracker. The ball field marking robot receives the position information sent by the laser tracker through the wireless receiver and the wireless AP and compares it with the corresponding ball field marking position information stored in the memory, and adjusts its position in real time.

8. The court marking robot according to claim 1, characterized in that: Handles (35) are provided on both sides of the frame.

9. The court marking robot according to claim 1, characterized in that: The ball marking robot is also equipped with a shell (42) and an emergency stop button (43).

10. The court marking robot according to claim 1, characterized in that: The front wheels are swivel wheels.

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