CN105369726B - A kind of intelligent pen machine and a kind of intelligent line-marking vehicle - Google Patents
A kind of intelligent pen machine and a kind of intelligent line-marking vehicle Download PDFInfo
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- CN105369726B CN105369726B CN201410391012.1A CN201410391012A CN105369726B CN 105369726 B CN105369726 B CN 105369726B CN 201410391012 A CN201410391012 A CN 201410391012A CN 105369726 B CN105369726 B CN 105369726B
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- intelligent
- motor
- pen machine
- shower nozzle
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- Spray Control Apparatus (AREA)
Abstract
The invention discloses a kind of intelligent pen machine and intelligent line-marking vehicle, intelligent pen machine includes：Support, shower nozzle, camera, the first motor, the second motor, the 3rd motor and control circuit；Support includes a first level bar parallel to the ground, two the second horizon bars parallel to the ground and two vertical rods perpendicular to the ground；Shower nozzle can be slided on first level bar and along the bearing of trend of first level bar by the first sliding equipment, first level bar can be slided on two vertical rods and along the bearing of trend of vertical rod by two the second sliding equipments, and two articles of vertical rods are respectively arranged on two article of second horizon bar by two the 3rd sliding equipments and can slided along the bearing of trend of the second horizon bar.The intelligent pen machine of the present invention and intelligent line-marking vehicle, intelligent and high-efficiency do not pollute the environment.
Description
Technical field
The present invention relates to urban construction technical field, and in particular to a kind of intelligent pen machine and a kind of intelligent line-marking vehicle.
Background technology
Line-marking vehicle is the important tool in road construction, nearly ten years, and the research for line-marking vehicle concentrates on shower nozzle etc
Spray painting structure with improve spray painting effect and have ignored other problemses.The line-marking vehicle of prior art, is earthward painted using shower nozzle,
So as to mark road surface identification pattern, it is for general on highway and marks single straight line.But, the line-marking vehicle of prior art need according to
When relying substantial amounts of manpower, such as operation, staff manually controls the injection direction of shower nozzle, meets standard to be marked on road surface
Road surface identification pattern, and also to be adjusted at any time according to different spraying requirements, labor intensive and manually operate easily spray
Wrong position.In addition, the line-marking vehicle of prior art is difficult to the road surface identification pattern for efficiently marking complexity, for example, mark machine on ground
Motor-car travel direction arrow pattern, instruction word etc., are often adopted the following technical scheme that：Paste on the ground first and hide paint adhesive tape,
Hide paint adhesive tape be provided with the hollow exposed structure of motor-driven vehicle going direction arrow pattern identical, it is exposed by hollow exposed structure
Go out and motor-driven vehicle going direction arrow pattern identical ground；Then pen machine is painted above screening paint adhesive tape, spray painting side
Formula is area covering mode, that is, the area painted directly covers the area of motor-driven vehicle going direction arrow pattern, after spray painting terminates,
Open screening paint adhesive tape；Ground therefore is painted outside in the correspondence position of hollow exposed structure due to exposed, and other positions by
In hiding blocking for paint adhesive tape, it is not painted, so as to form motor-driven vehicle going arrow pattern on the ground.However, existing skill
Art needs to expend for the spray painting mode of road surface identification pattern to be hidden glue adhesive tape, needs manually to paste and remove screening glue adhesive tape, needs
Expend substantial amounts of spray painting, inefficiency, waste of resource and pollute environment.
The content of the invention
The present invention provides a kind of intelligent pen machine and a kind of intelligent line-marking vehicle, for solving pen machine effect of the prior art
Rate is low, waste of resource and the problem of pollute environment.
The present invention provides a kind of intelligent pen machine, including：Support, shower nozzle, camera, the first motor, the second motor, the 3rd
Motor and control circuit；The support includes first level bar parallel to the ground, two second water parallel to the ground
Flat bar and two vertical rods perpendicular to the ground；Wherein, the plane where two second horizon bars is parallel to the ground, described
Plane where two vertical rods is vertical with the plane where two second horizon bars, the first level bar and described two
Plane where bar vertical rod is parallel and parallel with the plane where two second horizon bars；
The shower nozzle is located on the first level bar by the first sliding equipment and can prolonging along the first level bar
Direction slip is stretched, the first level bar can be hung down on two vertical rods and along described by two the second sliding equipments
The dynamic bearing of trend of straight-bar is slided, and two articles of vertical rods are respectively arranged on two article of second level by two the 3rd sliding equipments
On bar and can along second horizon bar bearing of trend slide；
First motor drives first sliding equipment, and second motor drives second sliding equipment, institute
State the 3rd motor and drive the 3rd sliding equipment；The control circuit connects first motor, second motor, described
3rd motor, the shower nozzle and the camera；The control circuit is according to the image of the cam feedback by controlling
State the rotating speed and step pitch of the first motor, second motor and the 3rd motor and then control the shower nozzle in solid space
Move and complete to rule on ground.
Further, described two 3rd sliding equipments are connected with each other by lazy-tongs.
Further, the control circuit controls described two second sliding equipments to be synchronized with the movement.
Further, the shower nozzle is cold spray type spray nozzle.
Further, projected area of the zone of action of the shower nozzle on ground is more than the area of current spray patterns.
Further, the operating range of first sliding equipment is more than the width of the current spray patterns, the described 3rd
The operating range of sliding equipment is more than the length of the current spray patterns.
The present invention also provides a kind of intelligent line-marking vehicle, including：Intelligent pen machine of the present invention and under chassis
Mounting bracket：
The support of the intelligent pen machine is arranged at below the mounting bracket.
Further, the branch is set up in the region between the front-wheel of the intelligent line-marking vehicle and trailing wheel.
Further, being provided between the front-wheel and trailing wheel of the intelligent line-marking vehicle is used to house the accommodating of the intelligent pen machine
Chamber.
A kind of intelligent pen machine and a kind of intelligent line-marking vehicle that the present invention is provided, by controlling circuit according to prestoring
The template contral shower nozzle motion of road surface identification pattern, sprays road surface identification pattern, and shot in real time according to camera to ground
Ground image adjust the spraying position of shower nozzle, will not occur spraying mistake, it is to avoid the waste of spray painting, it is not necessary to using hiding paint
Adhesive tape, intelligent and high-efficiency does not pollute the environment.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, makes required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the present invention, for this
For the those of ordinary skill of field, without having to pay creative labor, other can also be obtained according to these accompanying drawings
Accompanying drawing；
Fig. 1 is the schematic perspective view of the intelligent pen machine of the embodiment of the present invention one；
Fig. 2 is the schematic top plan view of the intelligent pen machine of the embodiment of the present invention one；
Fig. 3 is the schematic elevation view of the intelligent pen machine of the embodiment of the present invention one；
Fig. 4 is the schematic side view of the intelligent pen machine of the embodiment of the present invention one；
Fig. 5 is the schematic perspective view of the intelligent line-marking vehicle of the embodiment of the present invention two；
Fig. 6 is the schematic side view of the intelligent line-marking vehicle of the embodiment of the present invention two.
Embodiment：
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Fig. 1 is the schematic perspective view of the intelligent pen machine of the embodiment of the present invention one, and Fig. 2 is the intelligence of the embodiment of the present invention one
The schematic top plan view of pen machine, Fig. 3 is the schematic elevation view of the intelligent pen machine of the embodiment of the present invention one, and Fig. 4 is of the invention real
The schematic side view of the intelligent pen machine of example one is applied, as shown in Figure 1, Figure 2, Figure 3 and Figure 4, the intelligence of the embodiment of the present invention one is drawn
Line machine includes：Support 1, shower nozzle 2, camera 4, the first motor 31, the second motor 32, the 3rd motor 33 and control circuit（In figure
Do not show）.
The support 1 includes first level bar 11 parallel to the ground, two second horizon bars parallel to the ground
12 and two vertical rods 13 perpendicular to the ground；Wherein, the plane where two second horizon bars 12 is parallel to the ground, institute
Plane where stating two vertical rods 13 is vertical with the plane where two second horizon bars 12, the first level bar 11
It is parallel with the plane where two vertical rods 13 and parallel with the plane where two second horizon bars 12.Two article
Two horizon bars 12 are parallel to each other, and two vertical rods 13 are parallel to each other.
The shower nozzle 2 is located on the first level bar 11 by the first sliding equipment 111 and can be along the first level
The bearing of trend of bar 11 is slided, and the first level bar 11 is located at two vertical rods by two the second sliding equipments 131
It can slide on 13 and along the bearing of trend of the vertical rod 13, two articles of vertical rods 13 pass through two the 3rd sliding equipments 121
It is respectively arranged on two second horizon bars 12 and can be slided along the bearing of trend of second horizon bar 12.
First motor 31 drives first sliding equipment 111 to be moved, and second motor 32 drives described
Second sliding equipment 131 is moved, and the 3rd motor 33 drives the 3rd sliding equipment 121 to be moved；The control
Circuit processed electrically connects and controls camera 4, shower nozzle 2, the first motor 31, the second motor 32 and the 3rd motor 33, in control circuit
Provided with memory, memory internal memory contains the template of road surface identification pattern.Circuit is controlled according to located at intelligent line-marking vehicle or intelligence
The image that camera 4 on pen machine feeds back is by controlling first motor 31, second motor 32 and the 3rd electricity
The rotating speed and step number and then the control shower nozzle 2 of machine 33 move in solid space and complete to spray on ground.First electricity
Machine 31, second motor 32 and the 3rd motor 33 can use stepper motor.
The operation principle of the intelligent pen machine of the embodiment of the present invention one is：Intelligent pen machine, which is positioned over, to be needed to spray road surface
Above the road of identification pattern, spraying instruction is sent to control circuit, control circuit reads according to control instruction and is stored in storage
The template of road surface identification pattern in device, is moved according to the template contral shower nozzle 2 of road surface identification pattern, is needing to be coated with road marking
Know the position spray painting of pattern.Road surface identification pattern includes：Indication character, direction arrow, zebra stripes, road axis, track point
Secant, lane boundary line, parking stall stop line etc..The length of some road surface identification patterns is up to 9 meters, and width is up to 3 meters, and area is larger.
For this kind of road surface identification pattern, road surface identification pattern is divided into multiple current spray patterns by the processor in control circuit.When
Preceding spray patterns refer to intelligent pen machine when the position on road surface is constant, the current pattern that shower nozzle is sprayed under motor driving.When
Preceding spray patterns can be a part for a road surface identification pattern or the larger road surface identification pattern of an area.
For example, when the length of road surface identification pattern is more than stent length, it is necessary to by a road surface identification pattern in length
It is divided into some current spray patterns on direction, intelligent pen machine sprays in different road surface positions to each current spray patterns
Apply, all current spray patterns sprayed constitute a complete road surface identification pattern.Specifically, shower nozzle 2 can be first
Along the horizontal movement of first level bar 11 on horizon bar 11, first level bar 11 can along the second horizon bar 12 bearing of trend level
Motion, first level bar 11 is vertical with the second horizon bar 12, and then allows shower nozzle 2 in the horizon bar of first level bar 11 and second
The 12 freely activities on the rectangle plane of floor projection formation, so as to be coated with out plane pattern.When shower nozzle 2 is started working, control
Circuit processed is by controlling the 3rd motor 33 and then controlling first level bar 11 to move to the original position of current spray patterns and consolidate
It is fixed；Circuit is controlled by controlling the first motor 31 and then controlling beginning of the shower nozzle 2 from first level bar 11 on first level bar 11
Terminad direction uniform motion is held, when shower nozzle 2 reaches predeterminated position, control circuit controls shower nozzle 2 according to current spray patterns
Spray painting；After spray painting is finished, control circuit control shower nozzle 2 moves to the top of first level bar 11 again, then controls circuit
The 3rd motor 33 is controlled to drive first level bar 11 to be moved rearwards by pre-determined distance, pre-determined distance need to ensure what shower nozzle 2 painted again
Scope and the scope of last spray painting are overlapped, and the position of first level bar 11 is then fixed again, while controlling shower nozzle 2 first
From the top terminad direction uniform motion of first level bar 11 on horizon bar 11, when shower nozzle 2 reaches predeterminated position, control electricity
Road controls shower nozzle 2 to paint according to current spray patterns；In order to avoid spray painting mistake, control circuit needs monitoring in real time located at described
The ground image that camera on line-marking vehicle or told pen machine is shot, and according to the ground image adjust automatically shower nozzle 2 to need
The position to be painted.So circulation repeatedly, is completely applied on ground up to by whole current spray patterns.It is concavo-convex for ground
Uneven situation, control circuit needs the ground image shot according to camera, controls the second motor 32 and then adjusts the first water
The height of flat bar 11, and then the height of shower nozzle 2 is have adjusted, make shower nozzle 2 in the case of ground relief, also can be uniform
Accurately it is coated with out current spray patterns.
Further, described two 3rd sliding equipments 121 are connected with each other by lazy-tongs 14, make two the 3rd skate machines
Structure 121 is synchronized with the movement, it is to avoid first level bar 11 is crooked in the horizontal direction, keeps the movement locus of shower nozzle 2, and lazy-tongs 14 are wrapped
Include the synchronizing shaft between two the second horizon bars 12.The control circuit is also by controlling two the second motors 32 and then driving
Move described two second sliding equipments 131 to be synchronized with the movement, it is to avoid first level bar 11 is crooked in vertical direction, keep shower nozzle 2
Movement locus.The shower nozzle 2 is cold spray type spray nozzle.Projected area of the zone of action of the shower nozzle 2 on ground is more than current spray
Apply the area of pattern, it is to avoid drain spray causes certain excalation of road surface identification pattern.Specifically, first sliding equipment 111
Operating range be more than the width of the current spray patterns, the operating range of the 3rd sliding equipment 121 is more than described work as
The length of preceding spray patterns, and then ensure that projected area of the zone of action of shower nozzle 2 on ground is more than the face of current spray patterns
Product.
The intelligent pen machine of the embodiment of the present invention one, the line-marking vehicle for overcoming prior art relies on artificial operation for a long time, difficult
The problem of to mark complex road surface identification pattern, automatically controlling for scribing operation is realized, by controlling circuit according to depositing in advance
The road surface identification pattern template control shower nozzle motion of storage, is coated with road surface identification pattern, and clapped in real time according to camera to ground
The ground image taken the photograph adjusts the application place of shower nozzle, will not occur coating mistake, it is to avoid the waste of spray painting, it is not necessary to using hiding
Adhesive tape is painted, intelligent and high-efficiency does not pollute the environment.
Fig. 5 is the schematic perspective view of the intelligent line-marking vehicle of the embodiment of the present invention two, and Fig. 6 is the intelligence of the embodiment of the present invention two
The schematic side view of line-marking vehicle, as shown in Figure 5 and Figure 6, the intelligent line-marking vehicle 500 that the embodiment of the present invention two is provided, including：This hair
Bright described intelligent pen machine 100 and the mounting bracket 52 under chassis 51.The support of the intelligent pen machine 100 is arranged at institute
State the lower section of mounting bracket 52.The branch of the intelligent pen machine 100 is set up between the front-wheel 53 of the intelligent line-marking vehicle and trailing wheel 54
Region.The appearance for being used for housing the intelligent pen machine 100 is provided between the front-wheel 53 and trailing wheel 54 of the intelligent line-marking vehicle 500
Put chamber 55.
The operation principle of the intelligent line-marking vehicle of the embodiment of the present invention two is：By intelligent line-marking vehicle 500 stop to need coating
On the road surface of road surface identification pattern, intelligent pen machine 100 sprays road surface identification figure on ground automatically under the control of control circuit
Case.For example, when needing to be coated with straight line on entire road, intelligent line-marking vehicle 500 is along road uniform motion, intelligent line-marking vehicle
The intelligent pen machine of the 500 51 times installations in chassis adjusts the spraying position of shower nozzle using camera, so that in intelligent line-marking vehicle 500
During traveling, whole piece straight line is coated with out on road.Camera can be on intelligent pen machine or intelligent line-marking vehicle
Below chassis, for shooting pavement image and being fed back to control circuit.In addition, for the larger road surface identification figure of area
Case, if it is divided into stem portion by computer in length direction, intelligent line-marking vehicle proceeds to parking above Part I, spraying first
Part；After the completion of Part I spraying, intelligent line-marking vehicle advances, and proceeds to parking above Part II, sprays Part II；The
After the completion of the spraying of two parts, intelligent line-marking vehicle advances, and proceeds to parking above Part III, by that analogy, until spraying is completed
Whole road surface identification pattern.Completion typically can be once sprayed in width.
The intelligent line-marking vehicle of the embodiment of the present invention two, by controlling circuit according to the road surface identification pattern template prestored
Shower nozzle motion is controlled, road surface identification pattern is coated with to ground, and the ground image shot in real time according to camera adjusts shower nozzle
Application place, will not occur coating mistake, it is to avoid the waste of spray painting, it is not necessary to which, using paint adhesive tape is hidden, intelligent and high-efficiency will not
Pollute environment.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (9)
1. a kind of intelligent pen machine, it is characterised in that including：Support, shower nozzle, camera, the first motor, the second motor, the 3rd
Motor and control circuit；
The support include a first level bar parallel to the ground, two the second horizon bars parallel to the ground and two with
The vertical vertical rod in ground；Wherein, the plane where two second horizon bars is parallel to the ground, two vertical rods institute
Plane it is vertical with the plane where two second horizon bars, where the first level bar and two vertical rods
Plane it is parallel and parallel with the plane where two second horizon bars；
The shower nozzle is located on the first level bar by the first sliding equipment and can be along the extension side of the first level bar
To slip, the first level bar is located on two vertical rods by two the second sliding equipments and can be along the vertical rod
Bearing of trend slide, two articles of vertical rods are respectively arranged on two article of second horizon bar by two the 3rd sliding equipments
And can be slided along the bearing of trend of second horizon bar；
First motor drives first sliding equipment, and second motor drives second sliding equipment, and described the
Three motors drive the 3rd sliding equipment；The control circuit connects first motor, second motor, the described 3rd
Motor, the shower nozzle and the camera；The control circuit is according to the image of the cam feedback by controlling described the
One motor, the rotating speed and step pitch of second motor and the 3rd motor and then the control shower nozzle are moved in solid space
And complete to rule on ground.
2. intelligent pen machine according to claim 1, it is characterised in that described two 3rd sliding equipments pass through synchronous machine
Structure is connected with each other.
3. intelligent pen machine according to claim 1, it is characterised in that the control circuit control described two second is slided
Motivation structure is synchronized with the movement.
4. intelligent pen machine according to claim 1, it is characterised in that the shower nozzle is cold spray type spray nozzle.
5. the intelligent pen machine according to claim 1-4 any one, it is characterised in that the zone of action of the shower nozzle exists
The projected area on ground is more than the area of current spray patterns.
6. intelligent pen machine according to claim 5, it is characterised in that the operating range of first sliding equipment is more than
The width of the current spray patterns, the operating range of the 3rd sliding equipment is more than the length of the current spray patterns.
7. a kind of intelligent line-marking vehicle, it is characterised in that including：Intelligent pen machine described in claim 1-6 any one and set
Mounting bracket under chassis：
The support of the intelligent pen machine is arranged at below the mounting bracket.
8. intelligent line-marking vehicle according to claim 7, it is characterised in that the branch is set up in before the intelligent line-marking vehicle
Region between wheel and trailing wheel.
9. intelligent line-marking vehicle according to claim 8, it is characterised in that between the front-wheel and trailing wheel of the intelligent line-marking vehicle
Provided with the accommodating cavity for housing the intelligent pen machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410391012.1A CN105369726B (en) | 2014-08-11 | 2014-08-11 | A kind of intelligent pen machine and a kind of intelligent line-marking vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410391012.1A CN105369726B (en) | 2014-08-11 | 2014-08-11 | A kind of intelligent pen machine and a kind of intelligent line-marking vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105369726A CN105369726A (en) | 2016-03-02 |
| CN105369726B true CN105369726B (en) | 2017-10-20 |
Family
ID=55372315
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410391012.1A Expired - Fee Related CN105369726B (en) | 2014-08-11 | 2014-08-11 | A kind of intelligent pen machine and a kind of intelligent line-marking vehicle |
Country Status (1)
| Country | Link |
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| CN (1) | CN105369726B (en) |
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| CN108716182B (en) * | 2018-04-11 | 2020-07-17 | 浙江后花园园林工程有限公司 | Municipal road construction device and construction method |
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| CN108999072B (en) * | 2018-08-08 | 2020-06-23 | 广西鑫豪建筑工程有限公司 | Road pavement marking device and construction method thereof |
| CN111206484B (en) * | 2020-01-16 | 2021-06-01 | 浙江众鑫新材料有限公司 | Full-automatic road marking machine |
| CN113494046A (en) * | 2020-03-18 | 2021-10-12 | 山西长达交通设施有限公司 | Automatic road marking-off vehicle |
| CN114481793B (en) * | 2020-10-26 | 2023-05-12 | 广东博智林机器人有限公司 | Parking space scribing device and method |
| CN114561861A (en) * | 2020-11-27 | 2022-05-31 | 广东博智林机器人有限公司 | Line marking robot |
| CN115247397B (en) * | 2021-04-28 | 2023-09-26 | 广东博智林机器人有限公司 | Positioning device and scribing equipment |
| CN114622469A (en) * | 2022-01-28 | 2022-06-14 | 南通威而多专用汽车制造有限公司 | Automatic old wire laying control system and control method thereof |
| CN118186883A (en) * | 2024-05-16 | 2024-06-14 | 四川航天职业技术学院(四川航天高级技工学校) | Vehicle power device and high-reliability intelligent road character-spraying scribing vehicle |
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| FR2650006B1 (en) * | 1989-07-20 | 1991-09-27 | Prosign Sa | MACHINE FOR THE EXECUTION OF ROAD SIGNALS AND METHOD FOR PRODUCING SUCH ROAD SIGNALS |
| WO1995016827A1 (en) * | 1993-12-14 | 1995-06-22 | Pavement Marking Technologies, Inc. | Apparatus and method for marking a surface |
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|---|---|
| CN105369726A (en) | 2016-03-02 |
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