CN110593073B - Intelligent vehicle capable of automatically spraying traffic marking and control method - Google Patents
Intelligent vehicle capable of automatically spraying traffic marking and control method Download PDFInfo
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- CN110593073B CN110593073B CN201910964907.2A CN201910964907A CN110593073B CN 110593073 B CN110593073 B CN 110593073B CN 201910964907 A CN201910964907 A CN 201910964907A CN 110593073 B CN110593073 B CN 110593073B
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- 238000005507 spraying Methods 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title claims abstract description 28
- 239000003973 paint Substances 0.000 claims abstract description 76
- 230000008569 process Effects 0.000 claims abstract description 4
- 239000011248 coating agent Substances 0.000 claims description 27
- 238000000576 coating method Methods 0.000 claims description 27
- 238000010276 construction Methods 0.000 claims description 21
- 238000003756 stirring Methods 0.000 claims description 15
- 239000000446 fuel Substances 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 10
- 239000007788 liquid Substances 0.000 claims description 10
- 230000008439 repair process Effects 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 6
- 230000008676 import Effects 0.000 claims description 3
- 238000012986 modification Methods 0.000 claims description 2
- 230000004048 modification Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 description 7
- 238000007599 discharging Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000000295 fuel oil Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/16—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings
- E01C23/20—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ
- E01C23/22—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/16—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings
- E01C23/20—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ
- E01C23/22—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying
- E01C23/227—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying the marking material being supplied in aerosol containers
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
An intelligent vehicle capable of automatically spraying traffic marking lines is characterized in that a paint container, a control box, a paint pump, a generator and a gasoline engine are arranged on a vehicle body, the paint pump, the generator and the gasoline engine are connected through a belt, the gasoline engine is used for driving the generator to generate power to supply power to the control box and the vehicle body respectively, the paint pump is driven to transmit paint, a discharge port of the paint container is connected with an inlet end of the paint pump through a pipeline, an outlet end of the paint pump is connected with a feed port end of a right paint pipeline and a feed port end of a left paint pipeline respectively through a three-way pipe connector, the discharge port of the right paint pipeline is connected with a right paint nozzle which is arranged on the right side of the vehicle body and is used for spraying the traffic marking lines through a right switch electromagnetic valve and a left discharge pipe, the discharge port of the left paint pipeline is connected with a left paint nozzle which is arranged on the left side of the vehicle body through a left switch electromagnetic valve and a left switch control end of the left switch electromagnetic valve is connected with the control box through a wire. The intelligent vehicle can automatically complete the spraying operation process without the participation of people.
Description
Technical Field
The invention relates to a traffic marking spraying vehicle. In particular to an intelligent vehicle capable of automatically spraying traffic markings and a control method.
Background
At present, the spraying construction of road traffic marking is generally to equip a spraying system on a wheel type trolley, the wheel type trolley is driven by manpower, the driving path of the wheel type trolley is controlled by operators, the spraying action is controlled manually, the track and the shape of the sprayed road marking are controlled manually, and the driving power of the individual wheel type trolley is increased, but the spraying construction is limited by the labor intensity of the manpower driving of constructors. The equipment operation quality mainly depends on the proficiency of constructors, the labor cost is too high in the construction operation cost, meanwhile, the construction quality depends on human factors, the quality is not easy to guarantee, the construction efficiency is low, the construction operation environment is poor, and the constructors have the risk of personal traffic injury.
Disclosure of Invention
The invention aims to solve the technical problem of providing the intelligent vehicle capable of reducing the manual requirement in the operation, ensuring the operation quality easily, reducing the traffic safety risk of operators and improving the construction efficiency integrally and the control method for automatically spraying the traffic marking.
The technical scheme adopted by the invention is as follows: the utility model provides an automatic intelligent vehicle of spraying traffic marking, includes the automobile body, the automobile body on be provided with the inside coating container that is equipped with the spraying material from the back to the front, the coating pump, the generator, the gasoline engine, the control box, wherein, coating pump, generator and gasoline engine are connected through the belt, the gasoline engine drives the generator electricity generation respectively and supplies power to control box and automobile body, drive coating pump conveying coating, the discharge gate of coating container pass through the pipeline with the entrance point of coating pump links to each other, the exit end of coating pump passes through the three-way pipe and connects right coating pipeline and left coating pipeline's feed inlet end respectively, the discharge gate of right coating pipeline loops through right switch solenoid valve and right discharging pipe connection setting at the right coating nozzle that is used for spraying traffic marking on the automobile body right side, the discharge gate of left coating pipeline loops through left switch solenoid valve and left discharging pipe connection setting at the left coating nozzle of automobile body left side, the switch control end of right switch solenoid valve and left switch solenoid valve passes through the wire connection control box.
A control method of an intelligent vehicle for automatically spraying traffic marking lines comprises the following steps: first, setting: the abscissa of the coordinate point of the traffic marking is x; the ordinate of the coordinate point of the traffic marking is y; the drawing line mark is k, the value range of k is {0,1}, the value of k is 0 to indicate that no drawing line exists from the previous coordinate point to the current coordinate point, and the value of k is 1 to indicate that a drawing line exists from the previous coordinate point to the current coordinate point; t is a yaw coefficient threshold; then the following main operation procedure is performed:
1) Defining a coordinate point array;
2) The operator imports or inputs coordinate point data of the traffic marking to the coordinate point array according to the road traffic marking construction drawing;
3) Starting an intelligent vehicle, and entering a first coordinate point of a traffic marking;
4) Checking whether the current coordinate point CurNode is an ending coordinate point according to the coordinate point data of the traffic marking, if so, entering the step 14), otherwise, continuing the next step;
5) Acquiring a next coordinate point NexNode;
6) If the drawing mark k=1 of the next coordinate point NexNode, opening a switching electromagnetic valve for spraying to perform spraying mark line operation, otherwise, not performing spraying, and entering the next step;
7) Reading real-time coordinate points of intelligent vehicle walking and assigning xPos and yPos;
8) If the absolute value of the absolute value xPos-NexNode. X is yPos-NexNode. Y is smaller than the set value, then the step 13) is entered, otherwise, the next step is continued, wherein xPos is the abscissa of the real-time coordinate point, nexNode. X is the abscissa of the next coordinate point, yPos is the ordinate of the real-time coordinate point, and NexNode. Y is the ordinate of the next coordinate point;
9) Calculating a yaw coefficient Erro:
Erro＝
(yPos-Curnode. Y) (Curnode. X-Nexnode. X) - (xPos-Curnode. X) (Curnode. Y-Nexnode. Y), wherein Curnode. Y is the ordinate of the current coordinate point, and Curnode. X is the abscissa of the current coordinate point;
10 If the yaw coefficient Erro is less than or equal to the yaw coefficient threshold T, entering the step 12), otherwise, continuing the next step;
11 Starting an intelligent vehicle route repair sub-operation program according to the yaw coefficient Erro value;
12 A delay of 100 milliseconds, returning to step 7);
13 Updating the next coordinate point data to the current coordinate point data): curnode. X= NexNode.x, curNode.y =nexnode. Y, then return to step 4);
14 The operation is ended.
The intelligent vehicle for automatically spraying the traffic marking and the control method thereof automatically finish the spraying operation process without the participation of people. The constructor only needs to equip the construction base with the operation materials for the automatic spraying traffic marking intelligent vehicle, the geographical coordinate information and the line type information of the traffic marking are input through the computer system, then the automatic spraying traffic marking intelligent vehicle can automatically finish the spraying of the traffic marking under the control of the computer control system, and meanwhile, the automatic spraying traffic marking intelligent vehicle can monitor the states of equipment and the materials and automatically decide whether to continue the construction operation or alarm to wait for the constructor to add the materials or automatically return to the construction base. The automatic spraying traffic marking intelligent vehicle can intelligently calculate and spray the track and the shape of the marking, the operation state is informed through audible and visual alarm in construction operation, the obstacle can be automatically identified, the construction operation can be stopped, meanwhile, the constructor is informed through alarm, and the construction operation is continued after the construction operation condition is met. The automatic spraying traffic marking intelligent vehicle can reduce the manual demand in operation, the operation quality is easy to ensure, the traffic safety risk of operators is reduced, the overall construction efficiency is improved, and the engineering cost is reduced.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an intelligent vehicle and control method for automatically spraying traffic markings according to the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a control schematic block diagram of an intelligent vehicle and control method for automatically spraying traffic markings according to the present invention;
FIG. 4 is a schematic diagram of the power supply of an intelligent vehicle for automatically spraying traffic markings and a control method of the invention.
In the figure
1: Paint container 2: paint pump
3: Generator 4: gasoline engine
5: Control box 6: discharge port
7: Inlet end 8: outlet end
9: Three-way pipe joint 10: right coating pipeline
11: Left paint line 12: right switch electromagnetic valve
13: Left switching solenoid valve 14: right discharging pipe
15: Left tapping pipe 16: right coating nozzle
17: Left paint nozzle 18: belt with belt body
19: A flat frame 20: right rear wheel
21: Left rear wheel 22: right rear side driving motor
23: Left rear drive motor 24: right front wheel
25: Front left wheel 26: right front side driving motor
27: Left front drive motor 28: container cover
29: Stirring motor 30: rotary shaft
31: Stirring vane 32: coating liquid level sensor
33: Fuel level sensor 34: electric quantity detection module
35: The positioning sensing module 36: ultrasonic sensor
37: Audible and visual alarm 51: box body
52: The storage battery 53: control unit
Detailed Description
The following describes an intelligent vehicle and a control method for automatically spraying traffic markings in detail by referring to the embodiments and the drawings.
As shown in fig. 1 and 2, the intelligent vehicle capable of automatically spraying traffic markings comprises a vehicle body, wherein a paint container 1 filled with spraying materials, a paint pump 2, a generator 3, a gasoline engine 4 and a control box 5 are arranged on the vehicle body from back to front, the paint pump 2, the generator 3 and the gasoline engine 4 are connected through a belt 18, and the gasoline engine 4 respectively drives the generator 3 to generate power to supply power to the control box 5 and the vehicle body, and drives the paint pump 2 to transmit paint. The generator 3 generates electricity under the drive of the gasoline engine 4, the electricity generated by the generator 3 is supplied to the power supply of the relevant electric elements on one hand, the storage battery 52 in the box body 51 of the control box 5 is charged on the other hand, and the electricity of the storage battery 52 is used as backup electricity to supply the power to the relevant electric elements. The discharge gate 6 of coating container 5 pass through the pipeline with the entrance point 7 of coating pump 2 links to each other, the exit end 8 of coating pump 2 passes through three-way pipe joint 9 and connects right coating pipeline 10 and left coating pipeline 11's feed inlet end respectively, the discharge gate of right coating pipeline 10 loops through right switch solenoid valve 12 and right discharging pipe 14 and connects the right coating nozzle 16 that is used for spraying traffic marking that sets up on the automobile body right side, the discharge gate of left coating pipeline 11 loops through left switch solenoid valve 13 and left discharging pipe 15 and connects the left coating nozzle 17 that is used for spraying traffic marking that sets up on the automobile body left side, the switch control end of right switch solenoid valve 12 and left switch solenoid valve 13 passes through the control unit 53 in the wire connection control box 5.
The control circuit in the control box 5 controls the opening and closing of the right and left solenoid valves 12 and 13 according to the information fed back by the paint level sensor 32, the positioning sensor module 35, etc., so that the right and left paint nozzles 16 and 17 spray paint onto the road surface.
The stirring motor 29 is arranged on the container cover 28 of the paint container 1, a rotating shaft 30 of the stirring motor 29 penetrates through the container cover 28 and is positioned in the paint container 1, and a stirring fan blade 31 for stirring paint in the paint container 1 is connected to the top end of the rotating shaft 30. The control circuit in the control box 5 controls the operation of the stirring motor 29 according to a set time interval, and the stirring fan blade 31 stirs the paint, so that the paint is always in a uniform state.
As shown in fig. 1 and 2, the vehicle body includes a flat frame 19, right rear wheels 20 and left rear wheels 21 correspondingly disposed on left and right sides of a rear portion of the flat frame 19, a right rear driving motor 22 and a left rear driving motor 23 whose output shafts are correspondingly connected to rotation shafts of the right rear wheels 20 and the left rear wheels 21, a right front wheel 24 and a left front wheel 25 correspondingly disposed on left and right sides of a front portion of the flat frame 19, and a right front driving motor 26 and a left front driving motor 27 whose output shafts are correspondingly connected to rotation shafts of the right front wheel 24 and the left front wheel 25, wherein control input ends of the right rear driving motor 22, the left rear driving motor 23, the right front driving motor 26 and the left front driving motor 27 are connected to the control box 5, and a control unit in the control box 5 controls rotation speeds and steering directions of the right rear driving motor 22, the left rear driving motor 23, the right front driving motor 26 and the left front driving motor 27 according to feedback information of a positioning sensor 35 and an ultrasonic sensor 36 so as to realize forward and backward running of the vehicle body, thereby realizing forward and backward running of the vehicle body, and forward running of the vehicle body, and backward running of the vehicle, 1.
As shown in fig. 1 and 2, the control box 5 includes a box 51, a storage battery 52 disposed at the lower part in the box 51, and a control unit 53 disposed at the upper part in the box 51, wherein a power input end of the storage battery 52 is connected to a power output end of the generator 3 through a wire, and a power output end of the storage battery 52 is connected to the control unit 53 and power input ends of a right rear driving motor 22, a left rear driving motor 23, a right front driving motor 26 and a left front driving motor 27 in the vehicle body through wires, respectively.
As shown in fig. 3, the control unit 53 is composed of a control circuit, and signal input ends of the control circuit are respectively connected with a paint level sensor 32 for sensing whether the working paint is enough, a fuel level sensor 33 for sensing whether the working fuel is enough, an electric quantity detection module 34 for sensing the electric quantity of a storage battery, a positioning sensing module 35 for sensing the geographic position of the vehicle body, an ultrasonic sensor 36 for sensing whether an obstacle exists in front of the vehicle body, and an audible and visual alarm 37 for forming audible and visual alarm; the signal output ends of the control circuit are respectively connected with the control signal input ends of a stirring motor 29 arranged on a container cover 28 of the paint container 1, the control signal input ends of a right rear driving motor 22, a left rear driving motor 23, a right front driving motor 26 and a left front driving motor 27 arranged on two sides of the vehicle body, and the switch control input ends of the right switch electromagnetic valve 12 and the left switch electromagnetic valve 13. Wherein,
The paint liquid level sensor 32 is arranged on the paint container 1, the fuel liquid level sensor 33 is arranged on an oil tank of the gasoline engine 4, the electric quantity detection module 34 is arranged on a storage battery 52 in the control box 5, the positioning sensing module 35 is arranged on a box body 51 of the control box 5, the ultrasonic sensor 36 is arranged at the front end of a vehicle body, and the audible and visual alarm 37 is arranged on the flat frame 19.
In the embodiment of the invention, the following steps are included:
The control unit 53 employs: wild fire and inheriting STM32F103VET6 development board, or positive atomic Apollo STM32F767 development board, or hard stone electronic STM32F4 development board;
The positioning sensor module 35 adopts: a Zhonghaida Sky2 real-time differential module, or TOPGNSS TOPF UB RTK differential GPS module, or a China star Sky HxSky001 RTK differential GPS module;
The ultrasonic sensor 36 employs: TELESKY HC-SR04 US-100US-015 ultrasonic module, or hard stone electronic US-100 ultrasonic module, or Risym US-100 ultrasonic ranging module;
The power detection module 34 employs: a miniature electric parameter acquisition module of the Jian Si research science and technology JSY-MK-135, or an electric parameter acquisition module of a quick electronic LT-211 storage battery, or a high-precision voltage direct current electric quantity detection module of Conway science and technology WCS 2702;
The paint level sensor 32 and the fuel level sensor 33 employ: HOSSWILL company HCL300 liquid level sensor, or macro-morning instrument HY-136 liquid level transmitter, or TELESKY company T30 liquid level sensor.
The invention relates to a control method of an intelligent vehicle capable of automatically spraying traffic marking, which comprises the following steps: first, setting: the abscissa of the coordinate point of the traffic marking is x; the ordinate of the coordinate point of the traffic marking is y; the drawing line mark is k, the value range of k is {0,1}, the value of k is 0 to indicate that no drawing line exists from the previous coordinate point to the current coordinate point, and the value of k is 1 to indicate that a drawing line exists from the previous coordinate point to the current coordinate point; t is a yaw coefficient threshold; then the following main operation procedure is performed:
1) Defining a coordinate point array;
2) The operator imports or inputs coordinate point data of the traffic marking to the coordinate point array according to the road traffic marking construction drawing;
3) Starting an intelligent vehicle, and entering a first coordinate point of a traffic marking;
4) Checking whether the current coordinate point CurNode is an ending coordinate point according to the coordinate point data of the traffic marking, if so, entering the step 14), otherwise, continuing the next step;
5) Acquiring a next coordinate point NexNode;
6) If the drawing mark k=1 of the next coordinate point NexNode, opening a switching electromagnetic valve for spraying, and performing marking spraying operation, otherwise, performing no spraying, and entering the next step;
7) Reading real-time coordinate points of intelligent vehicle walking and assigning xPos and yPos;
8) If the absolute value of the absolute value xPos-NexNode. X is yPos-NexNode. Y is smaller than the set value, then the step 13) is entered, otherwise, the next step is continued, wherein xPos is the abscissa of the real-time coordinate point, nexNode. X is the abscissa of the next coordinate point, yPos is the ordinate of the real-time coordinate point, and NexNode. Y is the ordinate of the next coordinate point;
9) Calculating a yaw coefficient Erro:
Erro＝
(yPos-Curnode. Y) (Curnode. X-Nexnode. X) - (xPos-Curnode. X) (Curnode. Y-Nexnode. Y), wherein Curnode. Y is the ordinate of the current coordinate point, and Curnode. X is the abscissa of the current coordinate point;
10 If the yaw coefficient Erro is less than or equal to the yaw coefficient threshold T, entering the step 12), otherwise, continuing the next step;
11 Starting an intelligent vehicle route repair sub-operation program according to the yaw coefficient Erro value;
12 A delay of 100 milliseconds, returning to step 7);
13 Updating the next coordinate point data to the current coordinate point data): curnode. X= NexNode.x, curNode.y =nexnode. Y, then return to step 4);
14 The operation is ended.
The intelligent vehicle route repair sub-operation program in the step 11) comprises the following steps:
Setting a yaw amount threshold to Threshod; inlet parameters: the abscissa of the real-time coordinate point of the intelligent vehicle walking is assigned to xPos, and the ordinate of the real-time coordinate point is assigned to yPos; the current coordinate point of the current vehicle running interval is CurNode, and the next coordinate point is NexNode; the following steps are then performed:
(1) Calculating intelligent vehicle travel direction feature flags Flagx and Flagy
Intelligent vehicle running x-direction characteristic mark Flagx = nexnode. X-Curnode. X
Intelligent vehicle running y direction characteristic mark Flagy =nexnode.y-Curnode.y
Wherein NexNode. X is the abscissa of the next coordinate point, curNode. X is the abscissa of the current coordinate point; nexNode. Y is the ordinate of the next coordinate point, curNode. Y is the ordinate of the current coordinate point;
(2) Calculating an ordinate y0 and an abscissa x0 of a theoretical running track coordinate point of the intelligent vehicle:
Wherein CurNode. Y is the ordinate of the current coordinate point, and NexNode. Y is the ordinate of the next coordinate point;
(3) And (3) repairing the intelligent vehicle route, wherein the modification conditions are as follows:
If the I yPos-y0I is less than or equal to Threshod, xPos-x0 is more than Threshod, and Flagy is more than 0, repairing the left turn of the route, otherwise repairing the right turn;
If the absolute value of yPos-y0 is less than or equal to Threshod, the absolute value of xPos-x0 is less than or equal to Threshod, and the absolute value of Flagy is more than 0, the course is repaired in a right turn, otherwise, the course is repaired in a left turn;
If yPos-y0> Threshod and Flagx >0, then the course is repaired right turn, otherwise the left turn is repaired;
If yPos-y0< -Threshod, and Flagx >0, then the course turns left, otherwise the right turns repair.
The method for repairing the right turn is that the left motor is accelerated, and the method for repairing the left turn is that the right motor is accelerated.
The control method of the intelligent vehicle capable of automatically spraying the traffic marking also comprises the steps of stopping the main operation program when the ultrasonic sensor detects that an obstacle exists in front of the vehicle body, or when the fuel oil liquid level sensor detects that the operation fuel oil reaches a set lower limit amount, or when the paint liquid level sensor detects that the operation paint reaches a set lower limit amount of 0, or when the electric quantity detection module detects that the electric quantity of the storage battery reaches the set lower limit amount, executing the interrupt program, processing, and returning to the main operation program to continue operation after the processing is completed. Wherein,
The interrupt program includes: stopping the intelligent vehicle, closing the switch electromagnetic valve and starting the audible and visual alarm to give an alarm. The processing is to remove the barrier, fill fuel, fill paint and charge the accumulator.
When the intelligent vehicle and the control method for automatically spraying the traffic marking are used, constructors open the container cover 28 of the paint container to fill paint into the paint container 1, the storage battery 52 is fully charged, the gasoline engine 4 is fully filled with gasoline, the control unit 53 is started, traffic marking construction drawing data is input (the invention is input to the control unit 53 through a keyboard arranged on the control box 5), particularly coordinate position information of key geographic coordinate points of the traffic marking to be operated is input or imported according to the construction drawing sequence, linear information of the traffic marking between the geographic coordinate points to be operated is input, the gasoline engine 4 is started, an operation main program of the control unit 53 is started, the control unit 53 continuously forms a running path from the current coordinate point to the next coordinate point according to the geographic coordinate point sequence of the input traffic marking, the intelligent vehicle is controlled to automatically run according to the planned path, a running track of the traffic marking is formed, the control unit 53 simultaneously controls the opening and closing of the right switch solenoid valve 12 or the left switch 13 according to the geographic coordinate point information, the paint is sprayed according to the geographic coordinate point information of the right nozzle 16 or the left nozzle 17, and the paint is sprayed according to the geographic coordinate point information until the paint is sprayed on one side of the intelligent vehicle, and the paint is sprayed on one side according to the coordinate point, and the running track is finished, and the paint is finished, until the paint is sprayed and the coordinate point is finished.
In addition, during the operation, the control unit 53 continuously reads the geographical position information of the positioning sensor module 35, as the real-time geographical position information of the intelligent vehicle, the control unit 53 calculates the degree of deviation of the intelligent vehicle from the route in real time, and continuously performs route correction, so as to realize the automatic driving required by the road traffic marking construction drawing path.
The paint level sensor 32, the fuel level sensor 33 and the electric quantity detection module 34 transmit data to the control unit 53 in real time, when one of the sensor information is true, the intelligent vehicle is indicated to have no normal operation condition, the main program of the control unit 53 is interrupted, the corresponding interrupt service program is executed to control the audible and visual alarm 37 to alarm, and constructors are notified to check faults and carry out relevant maintenance.
When the data of the ultrasonic sensor 36 is true, the main program of the control unit 53 is interrupted, the corresponding interrupt service program is executed, the intelligent vehicle is controlled to stop running, the right switch electromagnetic valve 12 or the left switch electromagnetic valve 13 is controlled to be closed to stop spraying, constructors are informed through the audible and visual alarm 37, and when the obstacle is removed, the intelligent vehicle continues to stop just.
The generator 3 generates electricity under the drive of the gasoline engine 4, the electricity generated by the generator 3 is supplied to the power supply of the relevant electric elements on one hand, the storage battery 52 is charged on the other hand, and the power of the storage battery 52 is used as backup power to supply the power to the relevant electric elements.
When the intelligent vehicle for automatically spraying the traffic marking is finished every time, containers, pipelines and the like of the paint are required to be cleaned.
Claims (7)
1. The intelligent vehicle capable of automatically spraying traffic markings comprises a vehicle body, and is characterized in that a paint container (1) filled with spraying materials is arranged on the vehicle body from back to front, a paint pump (2), a generator (3), a gasoline engine (4) and a control box (5), wherein the paint pump (2), the generator (3) and the gasoline engine (4) are connected through a belt (18), the gasoline engine (4) respectively drives the generator (3) to generate power to supply power to the control box (5) and the vehicle body, the paint pump (2) is driven to transmit paint, a discharge port (6) of the paint container (1) is connected with an inlet end (7) of the paint pump (2) through a pipeline, an outlet end (8) of the paint pump (2) is respectively connected with a feed port end of a right paint pipeline (10) and a left paint pipeline (11) through a three-way joint (9), a discharge port of the right paint pipeline (10) is sequentially connected with a right discharge pipe (14) through a right switch solenoid valve (12) and a right discharge pipe (16) arranged on the right side of the vehicle body, a discharge port (6) is sequentially connected with a left paint marking (15) through a left switch (13) of the paint pipeline (11) in turn, the switch control ends of the right switch electromagnetic valve (12) and the left switch electromagnetic valve (13) are connected with the control box (5) through wires;
The vehicle body comprises a flat frame (19), right rear wheels (20) and left rear wheels (21) which are correspondingly arranged at the left side and the right side of the rear part of the flat frame (19), a right rear driving motor (22) and a left rear driving motor (23) which are correspondingly connected with rotating shafts of the right rear wheels (20) and the left rear wheels (21), a right front wheel (24) and a left front wheel (25) which are correspondingly arranged at the left side and the right side of the front part of the flat frame (19), a right front driving motor (26) and a left front driving motor (27) which are correspondingly connected with rotating shafts of the right front wheel (24) and the left front wheel (25), and control input ends of the right rear driving motor (22), the left rear driving motor (23), the right front driving motor (26) and the left front driving motor (27) are connected with the control box (5);
The control box (5) comprises a box body (51), a storage battery (52) arranged at the inner lower part of the box body (51) and a control unit (53) arranged at the inner upper part of the box body (51), wherein the power input end of the storage battery (52) is connected with the power output end of the generator (3) through a wire, and the power output end of the storage battery (52) is respectively connected with the control unit (53) and the power input ends of a right rear driving motor (22), a left rear driving motor (23), a right front driving motor (26) and a left front driving motor (27) in the car body through wires;
The control unit (53) is composed of a control circuit, and the signal input end of the control circuit is respectively connected with a paint liquid level sensor (32) for sensing whether the operation paint is enough, a fuel liquid level sensor (33) for sensing whether the operation fuel is enough, an electric quantity detection module (34) for sensing the electric quantity of a storage battery, a positioning sensing module (35) for sensing the geographic position of the vehicle body, an ultrasonic sensor (36) for sensing whether an obstacle exists in front of the vehicle body and an audible and visual alarm (37) for forming audible and visual alarm; the signal output end of the control circuit is respectively connected with the control signal input end of a stirring motor (29) arranged on a container cover (28) of the paint container (1), the control signal input ends of a right rear driving motor (22), a left rear driving motor (23), a right front driving motor (26) and a left front driving motor (27) arranged on two sides of the vehicle body, and the switch control input ends of a right switch electromagnetic valve (12) and a left switch electromagnetic valve (13).
2. The intelligent vehicle for automatically spraying traffic markings according to claim 1, wherein a stirring motor (29) is arranged on a container cover (28) of the paint container (1), a rotating shaft (30) of the stirring motor (29) penetrates through the container cover (28) and is positioned in the paint container (1), and a stirring fan blade (31) for stirring paint in the paint container (1) is connected to the top end of the rotating shaft (30).
3. The intelligent vehicle for automatically spraying traffic markings according to claim 1, wherein the paint level sensor (32) is arranged on the paint container (1), the fuel level sensor (33) is arranged on an oil tank of the gasoline engine (4), the electric quantity detection module (34) is arranged on a storage battery (52) in the control box (5), the positioning sensing module (35) is arranged on a box body (51) of the control box (5), the ultrasonic sensor (36) is arranged at the front end of the vehicle body, and the audible and visual alarm (37) is arranged on the flat frame (19).
4. A method of controlling an intelligent vehicle for automatically coating traffic markings according to claim 1, comprising: first, setting: the abscissa of the coordinate point of the traffic marking is x; the ordinate of the coordinate point of the traffic marking is y; the drawing line mark is k, the value range of k is {0,1}, the value of k is 0 to indicate that no drawing line exists from the previous coordinate point to the current coordinate point, and the value of k is 1 to indicate that a drawing line exists from the previous coordinate point to the current coordinate point; t is a yaw coefficient threshold; then the following main operation procedure is performed:
1) Defining a coordinate point array;
2) The operator imports or inputs coordinate point data of the traffic marking to the coordinate point array according to the road traffic marking construction drawing;
3) Starting an intelligent vehicle, and entering a first coordinate point of a traffic marking;
4) Checking whether the current coordinate point CurNode is an ending coordinate point according to the coordinate point data of the traffic marking, if so, entering the step 14), otherwise, continuing the next step;
5) Acquiring a next coordinate point NexNode;
6) If the drawing mark k=1 of the next coordinate point NexNode, opening a switching electromagnetic valve for spraying to perform spraying mark line operation, otherwise, not performing spraying, and entering the next step;
7) Reading real-time coordinate points of intelligent vehicle walking and assigning xPos and yPos;
8) If the absolute value of the absolute value xPos-NexNode. X is yPos-NexNode. Y is smaller than the set value, then the step 13) is entered, otherwise, the next step is continued, wherein xPos is the abscissa of the real-time coordinate point, nexNode. X is the abscissa of the next coordinate point, yPos is the ordinate of the real-time coordinate point, and NexNode. Y is the ordinate of the next coordinate point;
9) Calculating a yaw coefficient Erro:
Erro = (yPos-curnode. Y) (curnode. X-nexnode. X) - (xPos-curnode. X) (curnode. Y-nexnode. Y); wherein Curnode. Y is the ordinate of the current coordinate point, and Curnode. X is the abscissa of the current coordinate point;
10 If the yaw coefficient Erro is less than or equal to the yaw coefficient threshold T, entering the step 12), otherwise, continuing the next step;
11 Starting an intelligent vehicle route repair sub-operation program according to the yaw coefficient Erro value;
12 A delay of 100 milliseconds, returning to step 7);
13 Updating the next coordinate point data to the current coordinate point data): curnode. X= NexNode.x, curNode.y =nexnode. Y, then return to step 4);
14 The operation is ended.
5. The method for controlling an intelligent vehicle for automatically spraying traffic markings according to claim 4, wherein the intelligent vehicle route repair sub-operation program comprises:
Setting a yaw amount threshold to Threshod; inlet parameters: the abscissa of the real-time coordinate point of the intelligent vehicle walking is assigned to xPos, and the ordinate of the real-time coordinate point is assigned to yPos; the current coordinate point of the current vehicle running interval is CurNode, and the next coordinate point is NexNode; the following steps are then performed:
(1) Calculating intelligent vehicle travel direction feature flags Flagx and Flagy
Intelligent vehicle running x-direction characteristic mark Flagx = nexnode. X-Curnode. X
Intelligent vehicle running y direction characteristic mark Flagy =nexnode.y-Curnode.y
Wherein NexNode. X is the abscissa of the next coordinate point, curNode. X is the abscissa of the current coordinate point; nexNode. Y is the ordinate of the next coordinate point, curNode. Y is the ordinate of the current coordinate point;
(2) Calculating an ordinate y0 and an abscissa x0 of a theoretical running track coordinate point of the intelligent vehicle:
Wherein CurNode. Y is the ordinate of the current coordinate point, and NexNode. Y is the ordinate of the next coordinate point;
(3) And (3) repairing the intelligent vehicle route, wherein the modification conditions are as follows:
If the I yPos-y0I is less than or equal to Threshod, xPos-x0 is more than Threshod, and Flagy is more than 0, repairing the left turn of the route, otherwise repairing the right turn;
If the absolute value of yPos-y0 is less than or equal to Threshod, the absolute value of xPos-x0 is less than or equal to Threshod, and the absolute value of Flagy is more than 0, the course is repaired in a right turn, otherwise, the course is repaired in a left turn;
If yPos-y0> Threshod and Flagx >0, then the course is repaired right turn, otherwise the left turn is repaired;
If yPos-y0< -Threshod and Flagx >0 course left turn repair, otherwise right turn repair;
the method for repairing the right turn is that the left motor is accelerated, and the method for repairing the left turn is that the right motor is accelerated.
6. The method according to claim 4, wherein when the ultrasonic sensor detects that there is an obstacle in front of the vehicle body, or when the fuel level sensor detects that the working fuel has reached a set lower limit amount, or when the paint level sensor detects that the working paint has reached a set lower limit amount, or when the electric quantity detection module detects that the electric quantity of the battery has reached a set lower limit amount, the main operation program is stopped, the interrupt program is executed, and the process is performed, and after the process is completed, the main operation program is returned to continue operation.
7. The method for controlling an intelligent vehicle for automatically spraying traffic markings according to claim 6, wherein said interrupt routine comprises: stopping the intelligent vehicle, closing the switch electromagnetic valve and starting the audible and visual alarm to give an alarm.
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| CN111218885A (en) * | 2020-01-16 | 2020-06-02 | 泉州市路明达交通设施有限公司 | Automatic spraying control system and method for traffic marking |
| CN111409654A (en) * | 2020-04-03 | 2020-07-14 | 首钢智新迁安电磁材料有限公司 | Rail transport device |
| CN114319010B (en) * | 2022-01-10 | 2023-07-11 | 郑州科技学院 | Automatic marking device for parking space |
| DK202200916A1 (en) * | 2022-10-10 | 2024-05-14 | Tinymobilerobots Aps | Line marking apparatus with paint fill level and/or paint nozzle control |
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