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WO2022042171A1 - Véhicule de marquage routier à énergie solaire doté d'une fonction d'alignement automatique - Google Patents

Véhicule de marquage routier à énergie solaire doté d'une fonction d'alignement automatique Download PDF

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Publication number
WO2022042171A1
WO2022042171A1 PCT/CN2021/108533 CN2021108533W WO2022042171A1 WO 2022042171 A1 WO2022042171 A1 WO 2022042171A1 CN 2021108533 W CN2021108533 W CN 2021108533W WO 2022042171 A1 WO2022042171 A1 WO 2022042171A1
Authority
WO
WIPO (PCT)
Prior art keywords
paint
marking
solar
steering wheel
storage tank
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/108533
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English (en)
Chinese (zh)
Inventor
李军英
任月浩
张琳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Qingdao University of Science and Technology
Original Assignee
Qingdao University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Qingdao University of Science and Technology filed Critical Qingdao University of Science and Technology
Publication of WO2022042171A1 publication Critical patent/WO2022042171A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • 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
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
    • E01H1/05—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes
    • E01H1/056—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes having horizontal axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/34—Parallel operation in networks using both storage and other DC sources, e.g. providing buffering
    • H02J7/35—Parallel operation in networks using both storage and other DC sources, e.g. providing buffering with light sensitive cells

Definitions

  • the invention is a solar road marking vehicle with automatic alignment function, belonging to the field of automatic road marking.
  • the manual support operation requires a high degree of control technology for workers, and the marking process It is easy to produce human error in the process, which leads to the offset of the line. At the same time, the workers need to work for a long time in a relatively harsh environment, which has an impact on the health of the workers.
  • the second problem is that most of the internal combustion engines currently used are diesel engines. On the one hand, diesel engines During the working process, there will be a lot of noise, and the released carbon-containing gas will affect the air quality. On the other hand, the diesel engines used in the marking cars are mostly two-cylinder or three-cylinder, and the vibration is large during operation, which is not conducive to high precision. Required scribing work.
  • the present invention adopts ultrasonic ranging technology to realize the functions of automatic marking and automatic alignment of the marking vehicle.
  • the whole marking process does not require manual support, realizes automatic operation, and reduces the technical requirements for workers.
  • the labor intensity of workers and the cost of marking lines can also effectively avoid human errors; the photoelectric conversion technology of solar panels is used, and the accumulator is used to provide power for the marking car, which effectively reduces noise, carbon emissions and energy consumption, and solves the problem of marking.
  • the vibration problem of the line car ensures the scribing accuracy and improves the scribing efficiency.
  • the invention overcomes the deficiencies of the prior art, and the technical problem to be solved is to provide a solar road marking vehicle with automatic alignment function.
  • a solar road marking vehicle with automatic alignment function comprises a power supply device, a material storage device, a traveling device, a marking device and an electric control device.
  • the power supply device includes a solar panel, a solar panel steering table, and an accumulator; the upper end of the solar panel steering table is connected with the solar panel by bolts, and the lower end is hinged with the chassis, and the three rotational degrees of freedom are not affected. Constraints can rotate freely.
  • the accumulator is composed of a battery pack and is installed at the rear of the chassis to provide power for the marking car.
  • the material storage device includes a paint storage tank, a paint level sensor, a pressure sensor, a stirrer, a non-polar floating ball, a floating rod, a floating rod handle, a paint storage tank cover, and an alarm switch;
  • the paint level The sensor is installed at a distance of 5cm from the upper port of the paint storage tank.
  • the paint level sensor can effectively avoid the problem of excessive paint overflow.
  • the agitator is installed at the bottom end of the paint storage tank. The uniformity of paint and the dispersion of additives.
  • One end of the float rod is connected to the non-polar float ball, and the other end is connected to the float rod handle. The non-polar float ball drops during operation.
  • the handle of the floating rod touches the alarm switch installed on the cover of the paint storage tank, and the alarm sounds an alarm, indicating that paint needs to be added, and the marking vehicle can continue to work under the alarm state.
  • Installed between the paint storage tank and the chassis it can detect the pressure value in real time and convert it into an electrical signal and transmit it to the single-chip microcomputer.
  • the pressure sensor detects When the paint weight is less than 2kg, the marking car stops working.
  • the traveling device includes a propelling wheel, a propelling wheel motor, a steering wheel, a steering wheel steering gear, a steering wheel, and an infrared sensor;
  • the wheel is driven by the propulsion wheel motor, and the steering wheel is driven by the steering wheel steering gear.
  • the steering wheel steering gear receives the distance signal sent by the ultrasonic range finder in the electronic control device, and performs forward rotation or reverse rotation response. The position is adjusted under the combined action of the propulsion wheel and the steering wheel, so as to achieve the purpose of automatically aligning the line.
  • the steering wheel is installed above the steering wheel steering gear, and the auxiliary steering wheel rotates in the range of 0 to 180 degrees.
  • the infrared The sensor is installed at the front end of the marking vehicle. When working, the infrared sensor detects whether there is an obstacle in the working area. If there is an obstacle, the marking vehicle stops working.
  • the marking device is located under the chassis, and includes a cleaning roller brush, a roller brush motor, a paint spray pump, a paint spray pipe, a paint spray nozzle, and a marking instrument;
  • the cleaning roller brush is located directly in front of the paint spray nozzle, and the cleaning roller brush is in the roller Driven by the brush motor, it rotates, rubs with the ground at high speed, and cleans the ground.
  • the inlet end of the paint spray pump is connected to the paint storage tank through the paint spray pipe, and the outlet end is connected to the paint spray nozzle through the paint spray pipe.
  • the paint is under the action of the paint pump.
  • the paint spraying nozzle is sprayed from the paint storage tank on the road after being cleaned by the cleaning roller brush.
  • the flow rate of the paint spraying nozzle is adjustable, the nozzle diameter is adjustable, and the width of the line can be controlled within a certain range, effectively realizing the line.
  • the line meter is a laser line marking instrument, which is installed under the chassis and cooperates with the ultrasonic range finder to assist in the alignment of the line and improve the accuracy of the line.
  • the electronic control device includes an ultrasonic range finder, a single-chip microcomputer, a motor drive module, a PWM speed regulation module, a control panel, and an alarm;
  • the ultrasonic range finder measures the distance between the marking vehicle and the curb, and Convert it into an electrical signal and send it to the single-chip microcomputer.
  • the single-chip microcomputer receives the signal and sends out a direction adjustment command.
  • the motor drive module and the PWM speed control module work together to drive the motor to work and find the correct line.
  • the control panel is provided with start and stop. , Emergency stop button, once danger occurs, press the emergency stop button to cut off the power immediately to avoid danger.
  • the alarm is used for safety alarm to ensure normal marking work.
  • the driving speed of the marking vehicle is 1.6km/h after the deceleration process.
  • the paint storage tank can hold 120kg of paint at a time.
  • the external dimensions of the above-mentioned scribing car are 3000mm ⁇ 1200mm ⁇ 1250mm in length ⁇ width ⁇ height, and the diameter of the steering wheel and the propulsion wheel is 300mm.
  • the above-mentioned spraying nozzles have adjustable flow rate, adjustable nozzle diameter, and the width of spraying lines is 10cm-25cm.
  • the present invention Compared with the prior art, the present invention has the following beneficial effects: the present invention adopts the ultrasonic ranging technology, and realizes the functions of automatic marking and automatic alignment of the marking vehicle, and the whole marking process does not require manual support, thus realizing automatic operation. , reducing the technical requirements for workers, labor intensity and cost of marking, and effectively avoiding human errors; using solar panel photoelectric conversion technology, combined with accumulators to provide power for marking vehicles, effectively reducing noise, Carbon emission and energy consumption, solve the problem of scribing car vibration, ensure the scribing accuracy, and improve the scribing efficiency.
  • the invention overcomes the shortcomings of high labor intensity, high technical requirements and low scribing accuracy of traditional manual scribing, and has the technical advantages and popularization value of simple structure, convenient operation, high system efficiency, safety and reliability, high precision and low energy consumption.
  • FIG. 1 is an overall structural diagram of the present invention.
  • Fig. 2 is an axonometric view of the walking device and the scribing device of the present invention.
  • FIG. 3 is a top view of the power supply device of the present invention.
  • Fig. 4 is the structure diagram of the paint storage tank of the present invention.
  • FIG. 5 is a structural diagram of the electronic control device of the present invention.
  • a solar road marking vehicle with automatic alignment function includes a power supply device, a material storage device, a traveling device, a marking device, and an electric control device.
  • the power supply device includes a solar cell panel 21, a solar cell panel turning table 4, and an accumulator 5; the upper end of the solar cell panel turning table 4 is connected with the solar cell panel 21 by bolts, and the lower end is hinged with the chassis 9.
  • the solar panels 21 which are installed on both sides of the paint storage tank 17 respectively.
  • the solar panels 21 directly convert the thermal energy of solar radiation into electrical energy under the action of photovoltaics.
  • the generated electrical energy is stored in the accumulator 5, which is composed of a battery pack and is installed at the rear of the chassis 9 to provide power for the marking vehicle.
  • the material storage device includes a paint storage tank 17, a paint level sensor 27, a pressure sensor 7, a stirrer 28, a non-polar floating ball 22, a floating rod 23, a floating rod handle 24, and a paint storage tank cover 25.
  • the alarm switch 26; the paint level sensor 27 is installed at 5cm from the upper port of the paint storage tank 17, the paint level sensor 27 can effectively avoid the problem of excessive paint overflowing, and the agitator 28 is installed in the paint storage tank 17
  • the inner bottom end is started when the scribing car starts to work to ensure the uniformity of the paint and the dispersion of the additives.
  • One end of the floating rod 23 is connected to the non-polar floating ball 22, and the other end is connected to the floating rod handle 24.
  • the polar float ball 22 descends, and when the paint in the paint storage tank 17 is lower than the set height, the float lever handle 24 touches the alarm switch 26 installed on the paint storage tank cover 25, and the alarm 6 sends out an alarm, prompting the need for Add paint, and the scribing car can continue to work under the alarm state.
  • the pressure sensor 7 belongs to the strain gauge pressure sensor, which is installed between the paint storage tank 17 and the chassis 9. It can detect the pressure value in real time and convert it into an electrical signal to transmit to the When the microcontroller 29 is working, if the alarm device 6 has issued a material shortage alarm, but the paint has not been added in time, when the pressure sensor 7 detects that the paint weight is less than 2kg, the marking car will stop working.
  • the traveling device includes a propelling wheel 16, a propelling wheel motor 14, a steering wheel 2, a steering wheel steering gear 11, a steering wheel 1, and an infrared sensor 10;
  • the steering wheel 2 is in a triangular layout, the propulsion wheel 16 is driven by the propulsion wheel motor 14, and the steering wheel 2 is driven by the steering wheel steering gear 11.
  • the steering wheel steering gear 11 receives the transmission from the ultrasonic range finder 18 in the electronic control device 8.
  • the distance signal carries out forward rotation or reverse rotation response, the marking vehicle adjusts the position under the combined action of the propulsion wheel 16 and the steering wheel 2, and then achieves the purpose of automatically finding the line, the steering wheel 1 is installed on the steering wheel rudder Above the machine 11, the auxiliary steering wheel 2 rotates in the range of 0 to 180 degrees.
  • the infrared sensor 10 is installed at the front end of the marking vehicle. During operation, the infrared sensor 10 detects whether there is an obstacle in the working area. If there is an obstacle , the scribing car stops working.
  • the scribing device is located under the chassis 9, and includes a cleaning roller brush 12, a roller brush motor 3, a paint spray pump 20, a paint spray pipe 19, a paint spray nozzle 15, and a marking instrument 13; the cleaning roller brush 12 is located at the paint spray nozzle.
  • the cleaning roller brush 12 rotates under the drive of the roller brush motor 3, rubs with the ground at a high speed, and cleans the ground.
  • the inlet end of the paint spray pump 20 is connected to the paint storage tank 17 through the paint spray pipe 19, and the outlet end is through the paint
  • the pipeline 19 is connected to the spraying nozzle 15.
  • the marking instrument 13 is a laser marking instrument, which is installed under the chassis 9 and cooperates with the ultrasonic range finder 18 to assist in the alignment of the marking and improve the marking accuracy.
  • the electronic control device 8 includes an ultrasonic range finder 18, a single-chip microcomputer 29, a motor drive module 31, a PWM speed regulation module 32, a control panel 30, and an alarm 6;
  • the distance between the stones along the road is converted into electrical signals and sent to the single-chip microcomputer 29.
  • the single-chip microcomputer 29 receives the signals and sends out direction adjustment instructions.
  • the motor drive module 31 and the PWM speed control module 32 work together to drive the motor to work and find the correct stroke.
  • the alarm 6 is used for safety alarm to ensure normal marking work. .
  • the driving speed of the marking vehicle is 1.6km/h after the deceleration process.
  • the paint storage tank 17 can hold 120kg of paint at a time.
  • the appearance dimensions of the above-mentioned scribing car are 3000mm ⁇ 1200mm ⁇ 1250mm in length ⁇ width ⁇ height, and the diameter of the steering wheel 2 and the propulsion wheel 16 is 300mm.
  • the above-mentioned spraying nozzle 15 has adjustable flow rate, adjustable nozzle diameter, and the spraying line width is 10cm-25cm.
  • the range finder 18 starts to measure the actual distance between the vehicle body and the curb.
  • the single-chip microcomputer 29 receives the signal sent by the ultrasonic range finder 18 and compares the measured distance with the set ideal distance. When the measured distance is less than the ideal distance, a line will be drawn. The car is fine-tuned in the direction away from the road along the stone. When the measured distance is greater than the ideal distance, the line-marking car is fine-tuned in the direction of the road-side stone, until the distance between the line-marking car and the road-side stone is always within the ideal distance range.
  • the infrared sensor 10 located at the front end of the scribing vehicle detects in real time whether there is an obstacle in the working area. If there is an obstacle, the scribing vehicle stops working.
  • the roller brush motor 3 drives the cleaning roller brush 12 to clean the surface for painting and marking, and under the action of the paint spray pump 20, the paint is sprayed from the paint storage tank 17 through the paint spray nozzle 15 on the road cleaned by the cleaning roller brush 12, and the flow rate of the paint spray nozzle 15 Adjustable, the nozzle diameter is adjustable, the scribing width can be controlled within a certain range, and the scribing operation can be effectively realized. As the marking work progresses, the paint in the paint storage tank 17 gradually decreases, and the non-polar floating ball 22 descends.
  • the float lever handle 24 touches and installs On the alarm switch 26 on the paint storage tank cover 25, the alarm device 6 sends out an alarm, indicating that paint needs to be added, and the marking vehicle can continue to work under this alarm state.
  • the pressure sensor 7 detects that the paint weight in the paint storage tank 17 is lower than 2kg, the scribing car stops working.
  • an alarm signal of adding paint is sent out to prevent the paint from overflowing when the paint is overfilled.
  • the emergency stop button on the control panel 30 can be pressed to stop the marking vehicle from working.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Architecture (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Acoustics & Sound (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Road Repair (AREA)

Abstract

L'invention concerne un véhicule de marquage routier à énergie solaire doté d'une fonction d'alignement automatique, et comprenant un appareil d'alimentation électrique, un appareil de stockage de matériau, un appareil de locomotion, un appareil de marquage et un dispositif de commande électronique. L'appareil d'alimentation électrique comprend un panneau solaire, une table de rotation de panneau solaire et un accumulateur ; l'appareil de stockage de matériau comprend un récipient de stockage de peinture, un capteur de niveau de peinture, un capteur de pression, un mélangeur, un flotteur non polaire, une tige de flotteur, une poignée de tige de flotteur, un couvercle de récipient de stockage de peinture, et un commutateur d'alarme ; l'appareil de locomotion comprend des roues de propulsion, un moteur de roue de propulsion, une roue de rotation, un engrenage de direction de roue rotative, un disque tournant, et un capteur infrarouge ; l'appareil de marquage comprend une brosse de rouleau de nettoyage, un moteur de brosse à rouleaux, une pompe de pulvérisation de peinture, un tube de pulvérisation de peinture, une buse de pulvérisation de peinture, et un instrument de marquage ; le dispositif de commande électronique comprend un télémètre à ondes ultrasonores, un micro-ordinateur monopuce, un module d'entraînement de moteur, un module de commande de vitesse PWM, un panneau de commande et un système d'alarme. Dans la présente invention, le télémètre à ondes ultrasonores est utilisé pour mesurer avec précision la distance entre le véhicule de marquage et un trottoir. Lors du fonctionnement, sous la commande du dispositif de commande électronique, l'engrenage de direction de roue tournante donne une réponse de réglage de position, et le véhicule de marquage obtient une fonction de marquage automatique, ce qui permet de résoudre efficacement le problème de grande erreur dans le marquage humain. La présente invention comprend un appareil d'alimentation en énergie solaire et deux panneaux solaires, et le véhicule de marquage utilise un entraînement électrique, ce qui permet de réduire efficacement la consommation d'énergie et de résoudre le problème d'agitation dans des dispositifs de marquage de moteur à combustion interne. La présente invention surmonte les faiblesses du marquage humain traditionnel nécessitant beaucoup de main-d'œuvre et présente des exigences techniques élevées et une faible précision de marquage, présente les avantages techniques d'une structure simple, de commandes pratiques, d'efficacité de système, de sécurité et de fiabilité, de haute précision et de faible consommation d'énergie, et présente une grande valeur d'application.
PCT/CN2021/108533 2020-08-22 2021-07-27 Véhicule de marquage routier à énergie solaire doté d'une fonction d'alignement automatique Ceased WO2022042171A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010852992.6 2020-08-22
CN202010852992.6A CN111851249A (zh) 2020-08-22 2020-08-22 一种具有自动找正功能的太阳能公路划线车

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WO2022042171A1 true WO2022042171A1 (fr) 2022-03-03

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CN116026926A (zh) * 2023-03-29 2023-04-28 山东鲁中公路市政检测有限公司 一种用于公路路面裂缝检测的超声波检测装置
CN116065467A (zh) * 2022-12-21 2023-05-05 安徽湛诚建筑工程有限公司 一种市政施工用道路桥梁打点装置
WO2023199059A3 (fr) * 2022-04-12 2023-12-14 Micropply Limited Système de gestion de réservoir de machine de dépôt au sol
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CN114319010B (zh) * 2022-01-10 2023-07-11 郑州科技学院 车位自动标线装置
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