1 Introduction
Road marking machine is a special machine used to draw various road markings on high-grade highways and urban roads. It is also used to draw new markings on the old markings during the road maintenance process. At present, there are many kinds of marking machines, which are applied to different occasions, but their common features are firstly through manual marking and then mechanical spraying. The manual marking has a large workload, and the work progress is slow and the accuracy is poor. In view of this phenomenon, this paper introduces the road marking machine marking guide robot , which is specially used to provide a more accurate route of the marking machine, which reduces the workload of the manual marking line and improves the accuracy of the marking.
2 outline guiding robot overview
The basic components of the line-guided robot system: the steering control system, the motor-driven crawler walking system, and the paint spraying system. The scribing-oriented robot is mainly used for the scribing guidance of the highway center line. The ultrasonic distance measuring module is installed at both ends of the robot to measure the distance between the roads on both sides of the road to the robot, and the result is processed by the Siemens S7-200PLC software program. The signal drives the motion of the DC motor, causing the robot to quickly approach the centerline and travel on the centerline. When the travel is stable, the spray gun in the paint spray system begins to spray the paint on the ground, providing the marking machine with a more accurate marking. The schematic diagram of the robot control is shown in Figure 1.
Figure 1 Schematic diagram of robot control Fig.1Thediagramofcontrol
3 guidance control system
The basic components of the guidance control system: ultrasonic ranging module and PLC control unit.
The ultrasonic ranging module generally includes a hardware part and a software part, and the hardware part includes a control unit, an ultrasonic sensor, a transmitting and receiving circuit, and the like; the software part is a program fixed in the control unit. Ultrasonic range finder currently on the market can be slightly improved to meet the requirements of this article. The current ultrasonic range finder can reach a distance of about 10m, which far meets the requirements of this paper.
An ultrasonic ranging module is symmetrically mounted on the left and right ends of the robot, and the left and right sensors simultaneously transmit ultrasonic waves to both sides, and compare the time difference between the left and right sensors to determine whether the robot is right or left, and then control the driving wheel DC motor. The movement, thus the robot, travels on the centerline of the road.
