CN108867305A - A kind of full-automatic road tracks pen machine - Google Patents
A kind of full-automatic road tracks pen machine Download PDFInfo
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- CN108867305A CN108867305A CN201810865604.0A CN201810865604A CN108867305A CN 108867305 A CN108867305 A CN 108867305A CN 201810865604 A CN201810865604 A CN 201810865604A CN 108867305 A CN108867305 A CN 108867305A
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- 238000005507 spraying Methods 0.000 claims abstract description 77
- 239000007921 spray Substances 0.000 claims abstract description 44
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- 238000000576 coating method Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 6
- 230000011218 segmentation Effects 0.000 claims description 4
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- 238000005192 partition Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 description 51
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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
- E01C23/222—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying specially adapted for automatic spraying of interrupted, individual or variable markings
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Road Repair (AREA)
Abstract
It tracks pen machine the present invention provides a kind of full-automatic road comprising car body；Control device；Spray lineation device；Range unit and the first camera；Range unit detects the distance between car body and roadside object of reference, and/or the distance between object of reference in car body and road, to make control device determine the movement routine of car body, so that control device control spraying lineation device draw to ground the spraying of traffic mark；First camera shoots the old traffic mark on road surface, to make control device determine the movement routine of car body, so that control device control spraying lineation device cover to ground the spraying of old traffic mark.Full-automatic road provided by the invention tracks, and the certifiable traffic mark sprayed of pen machine is neat, standardizes, and improves spray efficiency and quality.
Description
Technical field
The present invention relates to road traffic mark construction equipment field, specifically a kind of full-automatic road tracks scribing line
Machine.
Background technique
About 580,000 kilometers of the following highway in China network planning mould, highway construction are being accelerated central and west regions exploitation, are being promoted miserably
Area, which shakes off poverty and sets out on the road to prosperity etc., to be had a very important significance.Important safety guarantee of the traffic mark as traffic is pacified in traffic
Status in battalion for the national games highlights.Current graticule construction is divided into two major classes, and new wire spraying and old line spray again.Traditional applies
Work mode needs construction personnel to draw the medium line of graticule to be sprayed according to construction requirement first, so when carrying out new wire spraying
Construction personnel operates existing road line machine and carries out new wire spraying afterwards, and the comparatively laborious trouble of spraying operation is time-consuming and laborious.Multiple
When spraying old line, needs the new position of eye-observation mark and determine the position that graticule starts over.Such old line sprays mode again, often
It causes new line that cannot be completely coincident with old line, in turn results in the confusion of traffic mark.Current market sales of pen machine is equal
Any of the above-described problem is not can be well solved.
Summary of the invention
The present invention is directed to overcome at least one defect of existing pen machine, a kind of full-automatic road is provided and is tracked pen machine,
It is easy to operate, time saving and energy saving, it crosses at low cost, drawn line quality is high, and has very high scribing line efficiency.That is, of the invention
The full-automatic road provided tracks, and the certifiable traffic mark sprayed of pen machine is neat, standardizes, and improves spray efficiency and matter
Amount.
A further object of the invention is able to the quality of new and old traffic sign wire spraying and the logical mark of old acquaintance
Whether will wire spraying, which is overlapped, is detected, and is reacted accordingly, such as prompt staff, automatic straightening etc..
Another of the invention is further objective is that will reliably guarantee the matter of the traffic mark when detour is crossed
Amount, and keep car body car body when excessively curved more stable, prevent the generation for toppling over accident.
Of the invention another effectively avoids the generation of some accidents further objective is that guarantee safety work.
Specifically, it tracks pen machine the present invention provides a kind of full-automatic road comprising:
Car body；
Control device is installed on the car body；
Lineation device is sprayed, the car body is installed on；
Positioning device, the positioning device include range unit and the first camera；The range unit is installed on described
Car body, with detect in the distance between the car body and roadside object of reference and/or the car body and road between object of reference away from
From to make the control device determine the movement routine of the car body, so that the control device controls the spraying
Lineation device draw to ground the spraying of traffic mark；First camera is installed on the Vehicular body front, to clap
The old traffic mark on road surface is taken the photograph, to make the control device determine the movement routine of the car body, so that described
Control device controls the spraying that the spraying lineation device cover to ground the old traffic mark.
Further, the positioning device further includes second camera, is installed on the vehicle bottom, and in described the
It on rear side of one camera, is configured to detect initial position and the stop position of the old traffic mark, so that the control controls
The starting spraying of the spraying lineation device is sprayed with stopping.
It further, further include coating quality detection device, the coating quality detection device is third camera, installation
In the car body, to shoot the portion for the traffic mark that the spraying lineation device on road surface and the road surface is drawn
Sectional, and then the control device is made to judge that the spraying lineation device is drawn according to the road surface and the partial sector
The traffic mark quality.
Further, the height of first camera is 38 to 42cm, and the angle of depression is 28 to 32 degree, and camera visual angle is 80
To 100 degree, so that longitudinal preceding examination distance of first camera is 60 to 80cm, lateral observed length is 150 to 170cm.
Further, the car body includes segmentation differential turning system.
Further, the spraying lineation device includes lifting device and spray head, and the spray head is installed on the lifting dress
It sets, to adjust the width for the traffic mark that will be drawn in turn with lifting device lifting.
Further, further include multiple ultrasonic distance-measuring sensors, be set to the car body, and along the circumferential direction of the car body
Directional spreding；Multiple ultrasonic distance-measuring sensors are connected with the control device, to have detected whether described in object entrance
Within the scope of the safe distance of car body, so that making the control when there is object to enter within the scope of the safe distance of the car body
Device processed controls the car body and stops movement.
Further, further include speed detector, be configured to detect the travel speed of the car body, so that the control
Device controls the travel speed of the car body according to the travel speed detected using incremental timestamp algorithm.
It further, further include line style selection device, the line style selection device is DIP device, so that the control device
According to the type for the traffic mark that the information determination that the DIP device inputs will be drawn.
Further, the range unit includes multiple laser range sensors；First camera is the face ov7620
Battle array ccd camera；The roadside object of reference is kerb or the standby plate with idler wheel；Object of reference is center isolation in the road
Band；The third camera is TSL1401 line array CCD camera.
Full-automatic road of the invention tracks pen machine, because having range unit and the first camera, can make to control
The position for the new line that the distance determination that device is detected according to range unit will be drawn simultaneously is crossed, and can also be taken the photograph according to first
The old line position shot as head carries out old line to the covering of old line and sprays again.Full-automatic road of the invention track pen machine carry out new line
During spraying, reduce the participation of constructor, is greatly saved manually, and completely not with traditional new form of construction work of mark
Together, construction efficiency greatly increases.When carrying out scientific and reasonable old line and spraying again, compared to the form of construction work that traditional old line sprays again,
Full-automatic road of the invention tracks, and pen machine construction efficiency is higher, and the new line of spraying and the registration of old line are higher, matter of constructing
Amount is substantially improved.Full-automatic road provided by the invention tracks, and the certifiable traffic mark sprayed of pen machine is neat, standardizes, and mentions
High spray efficiency and quality.
Further, the full-automatic road of the invention pen machine that tracks can shoot old traffic mark using second camera
Initial position and stop position, judge when should start to cross instead of the glasses of construction personnel, when answer
Stopping scribing line guaranteeing that new line and old line have higher registration.
Further, the full-automatic road of the invention pen machine that tracks road surface and can be drawn using the shooting of third camera
Markings, the graticule and road surface color contrast between spraying are obvious, can detecte judgement spraying effect；When the mark of discovery spraying
When there is the problems such as incomplete interruption in line, can emergency braking at once, amber light is lighted on control panel, and is sounded an alarm.Compared to present
Artificial judgment, the present invention judgement it is more accurate, it is free of discontinuities, it is high-efficient.Existing road line machine is overcome to construct
When, need construction personnel to observe by naked eyes, identification is low, and subjectivity is strong, and can not carry out parameter to the quality of graticule
Change detection.
Further, full-automatic road of the invention tracks pen machine due to having segmentation differential turning system, when work,
It can come to carry out differential driving to rear-wheel automatically according to the angle of Nose Wheel Steering, make to spray mark of the lineation device in detour scribing line
The quality of line is higher, and keeps car body car body when excessively curved more stable, prevents the generation for toppling over accident.Overcome existing market
On pen machine otherwise without the ability advanced automatically, that is, need construction personnel push advance or only simply drive
Spraying lineation device advance.
Further, the full-automatic road of the invention pen machine that tracks can carry out safety failure real-time monitoring.It is being marked
When line is constructed, although will do it road closed, also inevitably there is pedestrian to seek and conveniently cross construction area for the moment；In the present invention
When graticule is drawn in spray, it is possible that the case where paint runs out in spray head or the blocking of paint road, paint case.For the feelings being likely to occur above
Condition is targetedly solved.Ultrasonic distance-measuring sensor is respectively installed at the four sides of car body, when having detected that object is close
Or when occurring object in safe distance, can emergency braking, sound an alarm, and start red lamp, come remind construction
Personnel.Compared to traditional pen machine, full-automatic road of the invention track pen machine construction it is more safe and efficient, effectively keep away
The generation of some accidents is exempted from.
Further, full-automatic road of the invention tracks pen machine, realizes the traffic sign of different type, different in width
Line is sprayed, spray coating operations that are easy to use and can satisfy most of road traffic marks.
Detailed description of the invention
Some specific embodiments of the present invention is described in detail by way of example and not limitation with reference to the accompanying drawings hereinafter.
Identical appended drawing reference denotes same or similar part or part in attached drawing.It should be appreciated by those skilled in the art that these
What attached drawing was not necessarily drawn to scale.In attached drawing：
Fig. 1 is that full-automatic road according to an embodiment of the invention tracks the structure chart of pen machine；
Fig. 2 is that full-automatic road shown in Fig. 1 tracks the schematic diagram at another visual angle of pen machine.
Specific embodiment
According to the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will be brighter
The above and other objects, advantages and features of the present invention.
Fig. 1 is that full-automatic road according to an embodiment of the invention tracks the structure chart of pen machine.As shown in Figure 1 and join
Fig. 2 is examined, is tracked pen machine the embodiment of the invention provides a kind of full-automatic road.The full-automatic road pen machine that tracks may include
Car body 20, spraying lineation device 40, line style selection device, positioning device and control device 30.Control device 30 and spraying scribing line
Device 40 is mounted on car body 20.Spraying lineation device 40 may include spray head, valve, pump, material spray case etc., can be in control device 30
Control under carry out traffic mark spraying.Further, spraying lineation device 40 includes lifting device and spray head, spray head peace
Loaded on lifting device, to adjust the width for the traffic mark that will be drawn in turn with lifting device lifting.Line style selection device
For DIP device, so that the type for the traffic mark that control device 30 will be drawn according to the information determination that DIP device inputs.?
During the new wire spraying of road, there are many spray situation for meeting.For example, spray dotted line, sprays solid line, the length of solid line and dotted line is sprayed
It will be different, 5 meters of some sprays, 3 meters of some sprays etc..In order to solve to spray many kinds of situation, this programme uses one
DIP device structure presets various spraying methods, sets in a program in advance, and when practice only needs only to need to stir
On DIP device to the position of corresponding modes, program will be carried out according to given mode.The scribing line that is, full-automatic road tracks
Machine be equipped with selection switch, construction personnel can choose spraying traffic mark be it is continuous or intermittent, every how many
Rice spraying how much rice etc..
Positioning device can be used for the position for the traffic mark that determination will be drawn, and drive spraying to draw so that car body 20 is mobile
Line apparatus 40 is sprayed.Specifically, positioning device may include range unit 50 and the first camera 60.Range unit 50 is installed
In car body 20, with detect in the distance between car body 20 and roadside object of reference and/or car body 20 and road between object of reference away from
From to make the movement routine of the determining car body 20 of control device 30, so that the control spraying lineation device 40 of control device 30
Draw to ground the spraying of traffic mark.First camera 60 is installed on 20 front of car body, can be at the front side of spray head,
To shoot the old traffic mark on road surface, to make control device 30 determine the movement routine of car body 20, so that controlling
The control spraying lineation device 40 of device 30 cover to ground the spraying of old traffic mark.
Further, range unit 50 preferably includes multiple laser range sensors, such as laser range sensor is two
A, one is set on the downside of 20 front end of car body, another is set to 20 middle part downside of car body, can be sensed according to multiple laser rangings
The distance of device detection carries out COMPREHENSIVE CALCULATING and determines the distance between car body 20 and roadside object of reference and/or the car body 20 and road
The distance between middle object of reference.In further embodiments, fraction of laser light distance measuring sensor is for determining that car body 20 and roadside are joined
According to the distance between object；Fraction of laser light distance measuring sensor for determining the distance between object of reference in car body 20 and road, such as when
When laser range sensor is two, laser range sensor be used to determine between car body 20 and roadside object of reference away from
From；Another laser range sensor is for determining the distance between object of reference in car body 20 and road.First camera 60 is preferably
The face ov7620 battle array ccd camera.Roadside object of reference is preferably kerb or the standby plate with idler wheel.Object of reference is preferably in road
Central partition.
Full-automatic road one of the pen machine major function that tracks is exactly new wire spraying.The road for carrying out new wire spraying is needed to refer to
Just build road that is completion or re-starting asphalt paving.Under the premise of guaranteeing road construction quality, it is of the invention it is complete from
The dynamic road pen machine that tracks is that first can preferably realize the pen machine for the scribing line that independently tracks.When carrying out new wire spraying, this
When condition of road surface it is good, kerb integrity degree is high, the problems such as collapsing subgrade settlement there is no road surface.Control device 30 may include position
Information acquisition module is set, location information acquisition is carried out with laser range sensor.Even if laser range sensor can be on road surface
Laser level is still kept in the case where out-of-flatness, guarantees measurement quality.The traffic mark to be sprayed set according to construction personnel
The distance of will line-spacing kerb is standard, and the distance that car body 20 arrives kerb is measured with laser range sensor, complete to determine
Automatic road tracks the travelling route of pen machine.When constructing on the road of not kerb, range unit 50 is adjustable, turns
And go to measure the distance of traffic sign linear distance road center isolation strip to be sprayed.Both without kerb or without center isolation
The section of band, can spare one be equipped with idler wheel standby plate, simulate kerb, it is only necessary to construction personnel along roadside push it is spare
Plate advances to a reference of the invention.Full-automatic road track pen machine top equipped with roll adjustment knob, can set manually
The distance of fixed road traffic sign linear distance kerb to be sprayed.
Further, laser range sensor can detect multi-group data when carrying out range measurement simultaneously, according to multiple groups number
According to average value or weighted average controlled.And data can remove maximum value and minimum value is calculated when calculating.Into one
Step ground, during car body is mobile, when encountering the measured value or average value of mutation, car body does not do deflecting processing, with overcome because
Error caused by kerb breakage etc..Moreover, the car body in the embodiment of the present invention can advance automatically, automatic deflecting.For example, adopting
In 40 groups of data of collection, range error of the graticule apart from kerb is 0.911%---0.966%, and the error of laser ranging
For 1mm/10m, i.e. error is 0.01%, far smaller than manual measurement construction error.Laser ranging acquires more in one action
Group data, and data are handled, keep data more acurrate.When one group of data mutates, car body not will do it racing
It is curved, keep graticule tortuous, but a makeover process, keep graticule air brushing ideal as far as possible.
Full-automatic road one of the pen machine major function that tracks is exactly that scientific and reasonable old line sprays again.Traffic mark passes through
Situations such as exposing to the weather, general wear, will appear smudgy problem, needs to carry out old line at this time and sprays again.It needs to carry out old line
The problems such as section of spraying, some will appear road surface portion concave, subgrade settlement, kerb is damaged.The present invention walks straight at this time
Mode is based on the observation of the first camera 60.It is sprayed to more accurately control the starting spraying of spraying lineation device with stopping
It applies, positioning device further includes second camera 70, is installed on 20 bottom of car body, and in 60 rear side of the first camera, be configured to
Initial position and the stop position of old traffic mark are detected, so that the starting of control control spraying lineation device sprays and stops
Spraying.Second camera 70 is preferably TSL1401 line array CCD camera, OV7620 digital camera head etc..In the front of vehicle bottom
TSL1401 camera is installed, the position and end position start to old line is detected in real time, and is installed in Vehicular body front
The first camera 60 determine walk histogram formula, compared to the form of construction work that traditional old line sprays again, construction efficiency of the present invention is more
Height, the new line of spraying and the registration of old line are higher, and construction quality is substantially improved.
The present invention, which has, independently to track, carries out the ability that traffic mark spray is drawn, and reduces constructor's to the greatest extent
The amount of labour alleviates the daily operating pressure of construction personnel, improves construction efficiency；Histogram formula is walked using laser ranging, is kept away
Exempt from many and diverse traditional artificial form of construction work (first to carry out traffic mark range measurement, then draw and determine traffic mark, finally push
Pen machine carries out spray and draws a traffic mark), improve construction precision as far as possible, abbreviation work progress improves construction effect
Rate reduces the use of the amount of labour.Old line sprays the registration that ensure that new line Yu old line again.That is, it is of the invention it is complete from
Dynamic road tracks pen machine with higher construction precision, faster speed of application, lower labor intensity.
In some embodiments of the invention, the height of first camera 60 is 38 to 42cm, preferably 40cm；It bows
Angle is spent for 28 to 32, and preferably 30 degree；Camera visual angle is spent for 80 to 100, and preferably 90 °；So that first camera
Apart from being 60 to 80cm, lateral observed length is 150 to 170cm for examination before longitudinal, and it is preferably 70cm that distance is tried before longitudinal, is laterally seen
Surveying length is preferably 160cm.The lateral resolution of first camera 60 can be 320, can be calculated the error essence of each pixel
Degree is 0.5cm, therefore car body has the coincidence error of 0.5cm or so relative to old markings, and construction requirement is missed no more than 1cm
Difference, therefore this programme meets construction requirement.
In some embodiments of the invention, the present invention detects graticule by second camera 70 and begins to stop, and process control makes
The every 20ms of the second camera acquires an image and image procossing, then control device according to the processing result of image data come
The start and stop of control spraying lineation device, for example, spraying lineation device just carries out air brushing work when detecting original white line
Industry, when can't detect original white line, spraying lineation device just stops working.Because spraying lineation device is opened, is closed
Close delay be about 0.5s, that is to say, that since module detect original white line to spraying lineation device really air brushing work when
It waits, the time delay of 0.5s+20ms=520ms or so is had during this, calculated by speed 5.04km/h, when this section of air brushing postpones
The interior air brushing error in length missed is 5.04km/h*520ms=0.7cm or so, and construction requirement is no more than 1cm error, because
This this programme meets construction requirement.
In some preferred embodiments of the invention, full-automatic road track pen machine further include coating quality detection dress
It sets and warning device.Coating quality detection device is third camera 80, car body 20 is installed on, to shoot on road surface and road surface
The partial sector of traffic mark that draws of spraying lineation device 40, and then make control device 30 according to road surface and part area
The quality for the traffic mark that section judgement spraying lineation device 40 is drawn.Warning device may include amber light and alarm.Further
Ground, third camera 80 can be TSL1401 line array CCD camera, i.e. OV7620 digital camera.
In some embodiments of the invention, the full-automatic road pen machine that tracks further includes multiple ultrasonic distance measurements sensing
Device is set to car body 20, and is distributed along the circumferential direction of car body 20；Multiple ultrasonic distance-measuring sensors and 30 phase of control device
Even, to detect whether that object enters within the scope of the safe distance of car body 20, so that in the peace for thering is object to enter car body 20
When within the scope of full distance, so that control device 30 is controlled car body 20 and stop movement.
In traditional road traffic mark form of construction work, manual operation pen machine is needed to construct.However it is traditional
Road line machine do not have traffic sign line mass (interruption, change width etc. whether occur) detection function, need human eye into
Row observation, identification is low, and subjectivity is strong, and can not carry out parametrization detection to the quality of traffic mark.Construction personnel into
When row construction, need constantly to pay attention to the environment of surrounding.When being in an emergency or constructor is when overworked and absent-minded, easily
It causes danger.Spray head rear is mountable in the present invention TSL1401 camera, traffic mark whether can occurs to traffic mark
The problems such as will line interruption, change width, is measured in real time.Traffic mark and road surface color contrast between spraying is obvious, can
To detect spraying effect with third camera 80.When there is the problems such as incomplete interruption in the traffic mark of discovery spraying, this hair
Bright emergency braking at once, amber light is lighted on control panel, and is sounded an alarm.The present invention is equipped with ultrasonic wave around vehicle body simultaneously
Range finder module can carry out real-time monitoring to ambient enviroment.In construction, before being strayed into boundary of works area or the present invention if there is pedestrian
When there is barrier in side, the present invention can carry out emergency braking and sound an alarm, and remind staff to come to handle, remind construction with this
Emergency occurs for personnel.When traffic mark is drawn in present invention spray, it is possible that painting quilt in spray head or the blocking of paint road, paint case
The case where being finished, if there is above situation, the present invention also capable of emitting alarm.Therefore completely new road walks direct-injection and applies lineation device 40
It is more intelligent, it constructs safer.Compared to present artificial judgment, the present invention judges more accurate, free of discontinuities, efficiency
It is high.During construction, reduce the participation of constructor, be greatly saved it is artificial, and with traditional new form of construction work of mark
Entirely different, construction efficiency greatly increases.
In order to make 20 smooth ride of car body, the especially smooth-ride in turn section, full-automatic road tracks pen machine,
It is characterized in that, car body 20 includes speed detector and segmentation differential turning system.Speed detector is configured to detection car body
20 travel speed, so that control device 30 controls car body using incremental timestamp algorithm according to the travel speed detected
20 travel speed.
Pen machine on the market or without the ability advanced automatically now, that is, need construction personnel to push advance,
Spraying lineation device 40 is only simply drive to advance.The present invention at work, can be automatically according to the angle of Nose Wheel Steering
Degree to carry out differential driving to rear-wheel, keeps the quality for spraying traffic mark of the lineation device 40 in detour scribing line higher, and
And keep the car body 20 when excessively curved of car body 20 more stable, prevent the generation for toppling over accident.
In some embodiments of the invention, the first camera 60 is being carried out in use, by the first camera 60
Timing diagram it is found that the data that can be realized by the triggering interrupt processing to low and high level real-time acquisition, realize highway on
The determination of existing traffic sign line position.In process control, letter is interrupted by the row that 16,19 pins to GPIOA carry out image
Number HERF, field interrupt signal VSYN acquisition, 8 pins for passing through GPIOD carry out the pixel interrupt signal PLCK acquisition of image.Every touching
Acquisition signal of sending out row primary, the channel of DMA is enabled primary, and the first camera 60 reads a line image data, row acquisition counter mark
Will ROW_Count is primary from adding, and as ROW_Count=240, illustrates that piece image acquisition finishes, row acquisition flag bit Is_
SendPhoto closes the enabled closing in channel of DMA, guarantees the complete transmission of image.When interrupt signal triggers on the spot, row acquisition mark
Will position is opened, row is counted and reset, and starts to resurvey lower piece image, such circle collection.First camera 60 is acquired
Image information, we can not directly use, it is also necessary to binary conversion treatment be carried out to it by the method for software, after facilitating
Continuous control calculates.The binary number that one Pixel Information is 8, so according to the light intensity of the pixel, the first camera 60
It can be translated into the digital quantity of 0-255, light intensity is bigger, and the numerical value is higher, because of the black of the white line in road and its background
Pitch contrast is obvious, so the two can be distinguished using suitable threshold value.By to equipped with data information
Two-dimensional array is handled, we can calculate the right boundary of white line, and then finds out the position center of acquired white line,
Then it is made the difference with the theoretical intermediate value MIDDLE of vehicle body, finds out the deviation centerERR of each row data in image.According to different power
Again to deviation carry out it is cumulative sum and handle to obtain sum, the size description of sum car body 20 deviates the angle of white line, then leads to
Suitable differential, course changing control are crossed, being overlapped and carry out old line and spraying work again for vehicle body and old line may be implemented.It is sprayed again in old line
In the process, counting one of difficult point is exactly to determine that the beginning off-position of spraying is set.In some optional embodiments, using color sensor come
It identifies traffic mark start and stop, but because it is not comprehensive using complicated and detection, abandons this kind of scheme, then using the
The identification that two cameras 70, i.e. tsl1401 linear array ccd carry out white line is worked well with controlling the switch of spray head.Linear array ccd energy
The image data for enough scanning a line generates final image in conjunction with process control according to light reflected intensity.It is adopted in white line detection
With two linear array ccd, i.e. second camera 70 and third camera 80.Ccd before spray head carries out the work of traffic sign ray examination,
The switch of spray head is controlled by it；The ccd at spray head rear carries out coating quality and detects work, when the spray head detects the spraying of white line
When quality is problematic, it can immediately stop spraying, stop and alarm, construction personnel is reminded to check reason.
In order to enable car body 20 smoothly along road running, need to measure the speed of car body 20 in real time, therefore, we
Case obtains the travel speed of car body 20 by speed measuring module (i.e. speed detector), it is compared with given speed, structure
At closed loop feedback system, the control to 20 speed of car body is realized.It is controlled by the duty ratio of pwm signal in control motor driven
The average voltage at direct current generator both ends, and then regulation speed.If without speed measuring module, under opened loop control state, motor speed
It will receive several factors influence, such as the frictional force of motor drive, road friction power, cell voltage, front wheel steering angle.These because
Element can all cause 20 fluctuation of service of car body.After speed measuring module, the closed loop feedback control to speed may be implemented, so that it may
It eliminates above-mentioned factor and adverse effect is run to intelligent vehicle, keep car body 20 more stable when running.Digital IIR filters are calculated
Method includes position model and increment type PID, in order to avoid in historical data error it is cumulative, the design uses increment type PID.Increment
Type algorithm has lot of advantages：What incremental algorithm calculated every time is to export the increment of control amount, and control amount is to need to add
The output quantity of last time, the probability for generating malfunction in this way substantially reduce；Incremental algorithm does not need to do cumulative, and the determination of increment is only
And deviation sampled value is related several times recently, and computational accuracy is smaller on the calculating of control amount influence, and position type algorithm will be used
The accumulated value for going deviation is easy to produce big add up error；Using incremental algorithm, it is easy to accomplish manually to automatically without impact
Switching.Control programming is according to (by taking revolver as an example)：
SpeedL=(s16) (last_moto_speedL+sp* (speedE1L-speedE2L)+si*speedE1L)
Wherein：SpeedL is that n-th exports control amount；Last_moto_speedL is (n-1)th output control amount；
SpeedE1L is n-th deviation；SpeedE2L is (n-1)th deviation；Sp is proportional gain factor；Si is integration gain factor.
Further, there are many kinds of the methods to test the speed, i.e., speed detector can there are many, such as with speed-testing engine,
Reflecting light electro-detection, transmission type photoelectric detection etc..This using transmission type photoelectric encoder, inside be photoelectric tube
Grating encoder is added to constitute, structure is simple, and stability is high.The rotary shaft of decoder internal is connected with the rotation axis of motor, by revolving
Shaft drives rotating disk to be rotated, and the light that light source issues is received through the slot in rotating disk by light receiving element, thus
Export pulse number.Pulse number by calculating photoelectric encoder output per second can calculate the revolving speed of motor.
Full-automatic road of the invention tracks the function realizing method of pen machine, has thoroughly overthrown the structure of previous spray line machine
Pattern.The various pieces coordinating and unifying organically combines, and realizes function of the present invention to greatest extent.Each section is mutually indepedent, is occurring
It places under repair where problem can be correctly found when damage and in time.And what is used when designing and producing is state's tender,
When the present invention is damaged, it may be convenient to which purchase is used for repair and replacement, avoids trouble customized.It crosses in contrast to tradition
The form of construction work of machine, the present invention have great advantages in the following aspects.Full-automatic road tracks pen machine with safety
Monitoring system, construction safety degree are high；Traditional pen machine does not have, and construction safety degree is poor.Every full-automatic road tracks scribing line
Machine only needs 1 to 2 people to operate；Every traditional pen machine needs 3 to 5 people.Full-automatic road tracks pen machine construction quality
Height, traditional pen machine construction quality are low.Full-automatic road tracks pen machine speed of application (per car) about 5.04Km/h, tradition scribing line
Machine speed of application (per car) about 3.6Km/h.Full-automatic road tracks pen machine construction efficiency (everyone) about 5Km/h, tradition scribing line
Machine construction efficiency (everyone) about 0.8 to 1.2Km/h.
So far, although those skilled in the art will appreciate that present invention has been shown and described in detail herein multiple shows
Example property embodiment still without departing from the spirit and scope of the present invention, still can according to the present disclosure directly
Determine or deduce out many other variations or modifications consistent with the principles of the invention.Therefore, the scope of the present invention is understood that and recognizes
It is set to and covers all such other variations or modifications.
Claims (10)
- The pen machine 1. a kind of full-automatic road tracks, it is characterised in that including:Car body；Control device is installed on the car body；Lineation device is sprayed, the car body is installed on；Positioning device, the positioning device include range unit and the first camera；The range unit is installed on the car body, It is configured to detect the distance between object of reference in the distance between the car body and roadside object of reference and/or the car body and road, To make the control device determine the movement routine of the car body, so that the control device controls the spraying scribing line Device draw to ground the spraying of traffic mark；First camera is installed on the Vehicular body front, configures heterodyne The old traffic mark on road surface is taken the photograph, to make the control device determine the movement routine of the car body, so that described Control device controls the spraying that the spraying lineation device cover to ground the old traffic mark.
- The pen machine 2. full-automatic road according to claim 1 tracks, which is characterized in thatThe positioning device further includes second camera, is installed on the vehicle bottom, and on rear side of first camera, It is configured to detect initial position and the stop position of the old traffic mark, so that the control controls the spraying scribing line dress Starting spraying and the stopping set spray.
- The pen machine 3. full-automatic road according to claim 1 tracks, which is characterized in that further include coating quality detection dress It sets, the coating quality detection device is third camera, is installed on the car body, and the spray in the spraying lineation device The rear of head, to shoot the part for the traffic mark that the spraying lineation device on road surface and the road surface is drawn Section, and then the control device is made to judge what the spraying lineation device was drawn according to the road surface and the partial sector The quality of the traffic mark.
- The pen machine 4. full-automatic road according to claim 1 tracks, which is characterized in thatThe height of first camera is 38 to 42cm, and the angle of depression is 28 to 32 degree, and camera visual angle is 80 to 100 degree, so that Longitudinal preceding examination distance of first camera is 60 to 80cm, and lateral observed length is 150 to 170cm.
- The pen machine 5. full-automatic road according to claim 1 tracks, which is characterized in that the car body includes segmentation differential Turning system.
- The pen machine 6. full-automatic road according to claim 1 tracks, which is characterized in that the spraying lineation device includes Lifting device and spray head, the spray head are installed on the lifting device, will be drawn with going up and down and then adjusting with the lifting device The width of the traffic mark out.
- The pen machine 7. full-automatic road according to claim 1 tracks, which is characterized in that further include multiple ultrasonic distance measurements Sensor is set to the car body, and is distributed along the circumferential direction of the car body；Multiple ultrasonic distance-measuring sensors and institute It states control device to be connected, to detect whether that object enters within the scope of the safe distance of the car body, so that there is object When within the scope of into the safe distance of the car body, so that the control device is controlled the car body and stop movement.
- The pen machine 8. full-automatic road according to claim 1 tracks, which is characterized in that it further include speed detector, It is configured to detect the travel speed of the car body, so that the control device uses increment according to the travel speed detected Formula pid control algorithm controls the travel speed of the car body.
- The pen machine 9. full-automatic road according to claim 1 tracks, which is characterized in that it further include line style selection device, The line style selection device is DIP device, so that the information determination that the control device is inputted according to the DIP device will be drawn The traffic mark type.
- The pen machine 10. full-automatic road according to claim 3 tracks, which is characterized in that the range unit includes more A laser range sensor；First camera is the face ov7620 battle array ccd camera；The roadside object of reference be kerb or Standby plate with idler wheel；Object of reference is central partition in the road；The third camera is that TSL1401 line array CCD is taken the photograph As head.
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| CN201810865604.0A CN108867305A (en) | 2018-08-01 | 2018-08-01 | A kind of full-automatic road tracks pen machine |
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| CN201810865604.0A Pending CN108867305A (en) | 2018-08-01 | 2018-08-01 | A kind of full-automatic road tracks pen machine |
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| CN109653071A (en) * | 2018-12-02 | 2019-04-19 | 北京博纳菲德科技有限公司 | A kind of Expressway Road problem detection vehicle |
| CN110130198A (en) * | 2019-06-20 | 2019-08-16 | 倪晋挺 | A kind of index device of road pavement |
| CN110593073A (en) * | 2019-10-11 | 2019-12-20 | 唐山学院 | Intelligent vehicle capable of automatically spraying traffic markings and control method |
| CN110965452A (en) * | 2019-12-15 | 2020-04-07 | 那佳 | Road marking device |
| CN112779845A (en) * | 2021-01-27 | 2021-05-11 | 樊勇军 | Automatic pre-scribing equipment for road marking line and working method |
| CN112886888A (en) * | 2021-01-12 | 2021-06-01 | 烟台大学 | Fuzzy error feedback permanent magnet synchronous motor rotating speed control method |
| CN113373784A (en) * | 2021-06-09 | 2021-09-10 | 扬州市鑫通交通器材集团有限公司 | Road marking device for urban road traffic |
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| 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 |
| CN114808651A (en) * | 2022-06-07 | 2022-07-29 | 仲恺农业工程学院 | Full-automatic road section route planning construction marking vehicle |
| CN114990980A (en) * | 2022-06-07 | 2022-09-02 | 仲恺农业工程学院 | Full-automatic device capable of planning route and confirming road traffic pavement execution identification |
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| CN112886888A (en) * | 2021-01-12 | 2021-06-01 | 烟台大学 | Fuzzy error feedback permanent magnet synchronous motor rotating speed control method |
| CN112779845A (en) * | 2021-01-27 | 2021-05-11 | 樊勇军 | Automatic pre-scribing equipment for road marking line and working method |
| CN113373784A (en) * | 2021-06-09 | 2021-09-10 | 扬州市鑫通交通器材集团有限公司 | Road marking device for urban road traffic |
| CN114234945A (en) * | 2021-12-24 | 2022-03-25 | 赵楠 | Land space planning is with measuring boundary identification means |
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| CN114808651A (en) * | 2022-06-07 | 2022-07-29 | 仲恺农业工程学院 | Full-automatic road section route planning construction marking vehicle |
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