CN104571121A - Road marking coating machine utilizing visual tracking - Google Patents
Road marking coating machine utilizing visual tracking Download PDFInfo
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- CN104571121A CN104571121A CN201410673999.6A CN201410673999A CN104571121A CN 104571121 A CN104571121 A CN 104571121A CN 201410673999 A CN201410673999 A CN 201410673999A CN 104571121 A CN104571121 A CN 104571121A
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Abstract
The invention discloses a road marking coating machine utilizing visual tracking. According to the technical scheme, firstly, marking is performed along a route on which the road marking coating machine needs to move forward, and the route can be identified by a machine visual identification system after marking; then, a central control system controls the tracking of the moving direction along the identified route, and the road marking coating machine operates while moving to lay coating on a pavement to form a final marked line according to the designed shape and size. The entire system is provided with a general interface, so that the power of the system is provided by the road marking coating machine. According to the invention, the visual identification technology is utilized to enable the road marking coating machine to automatically move forward along a scheduled track, so that the automation and the intelligentization of the road marking coating machine are improved. Compared with the conventional artificial coating, the marked line is more standard, and the phenomena that the size is not consistent and the marked line is bent are avoided.
Description
Technical field:
The present invention relates to a kind of method utilizing machine vision to carry out tracking, especially the tracking of road mark paint machine is advanced.
Background technology:
Tracking utilizes machine vision, responds to certain track, thus the system of tracking formula is moved according to the route preset.Machine vision replaces human eye to carry out the identification of destination object, judgement and measurement with machine, and the visual performance of people simulated by main research computing machine.Machine vision technique relates to the image capture technology of destination object, the treatment technology to image information and the detection and identification technology to destination object.Relative to the traditional measurement method of inspection, the great advantage of machine vision technique be fast, accurately, reliable and intelligent, to improve the consistance of the examination and test of products, production security, reduce labor strength and realize the highly effective and safe production of enterprise and automatic management has irreplaceable effect.The human perception external world is mainly by sense organs such as vision, sense of touch, the sense of hearing and sense of smell, and wherein the information of about 80% is obtained by the organs of vision.Vision Builder for Automated Inspection is measured external environment condition by video camera and computing machine, identify and is judged exactly.But machine vision and human vision have difference in essence, Vision Builder for Automated Inspection be mainly used in be not suitable for manual work or human vision cannot reach requirement and at a high speed industrial products in enormous quantities manufacture some occasions of automatic production line.In the mobile device of road surface, machine vision technique can make the tasks such as it completes automatic tracking navigation, obstacle is evaded automatically, tracking target following.
20 century 70s, David Marr proposes theory of vision computing, specifies specification vision research system.Computer vision based on theory of vision computing, for vision research provides unified theoretical frame.Since the eighties in last century, and experienced by the developing stage moving towards practical application from laboratory, from simple binary Images Processing to the image procossing of the many gray scales of high resolving power to such an extent as to Color Image Processing, all have made great progress from general two-dimensional signal process to the research of three dimensional virtual model and algorithm.At present, with fastest developing speed, use maximum machine vision techniques mainly to concentrate on the developed countries and regions such as America and Europe, Japan.At home, machine vision technique product is universal deep not enough, and domestic also have larger gap with external advanced machine vision technique in machine vision product compared with equipment.At scientific research field, emerge a large amount of machine vision scientific research institution and scholar, rapid progress is achieved to machine vision algorithm research, but fail machine vision applications technology and be not also widely used.
Road traffic marking is mainly drawn and is located at road surface, and stand to expose to the sun and rain, wind and snow is freezing, suffers the pounding wear of vehicle, therefore has strict requirement to its performance.First require that drying time is short, simple to operate, to reduce Coherent traffic noise; Next requires that reflection potential is strong, in bright gay color, and reflectance is strong, makes daytime, there is good visibility at night; 3rd, skid resistance and wearing quality should be had, to ensure traffic safety and serviceable life.The cooling coating that general road surface adopts extraordinary road special, by hand spray reach thickness evenly, the effect of color clarification.Comprising parking stall, Jin Ting yellow line district, channel line, diversion belt, guiding arrow etc. needs the place of graticule all to need to carry out gage mark coating.
Summary of the invention:
The present invention is a kind of road mark paint machine utilizing vision tracking, and its technical scheme is first need the route advanced to mark along road mark paint machine, can be identified after labeled by Machine Vision Recognition system.Then central control system controls direct of travel along the route tracking after identifying, road mark paint machine, along with cooperating of advancing, to be layed in coating on road surface according to the shape and size designed and to form final graticule.Whole system arranges general interface, so the power supply of equipment is provided by road mark paint machine.
The identification of mark depends on Vision Builder for Automated Inspection, and Vision Builder for Automated Inspection is measured external environment condition by video camera and computing machine, identify and judged.
The kind of tracking is not limited to macroscopic graticule or mark, the laser sent for machine, temperature, ultrasonic etc. also can carry out tracking.
Whole vision tracking system is independently module, but devises general interface, for linking-up road gage mark coating machine, is provided the supply of power by road mark paint machine.
Beneficial effect:
This method utilizes the technology of visual identity, road mark paint machine is followed lead projected path automatically to advance, and improves robotization and the intellectuality of road mark paint machine.And the artificial coating before comparing, graticule becomes specification more, there will not be size to differ and buckling phenomenon.
Accompanying drawing illustrates:
Fig. 1 is the system schematic utilizing vision tracking road mark paint machine
Embodiment:
For better the present invention being described, be convenient to understand technical scheme of the present invention, typical but non-limiting embodiment of the present invention is as follows.
First need the route advanced to mark along road mark paint machine, can be identified by Machine Vision Recognition system after labeled.
Then central control system controls direct of travel along the route tracking after identifying, road mark paint machine, along with cooperating of advancing, to be layed in coating on road surface according to the shape and size designed and to form final graticule.
Whole system arranges general interface, so the power supply of equipment is provided by road mark paint machine.
Applicant states, above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.
Claims (4)
1. one kind utilizes the road mark paint machine of vision tracking, it is characterized in that: the route first advanced along road mark paint machine needs marks, can be identified by Machine Vision Recognition system after labeled, then central control system controls direct of travel along the route tracking after identification, road mark paint machine is along with cooperating of advancing, coating is layed on road surface according to the shape and size designed and forms final graticule, whole system arranges general interface, so the power supply of equipment is provided by road mark paint machine.
2. the road mark paint machine utilizing vision tracking according to right 1, it is characterized in that: the identification of mark depends on Vision Builder for Automated Inspection, Vision Builder for Automated Inspection is measured external environment condition by video camera and computing machine, identify and is judged.
3. the road mark paint machine utilizing vision tracking according to right 1, is characterized in that: the kind of tracking is not limited to macroscopic graticule or mark, the laser sent for machine, temperature, ultrasonic etc. also can carry out tracking.
4. the road mark paint machine utilizing vision tracking according to right 1, it is characterized in that: whole vision tracking system is independently module, but devise general interface, for linking-up road gage mark coating machine, provided the supply of power by road mark paint machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410673999.6A CN104571121A (en) | 2014-11-21 | 2014-11-21 | Road marking coating machine utilizing visual tracking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410673999.6A CN104571121A (en) | 2014-11-21 | 2014-11-21 | Road marking coating machine utilizing visual tracking |
Publications (1)
| Publication Number | Publication Date |
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| CN104571121A true CN104571121A (en) | 2015-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410673999.6A Pending CN104571121A (en) | 2014-11-21 | 2014-11-21 | Road marking coating machine utilizing visual tracking |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003082418A1 (en) * | 2002-03-26 | 2003-10-09 | Mcmurtry Ltd | Turf image marker |
| US7100849B2 (en) * | 2003-11-07 | 2006-09-05 | M-E Companies, Inc. Of Wisconsin | Apparatus and method for positioning road marking material application equipment using holographic sights |
| CN101014391A (en) * | 2004-08-06 | 2007-08-08 | 弗利特（划线）有限公司 | Line marking apparatus |
| WO2007102731A1 (en) * | 2006-03-06 | 2007-09-13 | Robostreet B.V. | Paving machine |
| CN202632106U (en) * | 2012-05-31 | 2012-12-26 | 陕西理工学院 | Automatic traveling road marking robot |
| CN103243634A (en) * | 2013-04-27 | 2013-08-14 | 湖南三一路面机械有限公司 | Paver and method for painting road markings by using same |
-
2014
- 2014-11-21 CN CN201410673999.6A patent/CN104571121A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003082418A1 (en) * | 2002-03-26 | 2003-10-09 | Mcmurtry Ltd | Turf image marker |
| US7100849B2 (en) * | 2003-11-07 | 2006-09-05 | M-E Companies, Inc. Of Wisconsin | Apparatus and method for positioning road marking material application equipment using holographic sights |
| CN101014391A (en) * | 2004-08-06 | 2007-08-08 | 弗利特（划线）有限公司 | Line marking apparatus |
| WO2007102731A1 (en) * | 2006-03-06 | 2007-09-13 | Robostreet B.V. | Paving machine |
| CN202632106U (en) * | 2012-05-31 | 2012-12-26 | 陕西理工学院 | Automatic traveling road marking robot |
| CN103243634A (en) * | 2013-04-27 | 2013-08-14 | 湖南三一路面机械有限公司 | Paver and method for painting road markings by using same |
Non-Patent Citations (1)
| Title |
|---|
| 苑玮琦 等: "道路划线车基准线检测方法与检测装置的研究", 《仪表技术与传感器》 * |
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Application publication date: 20150429 |