EA033671B1 - Automatic horizontal road marking repetition device - Google Patents

Abstract

The invention relates to the field of machinery engineering. The objective is to perform automatically repetition of road marking with high velocity at straight-line and curvilineal sections of roads. On Fig. 1, on a vehicle (3), the marking unit (1) is mounted with linear drive (7) made with a possibility of positioning painting guns (4, 5) to resumed lines of previous marking (22). In front of the marking unit (1), a laser scanner (2) is installed for accurate finding of coordinates of such marking lines (22) lying close to the painting guns. Electronic control unit (14) controls the linear drive (7) and the painting guns (4, 5) based on the information from the laser scanner (2). Based on the signal of electronic gyroscope (19), the electronic control unit (14) compensates additional deviation of the painting guns from the lines of renewed marking while the vehicle (3) is moving at curvilinear sections of roads. The device comprises a digital video camera (20), with the help of which the electronic control unit (14) determines the type and coordinates of marking lines distant from the laser scanner.

Description

The invention relates to the field of mechanical engineering and relates to machines and auxiliary equipment for the construction and repair of roads, namely, devices for applying horizontal road marking when updating previously applied.

A device for applying longitudinal road marking is known, which can also be used to automatically repeat horizontal road marking ([1], patent EP0643171. Means for spraying longitudinal road markings. IPC E01C 23/163, priority 13.09.1993, published 03.15.1993, published g.). It includes the equipment of the marking unit, connected to the systems of far and near vision, with the possibility of installation on a vehicle.

The marking unit contains paint guns fixed to the carriage, equipped with a device for opening and closing them, and a linear carriage drive with the possibility of its positioning in the direction transverse to the vehicle movement, for guiding the paint guns onto updated road marking lines.

A suspension is located between the marking block and the vehicle frame, which ensures that the marking block is raised to the transport position and the support wheel of the marking block is clamped to the road surface to ensure a constant height of the marking guns above the road surface when marking.

The long-range vision system is designed to identify the marking, as well as to determine the position of the marking lines remote from the marking block, their length and width. It determines the approximate position of the horizontal marking lines and consists of the first video camera installed in front of the vehicle, capable of identifying the markings simultaneously to the left and to the right of it, as well as from the first electronic video signal processing device.

To correct the coordinates of the marking lines defined by the far vision system, a near vision system is designed that determines the coordinates of the marking lines near the marking block. It consists of a second video camera located close to the marking block and a second electronic video processing device. The second video camera is located with the possibility of horizontal movement together with spray guns.

An electronic control unit is installed on the vehicle to control the linear carriage drive and the device for opening and closing paint spray guns.

The linear drive controlled by the electronic control unit positions the spray guns in a position corresponding to the previously determined coordinates of the marking lines using the long-range vision system and adjusted using the near-vision system. The control unit also generates the corresponding signals to the device for switching on and off the spray guns.

The specified known device [1] has significant disadvantages:

in systems of far and near vision, cameras are used to identify and determine the position of lines of repeated marking, which are subject to the influence of extraneous solar illumination and do not allow to accurately determine the coordinates of marking strokes;

the accuracy of determining the coordinates of marking strokes using cameras is not higher than 50 mm, while the standards of most countries require an accuracy of 5-10 mm. For this reason, the specified device [1], patented 22 years ago, did not receive wide practical application;

the near-vision video camera designed to determine the coordinates of marking lines near the spray guns is mounted on a movable carriage and moves together with the spray guns in a vertical and horizontal plane, and the frequent uneven movements of the video camera due to lateral movements of the linear drive carriage do not allow precise determination of the line coordinates markup.

The above-mentioned disadvantages are eliminated in the system for automatically repeating horizontal road marking ([2], New Technologies in Road Marking // Highways. Monthly Information and Analytical Journal, No. 3 (964), pp. 54-56) and ([3] , New marking technologies being developed. Electronic resource http.//www.worldhighways.com/categories/road-markings-barriersworkzone-protection/features/new-marking-technologies-being-developed/ access date 27.10.2016), the design of which found practical application in the LIS installation adopted as a prototype ([4], Installation for automatic repetition of road marking of LIS. Rukov equipment for the operation of SDTI L007.00.00.000 OM) produced and sold by a private unitary manufacturing enterprise Construction equipment and materials according to the technical conditions registered in the Republic of Belarus ([5], Installation for automatic repetition of road marking LIS. Technical conditions TU BY 200647886.024-2007 )

This prototype device [4] includes marking block equipment installed on a vehicle and a near vision system, in which a laser scanner with modulated laser radiation is used instead of a video camera, as in analogue [1]. The laser scanner is mounted stationary relative to the vehicle body, a small distance in front of the marking unit. The near-vision system, consisting of a laser scanner and an electronic computing unit, determines the coordinates of the marking lines near the spray guns and automatically generates on and off signals for the spray guns. This system does not perceive extraneous sunlight and accurately determines the coordinates of the marking lines near the spray guns.

However, the disadvantage of the prototype device [4] is the low efficiency of its application due to insufficient accuracy of repetition of markings on some complex sections of roads.

The fact is that when the marking is repeated using the device while the vehicle is moving along a curved path, an additional lateral deviation of the spray guns from the repeat marking lines occurs due to the geometric arrangement of the laser scanner and spray guns relative to the rear axle of the vehicle. In this case, the deviation can reach values up to 100 mm, which significantly exceeds standard tolerances.

Another disadvantage of the prototype device [4] is that it does not allow high-quality repetition of road markings at high vehicle speeds, as well as with significantly damaged strokes of repeated markings.

This is because scanning the road surface with a laser scanner installed near the marking block does not allow identification of the type of road marking, as well as assessing the position and condition of the road marking in front, to the scanning zone. Since the near vision system in the prototype device [4] is capable of determining the deviation of the approaching marking line from the position of the spray gun only at a small distance from the marking unit, when the vehicle speed is above 10 km / h, the linear drive of the device does not have time, for a very short time, point the spray guns at the strokes of the updated layout.

In addition, such a near vision system cannot reliably determine and automatically switch the operation mode of spray guns depending on the type of marking: repeating one or two lines; which side of the double line is solid, and which dashed line. Also, the near vision system is not able to identify and correct incorrectly painted or substantially damaged lines of the previous marking.

The problem of re-marking the road is that while driving at high speed, you need to accurately apply new strokes to the old markings. In this case, it is necessary to strictly adhere to the very stringent requirements of national standards for road marking.

The traditional way of repeating road marking involves the jewelry work of the driver of the marking machine by visually pointing paint guns on the marking line, as well as, at least, the jewelry work of the operator, who must turn the paint guns on and off, visually determining the start and end points of the stroke. With existing methods, the repetition rate of the markup, as a rule, does not exceed 8-10 km / h. The quality of the markup often does not meet the requirements of the customer. In addition, the operator and driver get tired quickly, which further reduces labor productivity.

The listed disadvantages of the prototype device [4] do not allow high-quality repetition of road markings at high speeds, as well as on curved sections of the road, in a fully automatic mode, without operator intervention.

The objective of the invention is to increase the speed and quality of the device for automatically repeating horizontal road marking by creating such a device design that, while observing the high speed and accuracy that meets the most stringent requirements of national standards for horizontal road marking, fully automate the process of repeating the marking, as well as perform marking regardless of the lighting conditions on straight and curved sections of roads.

The problem is solved in that a device for automatically repeating horizontal road marking, including (Fig. 1-6) arranged with the possibility of installation on a vehicle 3 marking unit 1 with linear actuator 7, which is configured to position on updated lines of repeated marking 22 spray guns 4, 5, mounted on a movable carriage 6 of the linear actuator 7, which is electrically connected to the electronic control unit 14, which is also electrically connected to the located before the marking unit 1, a laser scanner 2 configured to modulate laser radiation and with the ability to determine coordinates close to the spray guns 4, 5 of the repeatable marking lines 22, while the electronic control unit 14 is configured to automatically generate signals for turning on and off the spray guns 4, 5, has distinctive features: the electronic control unit 14 is configured to calculate and compensate for the additional deviation of the spray guns 4, 5 from the coordinate of any of the said repeatable marking lines 22 when the vehicle 3 is moving in curved sections of the road and contains an electronic gyroscope 19, which is configured to determine the angular velocity of the vehicle 3 in curved sections of the roadway 23.

The implementation of the electronic control unit 14 with the possibility of calculating and compensating for the additional deviation of the spray guns 4, 5 from the coordinates of any of the aforementioned marking lines 22 when the vehicle 3 is moving on curved sections of the road is aimed at making it possible to fully automate the marking repetition process taking into account amending the mentioned deviations of the spray guns 4, 5.

The introduction of such a distinguishing feature as an electronic gyroscope 19, will automate the aforementioned process on curved sections of roads.

Additional distinguishing features of the invention are aimed at enhancing the effects described above: the device includes at least one digital video camera 20 with electronic image stabilization function, which is located with the ability to capture images of the surface area of the roadway 23, in front of the scanning area of the laser scanner 2.

Introduction to the design of the device of a digital video camera 20 with the function of electronic image stabilization with the possibility of fixing it on the front of the vehicle 3 allows you to identify the repeatable marking lines 22 and determine such parameters necessary for the operation of the device as the approximate coordinates of the strokes of the repeated marking;

the length and width of the strokes of the repeated markup;

the length of the spaces of the line marking.

At the same time, it is possible to connect the digital video camera 20 to the video signal processing module 17, which is part of the electronic control unit 14 to perform video processing. This will allow you to quickly, automatically perform the repetition of any types of marking when the repeat marking is worn up to 90%; automatically correct defects and errors of the previous markup; perform marking work on difficult road sections while maintaining the necessary accuracy and ensuring application automation, regardless of the degree of illumination of the roadway.

The invention is illustrated by illustrations, where in FIG. 1 schematically shows a device for repeating horizontal road markings mounted on a vehicle; in FIG. 2 is a plan view of FIG. 1; in FIG. 3 is a possible installation of a marking unit of the device on the other side of the vehicle; in FIG. 4 - a possible installation of the marking unit of the device at the rear of the vehicle; in FIG. 5 - a possible installation of a marking block in the middle under the vehicle 3; in FIG. 6 shows an enlarged view of a marking block of a device; in FIG. 7 shows a functional diagram of an electronic control unit of a device; in FIG. Figure 8 shows the deviation of the spray guns from the repeatable marking line when the vehicle moves in an arc without using gyro correction.

The list of item names and other designations in FIG. 1-8

1 marking block I 2 laser scanner 3 vehicle 4,5 spray guns 6 carriage Ί linear actuator ¹ 8 linear actuator control device 8 9 solenoid valves 10 jockey wheel eleven pneumatic cylinder 12 speed sensor thirteen barbell 14 electronic control unit fifteen linear actuator linear encoder 7 16 electronic computing module 17 video processing module 18 control and management module 19 electronic gyroscope 19 20 digital video cameras 21 control terminal 22 repeat line 23 roadbed

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²⁴ seat 25 deviating line from repeatable marking line 22 with the electronic gyroscope turned off A the point that is the center of the repeated marking 22 on the line of laser scanning IN point that is the center of the spray guns 5 and 6 dY the distance between the line of the repeated marking 22 and the deviating line 25

A device for automatically repeating horizontal road marking includes (Fig. 1) a marking unit 1 and a laser scanner 2 located in front of it, which is electrically connected (not shown) to the electronic control unit 14. The marking unit 1 is a trolley that is fixed to the body vehicle 3. It is possible that the marking unit 1 is located on the right side (Fig. 1, 2) along the direction of the vehicle 3, or on the left side (Fig. 2), or behind the vehicle 3 (Fig. 4), or in the middle under tra vehicle 3 (Fig. 5). A variant of the simultaneous use of two marking blocks 1 (not shown).

The device of such a trolley for the marking block 1 has a design that allows it to be folded into the transport position, in which its parts do not go beyond the dimensions of the vehicle 3, and also to unfold it in the working position to perform axial or edge marking.

The marking unit 1 is equipped with at least one paint spray gun 5 (for paint, plastic, etc.) and at least one paint spray gun 4 reflecting the reflective balls. These paint guns 4 and 5 are mounted on the carriage 6, which moves in the transverse direction using a linear actuator 7, which is made, for example, hydraulic or electric. The linear actuator 7 is equipped with a linear actuator 7 mounted on the vehicle 3 control device 8. It can be performed, for example, in the form of a proportional valve or in the form of an electric servo.

Several spray guns 4 and 5 may also be used.

Solenoid valves 9 are used to open and close the spray guns. They can be installed, for example, on marking block 1 (not shown) or on a vehicle

3.

A support wheel 10 is installed in the carriage of the marking unit 1, by which it is pressed against the road surface with the help of a pneumatic cylinder 11, which makes it possible to maintain a constant height of the spray guns 4, 5 above the road surface, repeating the relief of the roadway 23, to ensure a constant width of the applied lines of the new marking (not shown) over repeatable marking lines 22.

There are many possible locations for the speed sensor 12. In the example shown (Fig. 1), the speed sensor 12 is mounted at one end of the rod 13 and is in contact with the support wheel 10. At the other end of the rod 13, a laser scanner 2 can be mounted.

The speed sensor 12 is designed to generate electric pulses transmitted to the electronic control unit 14 with a frequency proportional to the speed of the vehicle 3.

The electronic control unit 14 is installed in the back of the vehicle 3 and is also electrically connected (not shown) to the linear displacement sensor 15 of the linear actuator 7.

The laser scanner 2, mounted in front of the marking unit 1, is made with modulated laser radiation and is also electrically connected (not shown) to the electronic control unit 14, which is configured to automatically generate the on and off signals of the spray guns 4 and 5. For this, the electronic control unit 14 includes (Fig. 7) an electronic computing module 16, for example, of type ECM-1, a video processing module 17, for example, of type VPM-1, a monitoring and control module 18, for example, of type MCU-1, and an electronic th gyroscope 19 for determining the angular velocity of the vehicle 3.

Electronic Computing Module 16 (ECM-1) performs the basic data processing algorithm of the far vision system and near vision system, processing the signal of the electronic gyroscope 19 and calculating the correction corresponding to the distance dY between the repeated marking line 22 and deviating line 25 under the assumption that the electronic the gyroscope 19 is turned off. Also, the electronic computing module 16 calculates the value of the control signal of the linear actuator 7 and the control signal of the spray guns 4, 5.

The video signal processing module 17 (VPM-1) performs data processing from the front mounted vehicle 3 of the digital video camera 20 (or several cameras), determines the type of updated markup, determines the coordinates of the marking lines.

The control and management module 18 (MCU-1) processes the signals of the linear displacement sensor 15 of the linear actuator 7, the signals of the speed sensor 12, and also contains the control driver of the linear actuator 7 and the solenoid valve control driver 9.

The functional purpose of the electronic gyroscope 19 is illustrated in FIG. 8.

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When the vehicle moves along a curved path, in particular along an arc of a circle, when updating the repeated marking lines 22, the path of the point B, which is the center of the spray guns 5 and 6, does not coincide with the path of the point A, which is the center of the repeated marking 22 on the laser scanning line . The additional deviation of the spray guns 4, 5, and therefore the new marking line 25 (Fig. 8), relative to the repeated marking line 22 is equal to the distance dY between the line of repeated marking 22 and deviating line 25 from it, assuming that the electronic the gyroscope 19 will be turned off. The value of this value depends on the variable value of the angular velocity of the vehicle, as well as on a constant value determined by the relative position of the spray guns and the laser scanner relative to the axis of the rear wheels of the vehicle 3, when moving along an arc of a circle.

Similarly to the above description of the additional deviation of the spray guns 4, 5, equal to the mentioned distance dY, it is possible to record and adjust even more significantly than their deviations with respect to the repeatable marking lines 22 determined by the digital long-distance camera 20 located in front of the vehicle 3.

The electronic gyroscope 19 determines the angular velocity of the vehicle 3, which allows the electronic computing module 16 of the electronic control unit 14 to determine and compensate for the additional deviation of the spray guns 4, 5, equal to the mentioned distance dY, from the repeated marking line when driving on curved sections of roads.

The electronic control unit 14 is electrically connected (not shown) with the control terminal 21 mounted on the vehicle 3. In this case, it is possible to manually switch using the control terminal 21 the operating modes of the electronic control unit 14, as well as adjust and control the parameters depending on the state of the existing road marking and vehicle configuration 3.

At the same time, a digital video camera 20 (or several) is connected (s) to the video signal processing module 17, which can be included in the control unit 14, to perform video processing and subsequent identification of the repeated marking lines 22 of the roadway 23 and determine the position coordinates its strokes in the plane of the surface section of the roadway 23 located in front of the laser scanner 2.

The control terminal 21 can be installed, for example, either in the back of the vehicle 3 in front of the seat 24 or (not shown) in the cab of the vehicle 3 to directly influence the control terminal 21 by the driver. The control terminal 21 is electrically connected by a field bus (not shown) to the electronic control unit 14.

Using the control terminal 21, the operation modes are switched depending on the operating conditions and configuration of the used vehicle 3, and the installation and control of the operating parameters of the marking unit 1 are also performed. The control terminal 21 contains a display (not shown) for displaying the adjustable parameters and the necessary controls (not shown) to configure the device parameters and control the marking unit 1. In addition to the main mode of the device - repeat markup, the control terminal 21 perform new standard marking on sections of the road where there is no previously marked markings, or it is damaged by more than 90%.

The principle of operation of the device for the automatic repetition of horizontal road markings is as follows.

Based on the information received from the digital video camera 20, the laser scanner 2, which relates to the near vision system, the speed sensor 12, as well as the linear displacement sensor 15 of the linear actuator 7, in the electronic control unit 14 (Fig. 7) electronic computing module 16 (ECM-1) determines the size of the mismatch between the coordinates of the position of the spray guns 4, 5 and the coordinates of the repeatable marking lines 22 detected by the laser scanner

2.

Based on the value of the coordinate mismatch, the electronic computing module 16 (ECM-1) generates control signals for the linear actuator 7 (Fig. 1), which positions the carriage 6 with the set of spray guns 4, 5 fixed to it, in the position corresponding to the position of the repeated marking line 22, at a rate proportional to the size of the mismatch mentioned. Also (Fig. 7), the electronic computing module 16 (ECM-1) based on the data of the laser scanner 2 determines the start and end point (Fig. 1) of each stroke of the repeatable marking line 22. The start and end signals of such strokes are used (Fig. 7) in the control and management module 18 (MCU-1) for switching on and off (Fig. 1) the electromagnetic valves 9 that control the spray guns 4, 5.

When the vehicle 3 moves in curved sections, the electronic gyroscope 19 generates a signal proportional to the angular velocity of the vehicle 3. As a result of processing this signal, the control and control module 16 (MCU-1) generates a coordinate correction of the linear actuator 7 equal to the mentioned distance dY ( Fig. 8), compensating for an additional deviation of the trajectory of the paint guns 4, 5 from the trajectory of the repeatable marking line 22, when the vehicle 3 moves along a curved t Rejection. This deviation is determined taking into account the geometric features of the location of the spray guns 4, 5 and the laser scanner 2 relative to the rear of the vehicle 3.

In the device according to the invention, a high-tech electronic unit of elements is formed, which includes a long-range vision system based on a digital long-range video camera 20, which captures an extended section of the road in front of the laser scanner 2 and determines the type and approximate position of the removed strokes of the repeat line 22;

a near vision system based on a laser scanner 2, capable of accurately determining the coordinates of the repeated marking lines 22 in the vicinity of the marking unit 1 under any external lighting with high speed;

a gyroscope 19, which determines the angular velocity of the car, which allows you to compensate for the additional deviation of the spray guns 4, 5 from the repeated marking line 22 when driving on curved sections of the road;

high-performance (Fig. 7) electronic computing module 16 that performs the basic software algorithm.

All of them, when working together, allow you to identify and automatically repeat (Fig. 1) the strokes of repeatable marking lines 22 with a width of 5 to 40 cm when the markings are worn up to 90% at a vehicle speed of 3 to 40 km / h, and under any lighting conditions.

The implementation of the invention will automatically, in non-stop mode, repeat any type of marking both at night and in bright sunlight, when the repeat markup is worn up to 90%;

automatically correct defects and errors of the previous markup;

qualitatively perform repetition of the markup both on straight sections and on curved ones.

This will ensure high-quality re-marking in automatic mode, without the main involvement of the operator, at a vehicle speed of up to 40 km / h, which will speed up the re-marking by 1.5-3 times, subject to regulatory requirements.

As a result, the timelines for marking will be reduced, the cost of road works and the accident rate on roads will significantly decrease.

Sources of information.

1. Patent EP0643171. Means for spraying longitudinal road markings. IPC E01C 23/163, priority September 13, 1993, published March 15, 1995.

2. New technologies in road marking // Highways. Monthly Information and Analytical Journal, No. 3 (964), p. 54-56.

3. New marking technologies being developed. Electronic resource http://www.worldhighways.com/categories/road-marking-barriers-workzone-protection/features/new-markingtechnologies-being-developed/ access date 10/27/2016.

4. Installation for automatic repetition of road markings LIS. Operation manual SDTI L-007.00.00.000 RE / prototype /.

5. Installation for automatic repetition of road marking LIS. Specifications TU BY 200647886.024-2007.

Claims (2)

CLAIM 1. A device for automatically repeating horizontal road marking, including a marking unit (1) located with the possibility of installation on a vehicle (3) with a linear drive (7), which is configured to position repeatable marking of spray guns on updated lines (22) (4, 5) mounted on the movable carriage (6) of the linear actuator (7), which is electrically connected to the electronic control unit (14), which is also electrically connected to the laz located in front of the marking unit (1) scanner (2), configured to modulate laser radiation and with the ability to determine coordinates close to the spray guns (4, 5) of the lines (22) of repeated marking, while the electronic control unit (14) is configured to automatically generate turn-on signals and switching off the spray guns (4, 5), characterized in that the electronic control unit (14) is configured to calculate and compensate for the additional deviation of the spray guns (4, 5) from the coordinates of any of the lines (22) repeated marking when driving a vehicle (3) on curved sections of the road and contains an electronic gyroscope (19) that is configured to determine the angular velocity of the vehicle (3) on curved sections of the roadway (23). 2. The device according to claim 1, characterized in that it includes at least one digital video camera (20) with electronic image stabilization function, which is located - 6 033671 laid down with the possibility of fixing the image of the surface area of the roadway (23) in front of its scanning area with a laser scanner (2).