JP2013231354A - Leveling method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a leveling method with which control required for leveling work can be performed with a line which is drawn on a wall surface or the like proximate to an area to perform the leveling work thereon, as a reference.SOLUTION: A straight reference line (SL) is drawn on a wall surface present at the edge of a road to be leveled, the drawn reference line is photographed by a camera (8) (S1), and a distance between the reference line (SL) and the camera (8) is acquired (S2). Image data photographed by the camera (8) are sent to a processing unit (9) and a measured value of the reference line (SL) in a height direction position is acquired (S3). The acquired measured value of the reference line (SL) in the height direction position is compared with a target value of the reference line (SL) in the height direction position, a differential between the target value and the measured value is calculated (S4) and based on the differential, a height position change device (4) is controlled.

Description

  The present invention relates to a leveling method for leveling work such as leveling of road pavement material (for example, asphalt) and concrete finishing machines. More specifically, the present invention relates to a leveling method having a function of adjusting a pavement surface and a finished surface (laying level) to a predetermined level (vertical position).

  In general, in order to adjust the leveling surface such as the pavement surface or the finished surface to a predetermined level (vertical position), a reference line is set in advance, and the leveling surface is set to a predetermined level along the reference line. It is controlled to be level. In other words, it is necessary to control the leveling surface so that the leveling surface is along the reference line and the vertical position (level) of the leveling surface and the distance (distance) between the reference line are always constant. There is.

  In the leveling technique in the prior art, a wire is attached to the edge of a road to be leveled, and this wire is used as a reference line. A sensor (grade controller) that detects whether or not it is in contact with the wire is provided in the leveling machine, and the leveling surface of the pavement material is predetermined by keeping the sensor in contact with the wire. The level is adjusted.

However, there are many cases where a wall surface of a building exists at the edge of a road where paving material should be leveled.
And when such a wall surface exists, it is difficult to stretch the wire which is a reference line. That is, when the wall surface is close to the edge of the road on which paving material is to be leveled, the wall surface and the wire interfere with each other, and there is a case where the wire cannot be stretched.

Therefore, it is desired to draw a line on the wall surface as described above as a reference line and adjust the leveling surface of the pavement material to a predetermined level using the line as a reference.
However, in reality, a technique for recognizing a line drawn on the wall surface and adjusting the leveling surface of the pavement material to a predetermined level based on the line is not proposed at this stage.

Other conventional techniques include, for example, a pavement material that controls the screed plate device and the tamping device based on the pre-calculated road surface waveform shape and the traveling direction distance of the traveling vehicle of the pavement material leveling device. Has been proposed (see Patent Document 1).
However, the pavement leveling device has a problem in that it requires complicated processing such as calculating the waveform shape of the road surface in advance, determining the traveling distance of the traveling vehicle, and synchronizing both. Yes. And the conversion from the existing equipment is difficult, and does not solve the above-mentioned problems of the prior art.

JP-A-11-269816

  The present invention has been proposed in view of the above-described problems of the prior art, and is necessary for the leveling work on the basis of the line drawn on the wall surface close to the area to be leveled. The purpose is to provide a leveling method that can be controlled.

  According to the present invention, when leveling asphalt or concrete, which is a road pavement material, a reference line is set in advance, and the leveling surface can be adjusted to a predetermined height direction position along the reference line. In the material leveling method, the leveling device (2) for leveling, the height position changing device (4) for changing the height direction position of the leveling device (2), and the reference A camera (8) for photographing the line (SL), a processing unit (9) for analyzing the video data photographed by the camera (8) and determining an actual measurement value of the height direction position of the reference line (SL), and the processing unit (9) A leveling machine having a control device (5) for controlling the height position changing device (4) from the measured value and the target value of the height direction position of the reference line (SL) obtained by the processing unit (9) The edge of the road to level A straight reference line (SL) is drawn on an existing wall surface, the drawn reference line is photographed by the camera (8) (S1), and the distance between the reference line (SL) and the camera (8) is acquired ( S2), sending the image data photographed by the camera (8) to the processing unit (9), obtaining the measured value of the height direction position of the reference line (SL) (S3), and obtaining the obtained reference line The measured value of the height direction position of (SL) is compared with the target value of the height direction position of the reference line (SL), and the difference between the target value and the measured value is obtained (S4), and based on the difference The height position changing device (4) is controlled.

Here, the term “laying and leveling machine” is used in this specification to include asphalt finishers for spreading and leveling paving materials, concrete finishers for finishing floors of buildings, etc. with concrete. It is used.
Further, “the site where the leveling work should be performed” corresponds to, for example, a road surface on which paving material is to be leveled, a floor surface of a building to be concrete finished, and the like.

  The reference line (SL) is, for example, a wall surface (including a wall surface of the building) provided on the site (including the vicinity thereof) where the leveling work should be performed with chalk of various colors (for example, fluorescent pink, white). As well as a plate-like member arranged at or near the site).

  In the implementation of the present invention, the reference line (SL) is a fluorescent pink color, and the processing unit (9) performs the horizontal direction of the frame (F) for each frame (F) taken by the camera (8). For each pixel (pixel P) in one line (any one of the lines L1 to L480 in FIG. 5), the result of the expression “(RG) + (BG)” (expression 1) is obtained. The block having the function to calculate (calculation block 11), the block having the function of calculating the sum in one horizontal line of the frame (F) of the numerical value (sum block 12), and the sum is the maximum. A block (comparison block 14) having a function of selecting one line in the horizontal direction (at the height position corresponding to the peak of the histogram in FIG. 6) and the block (the horizontal direction in which the sum is maximized) Block having a function of selecting one line: a function of determining the height direction position of one horizontal line selected in the comparison block 14) as an actual measurement value of the height direction position of the reference line (SL) It is preferable to have the block (decision block 16) which has (refer FIG. 3).

  In this case, for each frame (F) taken by the camera (8) by the processing unit (9), one horizontal line of the frame (F) (any one of the lines L1 to L480 in FIG. 5). The numerical value of the expression “(RG) + (BG)” (Expression 1) is obtained (by the calculation block 11) for each pixel (pixel P) in the line (S14), and the numerical value is determined in the frame (F). For one line in the horizontal direction (by the summation block 12) (S17), and the sum is maximized (at the height direction position corresponding to the peak of the histogram in FIG. 6). Are selected (by comparison block 14) (S19), and the height direction position of one horizontal line having the maximum sum is determined (by decision block 16) as the height direction position of the reference line (SL). As an actual measurement value of Preferably constant (S23) (see FIG. 4).

  Here, a block (averaging block 13) having a function of calculating an average value for each pixel (P) from the sum obtained by the block having the function of obtaining the sum (summing block 12) is provided. The block having the function of selecting one line (comparison block 14) has the function of selecting one line in the horizontal direction in which the sum and / or the average value is maximized. preferable.

  Then, following the operation of obtaining the sum (S17), an average value for each pixel (P) is calculated from the sum (by the averaging block 13) (S18), and one horizontal line is compared (comparison). When the selection is made (by block 14) (S19) and determined as the actual measurement value of the height position of the reference line (SL) (S23), it is preferable to make a judgment based on the sum and / or the average value.

  In carrying out the present invention, the processing unit (9A), for each frame (F) photographed by the camera (8), uses one line in the horizontal direction of the frame (F) (lines L1 to L480 in FIG. 5). A block (calculation block 11A) having a function of summing the R value, B value, and G value for each pixel (pixel P) in one line), and summing the R value, B value, and G value of the frame. A block having a function of obtaining a sum for one horizontal line (summation block 12), a block having a function of comparing the sum with a threshold value (comparison block 14A), and the sum being larger than the threshold value It is preferable to have a block (decision block 16A) having a function of determining an actual measurement value of the height direction position of the reference line (SL) from the horizontal line (see FIG. 9).

  In that case, for each frame (F) taken by the camera (8) by the processing unit (9A), one horizontal line of the frame (F) (any one of the lines L1 to L480 in FIG. 5). The R value, B value, and G value are summed (by the calculation block 11A) for each pixel (pixel P) in the line (S33), and the sum of the R value, B value, and G value is framed (by the summation block 12). The sum is obtained for one horizontal line of (S34), the sum is compared with the threshold (by comparison block 14A) (S36), and the sum is greater than the threshold (by decision block 16A). It is preferable to determine the actual measurement value of the height direction position of the reference line (SL) from the direction line (S41) (see FIG. 10).

Also in this case (in the case of FIGS. 9 and 10), the block having the function of calculating the average value for each pixel (P) from the sum obtained by the block having the function of obtaining the sum (summation block 12) (average 13A), and a block (comparison block 14A) having a function of comparing the threshold value with the threshold value has a function of comparing the sum and / or the average value with the threshold value. The block (decision block 16A) having the function of determining the actual value of the position in the height direction of (SL) is determined from the horizontal line whose sum and / or average value is larger than the threshold value to the height of the reference line (SL). It is preferable to have a function of determining the actual value of the vertical position.
Then, following the operation of obtaining the sum (S34), an average value for each pixel (P) is calculated from the sum (by the averaging block 13A) (S35), and the sum is calculated in the comparison (S36). When the average value is compared with the threshold value and determined as an actual measurement value of the height direction position of the reference line (SL) (S41), the sum and / or the average value is larger than the threshold value. It is preferable to determine an actual measurement value of the position in the height direction of the reference line (SL) from the direction line.

  Further, in carrying out the present invention, the processing unit (9B), for each frame (F) photographed by the camera (8), the horizontal line of the frame (F) (any one of the lines L1 to L480 in FIG. 5). Of each pixel in each of the two lines (the preceding line and the current line: the two lines adjacent in the lines L1 to L480 in FIG. 5) adjacent in the vertical direction of the frame (F). A block (arithmetic block 11) having a function of summing the R value, B value, and G value for each pixel P) and the sum of the R value, B value, and G value for each of two adjacent lines A block (summation block 12) having a function for calculating the summation in the direction and a block (comparison block) having a function for comparing the absolute value (δ) of the difference between the two adjacent lines with a threshold value. 14B) and the measured value of the position in the height direction of the reference line (SL) is determined from the horizontal line in which the absolute value (δ) of the difference between the two adjacent lines is larger than the threshold value. It is preferable to have a block (decision block 16B) having a function to perform (see FIG. 11).

  In that case, for each frame (F) taken by the camera (8) by the processing unit (9B), the horizontal line of the frame (F) (by the calculation block 11) (the lines L1 to L480 in FIG. 5). R value, B value, and G value for each pixel (pixel P) in each of two lines (preceding line and current line) adjacent to each other in the vertical direction of the frame (F). (S53), and for each of the two adjacent lines, the sum of the R value, the B value, and the G value is obtained in the horizontal direction of the frame (by the summation block 12) (S54). The absolute value (δ) of the difference of the sum of the lines of the current and the threshold value are compared (by comparison block 14B) (S56), and the absolute value of the difference of the sum of the two adjacent lines (by decision block 16B) [delta]) determines the actual value of the height direction position of the reference line (SL) than the threshold from the large lateral line (S60) is preferred (see FIG. 12).

Even in such a case (FIGS. 11 and 12), a block having a function of calculating an average value for each pixel (P) from the sum obtained by the block having the function of obtaining the sum (summation block 12) ( The block having the averaging block 13B) and the function of comparing with the threshold value (comparison block 14B) has the function of comparing the sum and / or the average value with the threshold value, and the reference line The block (decision block 16B) having the function of determining the actual measurement value of the height direction position of (SL) is the threshold value of the absolute value (δ) of the difference between the sum and / or the average value of two adjacent lines. It is preferable to have a function of determining an actual measurement value of the height direction position of the reference line (SL) from a horizontal line larger than the value.
Then, following the operation of obtaining the sum (S54), an average value for each pixel is calculated from the sum (by the averaging block 13B) (S55), and the two adjacent to the comparison (S56) are calculated. When the total value of the lines and / or the average value is compared with the threshold value to determine the actual measurement value of the position in the height direction of the reference line (SL) (S60), the total value of the two adjacent lines is determined. In addition, it is preferable to determine an actual measurement value of the position in the height direction of the reference line (SL) from a horizontal line in which the absolute value (δ) of the difference between the average values is larger than the threshold value.

  In carrying out the present invention, it is preferable to arrange a plurality of auxiliary lights (LED lights) around the camera.

  According to the present invention having the above-described configuration, the camera (8) captures the reference line (SL) drawn on the wall surface (not shown) existing in the vicinity of the wall surface of the road where the leveling work should be performed. Of the above-mentioned device (for example, the leveling cylinder 4 of the asphalt finisher, etc.) for determining the actual measurement value of the height direction position of the reference line (SL) and changing the height direction position of the leveling device (101) By performing expansion / contraction control, the deviation from the target value of the reference line (SL) is corrected, thereby adjusting the leveling surface of the paving material (A) or concrete to a desired level, The leveling surface can be made constant along the reference line (SL) so that the distance from the reference line (SL) is always constant.

  According to the present invention, the sensor (grade controller) part for detecting whether or not it is in contact with the wire of the existing leveling machine and the control mechanism thereof may be changed, so that the existing asphalt finisher and concrete finisher can be changed. It is possible to carry out the present invention without making any significant changes.

In this invention, the wall surface which should draw a reference line (SL) is not restricted to the outer wall of a building, For example, you may arrange | position a plate-shaped member continuously in the site vicinity which should perform a leveling work. . Then, the reference line (SL) may be drawn on the plate-like member with, for example, chalk (for example, fluorescent pink or white).
For this reason, the reference line (SL) in the present invention does not interfere with a building or the like in the vicinity of the site where the leveling work should be performed, unlike the wire tensioning in the prior art. The reference line (SL) in the present invention can be set (set) much more easily than the wire tensioning in the prior art.
As a result, according to the present invention, it is possible to reduce the cost of asphalt leveling work compared to the prior art.

Here, in the present invention, a fluorescent pink line is adopted as the reference line (SL), and the above-described formula “(RG) + (BG)” (formula 1) is used to create the histogram. If used, the fluorescent pink feature that the R and B values are large and the G value is small stands out, and the pixels of the reference line (SL) and the pixels other than the reference line (SL) can be easily and accurately used. It can be determined (see the histogram in FIG. 6).
As a result, if the fluorescent pink reference line (SL) is adopted and the reference line (SL) is identified by the above-described equation 1, sunlight is irradiated on the wall surface on which the reference line (SL) is drawn, or It is possible to accurately recognize the reference line (SL) even if the illumination is intensely lit and there is a bright part and a dark part (shadow part) in the shooting range (by the camera 8) of the wall surface. It is.

  In addition to the effects of light described above, there are always vibration effects and various noise effects during the various leveling operations, but in the frame (F: for example, 640 pixels in the horizontal direction and 480 pixels in the vertical direction). Since the determination is based on the total (or average) of the calculation results (result of Equation 1 for obtaining the histogram: see FIG. 6), the influence of the noise is minimized even if noise is partially present. Can be made.

  Furthermore, if the height direction position of the reference line (SL) is obtained from the average value of a plurality of frames (F) taken, it is assumed that the reference line (SL) drawn on the wall surface is interrupted (erased). In addition, the analysis result (actual measurement value of the height direction position of the reference line SL) in the frame shot immediately before the reference line (SL) is interrupted and the analysis result of the frame (F) in which the reference line (SL) exists. Are averaged (for example, averaged by moving average), and the average value is used to determine the measured value of the position in the height direction (of the reference line SL) in the region where the reference line (SL) is interrupted. I can do it.

It is a block diagram which shows the outline | summary of 1st Embodiment of this invention. It is a flowchart which shows the outline | summary of the control in 1st Embodiment. It is a block diagram of the processing unit which determines the perpendicular position of a line in a 1st embodiment. 5 is a flowchart of control for determining a vertical position of a line in the first embodiment. It is explanatory drawing which showed typically the image of 1 frame image | photographed with the camera, in order to demonstrate control of 1st Embodiment. In 1st Embodiment, it is a figure which shows the image of 1 frame image | photographed with the camera as a histogram. It is a block diagram of a 2nd embodiment of the present invention. In 2nd Embodiment, it is a block diagram of the camera vicinity. It is a block diagram of the processing unit which determines the perpendicular direction position of a line in a 3rd embodiment. 10 is a flowchart of control for determining a vertical position of a line in the third embodiment. In 4th Embodiment, it is a block diagram of the processing unit which determines the vertical direction position of a line. 14 is a flowchart of control for determining the vertical position of a line in the fourth embodiment.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
First, a first embodiment of the present invention will be described with reference to FIGS.
In the first embodiment, the present invention is applied to a road leveling material leveling machine (asphalt finisher) that employs a floating screed system.
In the first embodiment, the line for determining the vertical position (height direction position: level) has a fluorescent pink color. Then, as a principle of control for measuring the height of the line for determining the vertical position (height direction position: level), the characteristics of the histogram as shown in FIG. 6 are used.

In FIG. 1, the entire asphalt finisher according to the first embodiment is denoted by reference numeral 101 and is provided at the rear portion of the traveling vehicle. The asphalt finisher 101 in FIG. 1 is a floating screed system. This is because by adopting the floating screed system, it is difficult to be affected by the unevenness of the running surface, and an arbitrary spread thickness can be obtained.
In FIG. 1, an asphalt finisher 101 includes a vehicle body 1, a screed 2, a side arm 3 that supports the screed 2 on the vehicle body 1, a leveling cylinder 4 that varies the height of the screed 2, and an operation of the leveling cylinder 4. A cylinder control unit 5 that controls the camera 8, a camera 8 that is fixed to the vehicle main body 1 with a mounting bracket 6, and a processing unit 9 that processes data captured by the camera 8. The cylinder control unit 5 and the processing unit 9 are configured to transmit information.

In FIG. 1, asphalt A that is a paving material is supplied from a dump truck 200 into an asphalt finisher 101.
The supplied asphalt A is supplied onto the road in front of the screed 2 (left side in FIG. 1) by a conveyor device (not shown) provided in the asphalt finisher 101, and is spread and leveled by the screed 2.
In FIG. 1, symbol α represents a working angle (attack angle) formed by the lower surface 2 b of the screed 2 with the asphalt surface Fa.

The height of the leveling surface of the asphalt is determined with reference to the line indicated by reference sign SL in FIG. In other words, the leveling surface of the asphalt is determined so as to be separated from the line SL by a certain distance.
For example, a wall surface (not shown) in FIG. 1 exists at the edge of the road surface on which the asphalt is to be spread, and the reference line SL is drawn on the wall surface (not shown).
Although not explicitly shown in the drawing, the line SL is a pinkish pink color and is drawn on a wall surface (not shown) by various writing tools and a dedicated drawing device.
In FIG. 1, the wall surface on which the reference line SL is drawn is not displayed in order to simplify the drawing.

As will be described later with reference to FIGS. 4 to 6, based on the data of the line SL photographed by the camera 8, the processing unit 9 obtains an actual measurement value of the height direction position (vertical direction position) of the line SL. I can do it.
The cylinder control unit 5 outputs a signal requesting an actually measured value of the position in the height direction of the line SL to the processing unit 9 connected in information. This is because the measured value of the position in the height direction of the line SL is data necessary for controlling the height of the screed 2.

If a signal requesting an actual measurement value (in the height direction position of the line SL) is output from the cylinder control unit 5 to the processing unit 9, the processing unit 9 sends the signal of the line SL to the cylinder control unit 5. The data of the actual measurement value in the height direction position is output.
The cylinder control unit 5 that has received the actual measurement value of the position in the height direction of the line SL obtains a deviation between the target value of the line SL and the actual measurement value of the position in the height direction of the line SL output from the processing unit 9. The leveling cylinder 4 is controlled to expand and contract so that the deviation is reduced.

In the floating screed 2 as shown in FIG. 1, for example, when the vehicle body 1 passes through a step (convex part) such as a manhole, the working angle should be reduced (reduced). Reduce α.
On the other hand, when the asphalt leveling thickness is to be increased (increased), the working angle α is increased.
Then, in order to increase or decrease the working angle α, the leveling cylinder 4 is controlled to expand and contract. That is, when the asphalt leveling thickness should be reduced (less), the leveling cylinder 4 should be extended so that the position of the camera 8 is lowered, and the asphalt leveling thickness should be increased (increased). Causes the leveling cylinder 4 to contract so that the position of the camera 8 becomes higher.

In other words, the asphalt finisher 101 to which the first embodiment is applied controls the contraction of the leveling cylinder 4 so that the asphalt leveling surface is the reference line SL regardless of the unevenness of the road surface on which the asphalt is to be leveled. Asphalt is spread and leveled so as to be parallel to each other and to be separated from the reference line SL by a certain height direction.
Here, the same applies to the existing asphalt finisher in that the leveling cylinder 4 is expanded / contracted to increase / decrease the working angle α, and to increase / decrease the working angle α to increase / decrease the asphalt leveling thickness. However, the first embodiment is greatly different from the prior art in the configuration for obtaining the actual measurement value of the reference line SL.

The expansion / contraction control of the leveling cylinder 4 will be described with reference to FIG.
As described above, a wall surface (not shown) exists at the edge of the road surface on which asphalt is to be spread, and the reference line SL is drawn on the wall surface.
In FIG. 2, first, in step S <b> 1, the reference line SL (or a wall surface (not shown) on which the reference line SL is drawn) is photographed by the camera 8.
At that time, the distance between the reference line SL (or a wall surface (not shown) on which the reference line SL is drawn) and the camera 8 is acquired (step S2).
Here, the distance between the reference line SL and the camera 8 can be measured using a known technique, and is obtained by using, for example, infrared reflection. In that case, a so-called “PSD sensor” may be used.

In step S1, if the camera 8 captures the reference line SL, the captured image data is sent to the processing unit 9 in accordance with a predetermined protocol every frame (for example, 640 pixels × 480 pixels) (FIG. 5).
The processing unit 9 acquires an actual measurement value of the height of the reference line SL based on the image data captured by the camera 8 (step S3).
Details of acquiring data of actual measurement values of the height direction position of the reference line SL will be described later with reference to FIGS.

In step S4, the actual value of the height direction position of the reference line SL acquired in step S3 is compared with the target value of the height direction position of the reference line SL. Then, a deviation (difference between the target value and the actual measurement value) in the height direction position of the reference line SL is obtained.
Based on the deviation obtained in step S4, in step S5, expansion / contraction control of the leveling cylinder 4 is performed.

When the measured value of the height direction position of the reference line SL is higher than the target value, the leveling thickness of the asphalt floor is reduced (decreased) in order to lower the height direction position of the reference line SL ( The leveling cylinder 4 is extended in accordance with the deviation so as to reduce the working angle α.
On the other hand, when the measured value of the height direction position of the reference line SL is lower than the target value, the asphalt leveling thickness is increased (more) in order to increase the height direction position of the reference line SL. The leveling cylinder 4 is contracted in accordance with the deviation so as to perform (increase the working angle α).

In addition, the relationship between the deviation in the height direction position of the reference line SL and the amount of expansion / contraction of the leveling cylinder 4 is determined on a case-by-case basis.
In other words, the relationship between the deviation in the height direction position of the reference line SL and the leveling cylinder expansion / contraction amount should be determined prior to leveling the asphalt.

In step S6, it is determined whether or not the asphalt leveling work has been completed. If the work is finished (step S6 is Yes), the control is finished.
On the other hand, if the work is to be continued (No in step S6), the process proceeds to step S7, and control is waited until a predetermined control cycle elapses (loop in step S7). If a predetermined control cycle has elapsed (Yes in step S7), the process returns to step S1, and steps after step S1 are repeated.
Here, the predetermined control cycle is an interval of photographing by the camera 9 and is, for example, 1/30 second.
FIGS. 1 and 2 illustrate a so-called “floating screed type” asphalt finisher 101.

Although not shown, for example, a plurality of LED lights can be arranged around the camera 8 as auxiliary illumination.
If such auxiliary lighting is arranged, even if a dark portion (shadow) is formed on the wall surface (not shown) on which the reference line SL is drawn, the camera 8 can perform the reference by irradiating the shadow portion with auxiliary lighting. The line SL can be clearly photographed.
As a result, the measured value of the position in the height direction of the reference line SL existing in the dark part can be easily and accurately obtained in the modes described later in FIGS. 3 to 6 and in the third to fifth embodiments. Is possible.

Next, referring to FIG. 3 to FIG. 6, a mode for obtaining an actual measurement value of the position in the height direction of the line SL colored in pink fluorescent color from the data photographed by the camera 8 (processing in step S <b> 3 in FIG. 2). ).
In FIG. 3, a processing unit (block indicated by a broken line in FIG. 3) denoted as a whole by 9 is an arithmetic block 11, a summation block 12, an averaging block 13, a comparison block 14, a storage means 15, a decision block 16, a move An average block 17, a distance determination block 18, a distance correction block 19, a height information signal generation block 20, and an interface 21 are provided.
An interface (not shown) is also provided between the camera 8 and the calculation block 11 in FIG. 3, but the interface is not shown for simplicity.

Referring also to FIG. 5, for each frame F photographed by the camera 8, the calculation block 11 performs each pixel (for example, L <b> 1 to L <b> 480 in FIG. 5) in one horizontal line of the frame F. For each pixel P), an R value (a red value in the pixel), a G value (a green value in the pixel), and a B value (a blue value in the pixel) are read. The result (value) of (R−G) + (B−G) ”(Equation 1 described later) is calculated.
The reason why the calculation block 11 performs the calculation of “(RG) + (BG)” will be described later with reference to FIG.
Here, in the illustrated example, each horizontal line has 640 pixels.

The summation block 12 is “(RG) + (BG)” (for each pixel (pixel P)) obtained by the calculation block 11 for one horizontal line (L1 to L480 in FIG. 5) ( The values of Equation 1) are integrated to calculate the sum of the “(RG) + (BG)” values of all the pixels in one horizontal line.
The averaging block 13 divides the sum obtained in the summation block 12 by the number of pixels in one horizontal line (number of pixels: 640) to obtain each of “(R−G) + (B−G)”. Calculate the average value for each pixel.
Here, the averaging block 13 can be omitted.

The comparison block 14 includes the sum of “(RG) + (BG)” of one horizontal line (current line) which is the object of comparison judgment at that time, and the previous stored data. The total of “(R−G) + (B−G)” of the line (compared and determined before the current line) is compared.
Alternatively, the comparison block 14 may calculate the average value of the sum of “(RG) + (B−G)” of the current line and the “(RG) of the previous (nearest current line) stored. The average value of the sum of “+ (B−G)” is compared.
If the sum or average value of “(R−G) + (B−G)” in the current line is larger than the sum or average value in the previously compared line, the comparison block 14 determines the current line. The sum or average value of “(RG) + (BG)” and the line number of the current line are sent to the storage means 15 (for example, a memory device or a database).

  The storage means 15 stores the data sent from the comparison block 14, that is, the total or average value of “(RG) + (BG)” of the current line and the line number of the current line. At that time, the sum or average value of “(RG) + (BG)” of the current line and the line number of the current line are “(RG) + (B -G) "sum or average value and line number are overwritten, and therefore the data of the sum or average value of" (RG) + (BG) "and the line number in the compared and judged line Are updated.

The decision block 16 receives the frame signal and determines the end of processing in the frame F being processed. Then, if the calculation is completed over the entire photographed frame F, in other words, if all the horizontal lines (L1 to L480) are compared in the comparison block 14, "(RG ) + (B−G) ”is specified (determined) at a position or height in one horizontal line where the sum or average value is maximized. Specifically, the line number (any one of L1 to L480) of one horizontal line in which the sum total or average value of “(RG) + (BG)” is maximized is determined. .
The determined line number of one horizontal line is directly equal to the height direction position of one horizontal line where the sum or average value of “(R−G) + (B−G)” is the maximum. If the line number is determined, the actual measurement value of the height direction position of the reference line SL is determined.
The maximum sum or average value of “(RG) + (BG)” in frame F corresponds to the peak value in the histogram shown in FIG.

The moving average block 17 includes an actual measurement value of the position in the height direction of the reference line SL in the frame F (current frame F) being processed at that time, and a preceding frame F, that is, a frame that has already been captured and processed. A moving average value with the actually measured value of the height direction position of the reference line SL in F is obtained. That is, the moving average block 17 obtains a moving average value of actually measured values of positions in the height direction of the reference line SL in a plurality of frames.
By obtaining the moving average value of the actual measurement value of the height direction position of the reference line SL in the moving average block 17, for example, even if the reference line SL drawn on the wall surface is interrupted in the middle, immediately before the reference line SL is interrupted. The analysis result of the photographed frame F and the analysis result of the frame in which the reference line SL exists are averaged, and the average value of the analysis result of the frame in which the reference line SL exists is high. It becomes possible to determine the measured value of the vertical position.

The distance determination block 18 calculates the distance between the camera 8 and the wall on which the reference line SL is drawn using, for example, infrared reflection. As this distance determination block 18, a publicly known / commercial device can be applied.
The distance correction block 19 receives the distance data between the camera 8 and the wall obtained by the distance determination block 18. The distance correction block 19 has a function of correcting the measured value of the height direction position of the reference line SL determined by the determination block 16 based on the distance data between the camera 8 and the wall. This is because if the distance between the camera 8 and the wall is different, the actually measured value of the height direction position of the reference line SL obtained by processing the photographed frame is also different.

In response to the height information request signal from the cylinder control unit 5, the height information signal generation block 20 sends the accurate height information determined by the distance correction block 20 to the cylinder control unit 5 via the interface 21. Output.
The data exchange between the blocks shown in FIG. 3 will be described later with reference to FIG.

Next, referring to FIG. 4, the control for determining the measurement value of the height direction position of the reference line SL will be described with reference to FIGS. 5 and 6.
In FIG. 4, 1 frame F is image | photographed with the camera 8 by step S11. A frame F photographed by the camera 8 is schematically shown in FIG.
If the frame F is photographed by the camera 8, the process proceeds to step S12 in FIG.

In the frame F shown in FIG. 5, the symbol SL indicates a fluorescent pink line whose position should be grasped and the height direction position (vertical direction position) should be determined.
In FIG. 5, horizontal lines L 1, L 2, L 3 to L 480 are shown in the frame F.
Here, the horizontal lines L1, L2, L3 to L480 are not captured in the frame F. Lines L1, L2, L3 to L480 will be described with reference to FIG. 5 for the control of processing the data of the frame F and determining the actual measurement value of the height direction position of the reference line SL in the first embodiment. It is an imaginary line for facilitating.

Referring to FIG. 5, in step S <b> 12 of FIG. 4, first, the horizontal line L <b> 1 at the top of the frame F is specified. Then, for the pixel P existing in the uppermost line L1, processing for creating a histogram (calculation according to Equation 1 described later) is executed.
Then, the process proceeds to step S13.

Here, in the first embodiment, the data transmission protocol of the camera 8 starts transmission from the pixel P (L1, 1) located at the left end of the line L1 above the frame F to the processing unit 9, and moves downward in FIG. The image data of the frame F is sequentially transmitted from the upper left end of the frame F to the lower right end until reaching the pixel P (L480, 640) located at the right end of the line L480.
Then, since the control shown in FIG. 4 proceeds for each data transmitted from the camera 8, if the data transmission from the camera 8 is performed in the order from the upper side to the lower side of the frame F, the image is displayed. Data processing also proceeds from the upper side to the lower side of the frame F.

However, depending on the data transmission protocol of the camera 8, the image data may be transmitted to the processing unit 9 in the order of the image data below the frame F and the image data above.
In that case, in the control shown in FIG. 4, the processing of the image data proceeds from the lower side to the upper side of the frame F.
In step S12 of FIG. 4, “topmost (lowermost)” is described as the explanation of the first embodiment. The process proceeds from the top to the bottom of the frame F, but from the bottom to the top. It expresses that there is a possibility of processing.

  In the frame F shown in FIG. 5, the horizontal direction is 640 pixels and the vertical direction is 480 pixels, which is composed of 640 × 480 = 307200 pixels in total. However, the number of pixels (number of pixels) of the frame F is not limited to this.

In step S13 of FIG. 4, in the uppermost line L1 of the frame F, the pixel P (L1, 1) located at the left end is specified. And it progresses to step S14 in order to start a process from the said pixel P (L1, 1).
In the first embodiment, as described above, the data transmission protocol of the camera 8 sequentially transmits the image data of the frame F from the upper left end of the frame F to the lower right end. Therefore, in the control shown in FIG. 4, the image data is processed in the order of transmission from the camera 8, and the processing of the image data proceeds from the left side to the right side of the frame F.
That is, in the control shown in FIG. 4, the processing starts from the pixel located at the left end of the frame F in FIG. 5 and reaches the pixel located at the right end, that is, from the left side to the right side of the frame F. Make it progress.

However, depending on the data transmission protocol of the camera 8, the image data may be transmitted to the processing unit 9 in the order of the image data on the right side of the frame F to the image data on the left side.
In that case, in the control shown in FIG. 4, the processing of the image data proceeds from the right side to the left side of the frame F.
In step S13 of FIG. 4, “left end (right end)” is described as the explanation of the first embodiment. The process proceeds from the left side to the right side of the frame F. This expresses that the processing may proceed from the right side to the left side of the frame F.

In step S14 of FIG. 4, for the pixel P (L1, 1) specified in step S13, its R value (red value in the pixel), G value (green value in the pixel), and B value (current pixel). Is calculated by the calculation block 11 using the blue value in FIG.
(RG) + (BG) (1)
The line SL to be detected is a fluorescent pink color. According to the research of the inventors, the fluorescent pink color is characterized by a large (high) R value and B value and a small (low) G value. When a histogram (see FIG. 6) is created using Equation 1, such features stand out.
Here, even if the reference line SL is a color other than the fluorescent pink color, there is a feature different from that described above, and if a clear peak can be observed in the histogram due to such a feature, the reference line SL is a fluorescent pink color. In that case, the calculation block 11 executes a calculation different from Expression 1 (an expression that makes the characteristics of the color other than the fluorescent pink color clear on the histogram).

The result of Equation 1 is the value on the vertical axis of the histogram of FIG. As is clear from the histogram of FIG. 6, a peak clearly appears in the region of the fluorescent pink reference line SL as compared with the other regions.
In other words, in the histogram of FIG. 6, the fluorescent pink feature that the R value and B value are large (high) and the G value is small (low) is expressed as a clear peak. Standing up. In the histogram of FIG. 6, the position of the reference line SL can be clearly grasped as the peak position or the maximum value of the calculation result of Expression 1.
Therefore, the calculation block 11 performs the calculation of Expression 1.
The calculation result of step S14 (the calculation result of Expression 1) is sent to the summation block 12.

If the calculation of Expression 1 is performed, the process proceeds to Step S15, and it is determined whether or not the calculation shown in Expression 1 is performed for all the pixels P in one horizontal line.
If it is determined in step S15 that the above-described line L1, it is determined whether or not the calculation shown in Expression 1 has been performed for the pixel (L1, 640). For example, if the determination of step S15 is performed immediately after the calculation of Expression 1 is performed for the pixels P (L1, 1), P (L1, 2), and P (L1, 3), it is determined as “No”.

If "No" is determined in the step S15, the process proceeds to a step S16, and the pixel P on the right side is designated.
For example, if it is determined that the pixel P (L1, 1) is determined in step S15, the pixel P (L1, 2) is the target of processing (step S14) in step S16.
Then, Steps S14 to S16 are repeated, and for each pixel P in the line L1, the calculation of Expression 1 is performed in the calculation block 11, and the calculation result is sent to the summation block 12.

Steps S14 to S16 are repeated, and if the calculation shown in Equation 1 is performed on the rightmost pixel (L1, 640) of line L1, “Yes” is determined in step S15.
If “Yes” is determined in step S15, the process proceeds to step S17, and the summation block 12 calculates the sum of the calculation results of Expression 1 in all the pixels P of the line L1.
In step S18, the averaging block 13 calculates the average value of each pixel P in the line L1 from the sum of the calculation results of expression 1 obtained in step S17.

In step S17, the sum of the calculation results of Formula 1 over the entire horizontal line (L1 to L480) is obtained, and the average value of the calculation results of Formula 1 is obtained in Step S18 because of the influence of light and fine vibrations, various noises. This is because when an abnormal value occurs due to the influence of the above, the influence is kept to a minimum.
That is, by calculating the sum or average value, even if light or fine vibration acts on some pixels P and various noises are generated, the influence of the noises (or the calculation result of Equation 1 resulting therefrom) Is affected by 640 pixels P in the horizontal line.

Here, step S18 can be omitted.
When step S18 is omitted, the averaging block 13 can also be omitted as described above with reference to FIG.
This is because if the sum of the calculation results of Expression 1 is obtained, the influence of the abnormal value of the calculation results of Expression 1 generated due to noise or the like can be reduced.

Next, in step S19, the sum of the calculation results of formula 1 obtained in step S17 or the average value of the calculation results of formula 1 obtained in step S18 is the preceding line (already the processing of steps S14 to S21 has been performed). It is determined whether or not the sum is greater than the sum or average value in the line).
If the sum or average value of one horizontal line (current line) that is the object of determination at that time is larger than the preceding line (Yes in step S19), the process proceeds to step S20.
Note that when the determination in step S19 is performed for the line L1, since there is no preceding line, “Yes” is determined in step S19.

In step S20, the sum or average value of the calculation results of Equation 1 of the line (the current line whose sum or average value is larger than the preceding line) for which step S19 is determined to be “Yes”, and the line (current line) Are stored in the storage means 15.
In other words, in step S19, only one horizontal line in which the total or average value of the calculation results of Expression 1 is the maximum so far (in the frame F) is determined as “Yes”, and the maximum The total or average value of the calculation results of Equation 1 and the line number of one horizontal line that is the maximum are overwritten in the storage unit 15.

In FIG. 3, what is expressed as “peak value” in the storage means 15 is the sum or average value of the calculation results of equation 1 stored in step S20, and is the maximum value until then (in the frame F). This is the sum or average value of the calculation results of Equation 1 in one horizontal line.
When the determination in step S19 is performed for the entire area of the frame F (all of the lines L1 to L480), the sum or average value of the calculation results of expression 1 stored in step S20 is the calculation result of expression 1 in frame F. The maximum value of the sum or the average value, and only the maximum value and the line number of the line of the maximum value are stored in the storage unit 15.

That is, as described above with reference to step S14, the pixel P (or a horizontal line) at a position corresponding to the line SL to be detected in the fluorescent pink color has a large R value and B value and a small G value. Of course, the calculation result of Equation 1 is large.
When the processing of steps S14 to S20 is completed for the entire area of the frame F, the sum or average value of the calculation results of Expression 1 is the frame F for the line or pixel P at the vertical position corresponding to the line SL (or its center). Among them, the maximum is stored in step S20. The number of one horizontal line (any one of the lines L1 to L480) corresponding to the fluorescent pink line SL (or its center) is also stored in step S20.

Here, the line number has a one-to-one correspondence with the height direction position of the line, and the height direction position in the frame F can be obtained immediately from the line number.
That is, after completing the processing of steps S14 to S20 over the entire area of the frame F, the sum or average value of the calculation results of Expression 1 stored in the storage unit 15 is the sum of the calculation results of Expression 1 in the frame F. Or it is the maximum value of the average value, and corresponds to the peak in the histogram of FIG. The maximum value or peak height direction position is an actually measured value of the height direction position of the fluorescent pink reference line SL in the frame F. The maximum value or peak height position corresponds to the line number of one horizontal line related to the maximum value.
The line number of one horizontal line related to the maximum value is stored in the storage means 15, and the maximum value or peak height position is determined by the line number, and the fluorescent pink color in the frame F is determined. The measured value of the position in the height direction of the reference line SL is determined.

In step S19, if the sum or average value of the calculation results of Formula 1 in the current line is equal to or less than the preceding line, the sum or average value and the line number are not stored in the storage means (bypassing step S20). The process proceeds to step S21.
In step S21, it is determined whether or not the processing in steps S14 to S20 has been completed for the entire area of the frame F (the area in the vertical direction of the frame F if attention is paid to the horizontal line).
For example, when processing is performed for the line L1, Step S21 is determined as “No”. In that case, the process proceeds to step S22.

In step S22, one lower line is specified, and step S13 and subsequent steps are repeated. For example, if step S21 is determined as “No” in the processing of line L1, in step S22, the lower line L2 is designated.
Then, returning to step S13, the leftmost pixel P (L2, 1) of the line L12 is designated.

If steps S13 to S22 are repeated and the above-described processing is completed for the lowermost line L480 of the frame F, “Yes” is determined in step S21.
If “Yes” is determined in step S 21, the process proceeds to step S 23, and the line number stored in the storage unit 15 (in one horizontal line having the maximum sum or average value of the calculation results of Equation 1) is stored. An actual measurement value of the position in the height direction of the reference line SL in the frame F is obtained from the line number: any one of L1 to L480).

As described above, the fluorescent pink line SL has a large R value, B value, and small G value, so that the calculation result of Expression 1 also increases, and the processing of steps S14 to S20 is completed for the entire region of the frame F. For example, the line at the height direction corresponding to the line SL has the maximum sum or average value of the calculation results of Expression 1 in the frame F, and one horizontal line corresponding to the fluorescent pink line SL ( The number of any of the lines L1 to L480 is stored in the storage unit 15 (step S20).
The line number has a one-to-one correspondence with the height direction position, and the measured value of the height direction position of the fluorescent pink line SL is immediately obtained from the line number stored in the storage unit 15.

Next, in step S24, the fluorescent pink color in the frame before obtaining the actual measurement value in step S23, that is, the frame F (preceding frame) in which the position in the height direction of the line SL was obtained previously. A plurality of actually measured values in the height direction position of the line SL are prepared, and the moving average block 17 calculates an average value (average value by the moving average method) with the actually measured value in the height direction position obtained in step S23. To do.
If the measured value of the height direction position obtained in step S23 includes an error due to noise, various errors, etc., the measured value of the height direction position of the line SL in the frame includes an error. This is to minimize it.
As described above, for example, even if the reference line SL drawn on the wall surface is interrupted in the middle, the analysis result in the frame F photographed immediately before the reference line SL is interrupted and the analysis of the frame in which the reference line SL exists The results can be averaged, and the average value can be used to determine the measured value of the position in the height direction of the reference line SL in the region where the reference line SL is interrupted.
Then, the process proceeds to step S25.

In step S25, based on the distance between the pink fluorescent line SL and the camera 8 (distance between the wall surface on which the pink fluorescent color is drawn and the camera 8: determined by the distance determination block 18), The measured value of the height direction position is corrected.
Thereby, the actually measured value of the height direction position of the line SL in the frame F is determined (step S26).

According to the first embodiment of FIGS. 1 to 6, the fluorescent pink reference drawn on the wall surface (not shown in FIG. 1) existing in the vicinity of the wall surface of the road to be laid by the asphalt finisher 101. The line SL is photographed by the camera 8 to determine the actual measurement value of the height direction position of the reference line SL, and the asphalt so as to reduce the deviation between the actual measurement value and the target value of the height direction position of the reference line SL. Expansion / contraction control of the leveling cylinder 4 of the finisher 101 is performed.
The asphalt leveling surface can be adjusted to a desired level by reducing the deviation between the target value of the position in the height direction of the reference line SL and the actual measurement value by the expansion / contraction control of the leveling cylinder 4.

Here, when implementing the first embodiment, the sensor (grade controller) part for detecting whether or not it is in contact with the wire in the prior art may be changed to the camera 8 and the processing unit 9, so that the existing asphalt There is no need to make significant changes to the finisher.
That is, the first embodiment can be implemented without increasing the introduction cost.

In the first embodiment, the wall on which the fluorescent pink reference line SL is to be drawn is not limited to the outer wall of the building. For example, a plate-like member can be continuously arranged along a road on which asphalt leveling is to be performed and replaced with the “wall”. The reference line SL in the first embodiment may be drawn on the plate-like member with fluorescent pink chalk or the like.
Therefore, the reference line SL in the first embodiment can be installed (set) or drawn much more easily than the wire tensioning in the prior art. It becomes possible to reduce the cost of asphalt leveling work.

In the first embodiment, the reference line SL is a fluorescent pink color. By using Equation 1 to create the histogram, the fluorescent pink feature that the R value and B value are large and the G value is small stands out. The pixels P in the reference line SL and the pixels P in other regions can be easily and accurately distinguished.
As a result, the fluorescent pink reference line SL is adopted, and the reference line is utilized using the characteristic on the histogram (see FIG. 6) by using the above-described formula 1 “(RG) + (BG)”. In the first embodiment in which the position of the SL in the height direction is determined, sunlight is irradiated on the wall surface on which the reference line SL is drawn or illumination is intensely applied to the wall surface (by the camera 8). Even if a bright part and a dark part (shadow part) are formed in the photographing range, the reference line SL can be accurately recognized.

  Further, in addition to the above-described light influence, the asphalt finisher 101 always has an influence of vibration and various noises during the leveling work. In the first embodiment, the horizontal line L1 of the frame is present. In L480, in 640 pixels P, the determination is made based on the sum or average of the numerical values obtained by Equation 1 (the equation for obtaining the histogram in FIG. 6), so the influence of noise is minimized. I can do it.

Furthermore, in the first embodiment, the height direction position of the reference line SL is obtained from the average value of the plurality of frames F that have been shot.
Therefore, even if the reference line SL drawn on the wall is interrupted (erased) in the middle, the analysis result in the frame F taken immediately before the reference line SL is interrupted (disappears) (the height direction position of the reference line SL) ) And the analysis result of the frame F in which the area immediately after the reference line SL exists are averaged (for example, averaged by moving average), and the reference line is obtained by using the average value. It can be determined as an actual measurement value of the position in the height direction of the reference line SL in a region where SL is interrupted (disappears).

Next, a second embodiment of the present invention will be described with reference to FIGS.
Here, 2nd Embodiment is embodiment which applied this invention about the concrete finisher used for the finishing operation | work etc. of the floor surface of a building.
In the second embodiment, the line SL serving as a reference for adjusting the level of the finished surface of the concrete is a fluorescent pink color, and is drawn on a wall surface not shown in FIGS. This is the same as in the first embodiment.

In FIG. 7, the concrete finisher denoted as a whole by reference numeral 102 has four legs 40 (only two legs are shown in FIG. 4) and screed 2 </ b> A. Is provided with a traveling device 7.
In addition, an actuator (leg part expansion / contraction actuator) 4A for extending and contracting the leg part is provided at the upper end of each leg part 40.
A concrete mixer truck (not shown) is supplied in front of the concrete finisher 102 by a belt conveyor BC. The supplied concrete is spread by an auger.
When the actuator 4A of the concrete finisher 102 is extended, the lower edge 2b of the screed 2A rises, and the concrete floor thickness increases. On the other hand, when the actuator 4A is contracted, the lower edge 2b of the screed 2A is lowered, and the concrete floor thickness is reduced.

As shown in detail in FIG. 8, the concrete finisher 102 is provided with a camera 8, and the camera 8 is configured to photograph a fluorescent pink reference line SL drawn on a wall surface (not shown).
The camera 8 is attached to the leg portion 40 by the mounting bracket 6. For example, when the actuator 4A (see FIG. 7) is extended, the position of the camera 8 is raised, and when the actuator 4A is contracted, the position of the camera 8 is lowered.

The video data of the reference line SL photographed by the camera 8 is sent to the processing unit 9 via the information transmission line 89, and the processing unit 9 actually measures the height direction position of the reference line SL from the video data of the reference line SL. And the actual measurement value (the actual measurement value of the position in the height direction of the reference line SL) is sent to the actuator control unit 5.
The actuator control unit 5 controls expansion / contraction of the leg portion expansion / contraction actuator 4 </ b> A in response to the actually measured value in the height direction position of the reference line SL determined by the processing unit 9.
That is, the actuator control unit 5 calculates the deviation between the target value at the height direction position of the reference line SL and the actual value (actual value at the height position of the reference line SL), and sets the actual value as the target value. In order to do this (or to reduce the deviation), the expansion / contraction amount of the leg portion expansion / contraction actuator 4A is controlled.

  Other configurations, control modes, and effects in the second embodiment shown in FIGS. 7 and 8 are the same as those in the first embodiment.

Next, a third embodiment of the present invention will be described with reference to FIGS. However, FIG. 5 may also be referred to when describing the third embodiment.
The third embodiment is different from the first embodiment and the second embodiment in the control mode for determining the actual measurement value of the height direction position of the reference line SL.

In the first embodiment and the second embodiment, when determining the actually measured value of the height direction position of the reference line SL, parameters corresponding to the peak of the histogram in the fluorescent pink reference line SL (the sum or average value) The maximum value) is determined, and thus the position of the reference line SL in the height direction is determined.
On the other hand, in the third embodiment, the height direction position of the reference line SL is determined by comparing the sum of the R value, the G value, and the B value with a threshold value.
In other words, in the third embodiment, the parameter corresponding to the peak of the histogram (the maximum value of the sum or the average value) is not determined, the calculation according to Equation 1 described in the first embodiment is not performed, and the reference The line SL does not need to be fluorescent pink.
In the illustrated third embodiment, the reference line SL is white. However, the reference line SL can be changed to other colors.

  The third embodiment shown in FIGS. 9 and 10 can be applied to both the asphalt finisher 101 as shown in FIG. 1 and the concrete finisher 102 as shown in FIG.

FIG. 9 shows the structure of the processing unit 9A according to the third embodiment. The processing unit 9A uses the processing unit 9A to calculate the actual value of the position in the height direction of the reference line SL from the video data of the reference line SL photographed by the camera 8. It is determined.
In FIG. 9, the processing unit 9A includes an arithmetic block 11A, a summation block 12, an averaging block 13, a comparison block 14A, a storage means 15A, an average value block 22, a determination block 16, a moving average block 17, a distance determination block 18, and a distance. A correction block 19, a height information signal generation block 20, and an interface 21 are provided.
Although an interface (not shown) is also provided between the camera 8 and the calculation block 11A in FIG. 3, the interface is not shown for simplicity.

In the third embodiment, the reference line SL is, for example, a white line.
For each frame F photographed by the camera 8, the arithmetic block 11 </ b> A is provided for each pixel (pixel P) in one horizontal line in the frame F (any one of L <b> 1 to L <b> 480 in FIG. 6). , R value (red value in the pixel), G value (green value in the pixel), and B value (blue value in the pixel).

The comparison block 14A compares the sum of the R value, G value, and B value (or the average value for each pixel) of the current line with a threshold value.
When the sum (or average value) of the R value, G value, and B value is larger than the threshold value, one horizontal line having the sum (or average value) (corresponding to the sum or average value) The line number is stored in the storage means 15A. That is, the storage means 15A stores the line number of the line whose sum (or average value) of the R value, G value, and B value is larger than the threshold value.

If the average value block 22 receives a signal (frame signal: described later) from the decision block 16 when the processing of the frame F is completed, the sum (or average value) of the R value, the G value, and the B value is obtained. The line number of the line larger than the threshold value is acquired from the storage unit 15A.
Then, the average of the line numbers is calculated by calculating the average value of the line numbers from the acquired line numbers (for the lines whose sum of R values, G values, B values or the average value is larger than the threshold value). The value is sent to decision block 16.

When the decision block 16 receives a signal indicating that the processing of the frame F has been completed (frame signal), the sum of the R value, the G value, and the B value or the average value of the average value block 22 is less than the threshold value. Requests the average line number for large lines.
If the average value is transmitted from the average value block 22, the height direction position corresponding to the average value is determined (the position or height corresponding to the average value of the line numbers is determined).
Here, as described above, the line number directly corresponds to the height direction position, and the average value of the line numbers also directly corresponds to the height direction position. Therefore, if the average value of the line numbers is obtained, the height direction position is also obtained.

  In the processing unit 9A, the summation block 12, the averaging block 13, the moving average block 17, the distance determination block 18, the distance correction block 19, the height information signal generation block 20, and the interface 21 are the same as those in the processing unit 9 of the first embodiment. Since the same functions as the blocks (components) in FIG.

Next, based on FIG. 10 and referring also to FIG. 5, control for determining the height direction position of the reference line SL in the third embodiment will be described.
As described above, the height direction of the reference line SL is the vertical direction in FIG. Then, “one horizontal line” in FIG. 10 is one of the lines L1 to L480 in FIG.

  In step S31 in FIG. 10, first, the camera 8 captures one frame F. When the photographing is completed, one horizontal line L1 at the top of the frame F is designated in step S32. In step S33, the calculation block 11A calculates the sum of the R value, the G value, and the B value in each pixel P (L1, 1) to P (L1, 480) of the horizontal line L1.

In the next step S34, the summation block 12 calculates the summation of one horizontal line for the total value of the R value, G value, and B value of each pixel.
In step S35, the sum total obtained by the summation block 12 by the averaging block 13 (the sum of the total values of the R value, G value, and B value in all the pixels in one horizontal line) Find the average value for each. However, this step S36 and the averaging block 13 can be omitted. In this sense, for example, “total (average)” is described in step S36 and the like.

  The sum is obtained in step S34, and the average value is obtained in the selective step S35, but the abnormality is caused in the sum of the R value, the G value, and the B value for a single pixel due to noise or the like. This is to minimize the influence of the abnormality.

In step S36, the total sum of the R, G, and B values of all pixels in one horizontal line (or the R value, G value, and the like for each pixel in one horizontal line) It is determined whether or not the average value in the sum of the B values has exceeded a threshold value.
When the total sum (or average value) of the R value, G value, and B value exceeds the threshold value (Yes in step S36), one horizontal line is a white reference line SL. It is recognized that it is in a position corresponding to. Then, the process proceeds to step S37.

Here, in the case of the white reference line SL, the total sum (or average value) of the total values of the R value, G value, and B value of all pixels in one horizontal line is less than the threshold value. growing.
On the other hand, if it is other than the white line reference line SL, the total sum (or average value) of the R value, G value, and B value of all pixels in one horizontal line is equal to or less than the threshold value. Become.
When setting such thresholds, the conditions of each construction site, the weather at the time of construction, the state of the wall surface (not shown) on which the reference line SL is drawn, and other conditions, are case by case. Will be tried.

In step S37, the storage means 15A stores the line number of one line in the horizontal direction in which the total sum (or average value) of the R value, G value, and B value exceeds the threshold value. Then, the process proceeds to step S38.
The line number in one horizontal line corresponds to the height direction position of the line. Therefore, storing the line number in one horizontal line is equivalent to storing the height direction position in one horizontal line.
In step S36, if the total sum (or average value) of the total values of the R value, G value, and B value is equal to or smaller than the threshold value, step S37 is bypassed and the process proceeds to step S38. That is, if the total sum (or average value) of the total values of the R value, G value, and B value is equal to or less than the threshold value, the line number in one horizontal line is not stored in the storage unit 15A.

In step S38, it is determined whether or not the processing in steps S33 to S36 has been completed for the entire vertical direction of the frame F (see FIG. 5), that is, all the lines L1 to L480.
If the processes in steps S33 to S36 have been completed in all of the lines L1 to L480 (step S38 is Yes), the process proceeds to step S40. On the other hand, if all the processes of the lines L1 to L480 have not been completed (No at Step S38), the line immediately below the line at which the processes of Steps S33 to S36 have been completed (a line adjacent to the lower side). The process is advanced (step S39), and steps S33 to S36 are repeated.

  If the processing of steps S33 to S36 is completed in all of the lines L1 to L480 (step S38 is Yes) and the processing proceeds to step S40, the line number value stored in step S37 by the average value block 22, that is, The average value of the line numbers is obtained for the horizontal lines in which the sum (average) of the total values of the R value, G value, and B value exceeds the threshold value. Then, the process proceeds to step S40.

As described above in step S37, the line numbers of the horizontal lines (lines L1 to L480 in FIG. 5) correspond to the height direction positions of the lines.
Therefore, obtaining the average value of the line numbers of the horizontal lines determined to exceed the threshold value in step S40 (lines exceeding the threshold value in L1 to L480) is determined in step S36. The average value of the height direction positions of the horizontal lines determined to exceed the value (lines corresponding to the reference line SL in the lines L1 to L480), that is, the center height in the height direction of the reference line SL This corresponds to obtaining the vertical position.

  In step S40, an average value is obtained for the horizontal lines that have been determined to exceed the threshold value (lines that exceed the threshold value in L1 to L480) in the height direction of the reference line SL. In addition to obtaining the center position in the height direction, the total of the R, G, and B values of one horizontal line may vary due to finisher vibration, road surface irregularities, noise, and other reasons. When it occurs, the influence of such fluctuation can be suppressed to the minimum.

Proceeding to step S41, the determination block 16 determines the position corresponding to the line number averaged at step S40 as the actual measurement value of the height direction position of the photographed reference line SL.
In the next step S42, a moving average of the height of the reference line (white line) SL in the preceding frame F is calculated. This step S42 corresponds to step S24 (FIG. 4) in the first embodiment.
Then, the process proceeds to step S43.

In step S43, the height direction of the reference line SL based on the distance between the reference line (white line) SL and the camera 8 (distance between the wall on which the reference line SL is drawn and the camera 8: determined by the distance determination block 18). Correct the actual position value. This step S43 corresponds to step S25 (FIG. 4) in the first embodiment.
Then, an actual measurement value of the position in the height direction of the reference line SL in the frame F is determined (step S44).

  Also in the third embodiment of FIGS. 9 and 10, the camera 8 uses a reference line SL drawn on a wall surface (not shown) existing in the vicinity of the wall surface of the road to be laid by an asphalt finisher or a concrete finisher. The actual value of the position in the height direction of the reference line SL is determined, and the expansion / contraction control of the leveling cylinder 4 of the asphalt finisher and the expansion / contraction control of the leg expansion / contraction actuator 4A of the concrete finisher are performed. By correcting the deviation from the target value, the spread level can be adjusted to a desired level.

Further, as in the first embodiment, the third embodiment can be carried out without significantly changing or modifying the existing asphalt finisher or concrete finisher.
Other configurations, control modes, and operational effects in the third embodiment in FIGS. 9 and 10 are the same as those in the first and second embodiments.

Next, a fourth embodiment of the present invention will be described with reference to FIGS. In describing the fourth embodiment, FIG. 5 may be referred to.
The fourth embodiment differs from the first to third embodiments in terms of control.
Also in the fourth embodiment, as in the third embodiment, the reference line SL is white, and the fluorescent pink reference line SL as in the first and second embodiments is not used.

In the fourth embodiment, two horizontal lines adjacent in the height direction (in the lines L1 to L480 in FIG. 5, two lines adjacent in the vertical direction in FIG. 5: the lines L1 to L1 in FIG. 5). In L480, when the difference δ in the sum of the R value, the B value, and the G value exceeds the threshold value for two lines having consecutive numbers), it is determined as the reference line SL.
The fourth embodiment shown in FIGS. 11 and 12 can also be implemented for both the asphalt finisher as shown in FIG. 1 and the concrete finisher as shown in FIG.

FIG. 11 shows the structure of the processing unit 9B that determines the actual measurement value of the height direction position of the reference line SL from the video data of the reference line SL photographed by the camera 8.
In FIG. 11, the processing unit 9B includes an arithmetic block 11B, a summation block 12, an averaging block 13B, a comparison block 14B, a storage means 15B, a determination block 16B, a moving average block 17, a distance determination block 18, a distance correction block 19, An information signal generation block 20 and an interface 21 are provided.
Note that an interface (not shown) is also provided between the camera 8 and the calculation block 11B in FIG. 11, but the interface is not shown for simplicity.

The calculation block 11B has a function of calculating the sum of the R value, the G value, and the B value in each pixel similarly to the calculation block 11A (FIG. 9).
However, the calculation block 11A calculates the sum of the R value, G value, and B value of the pixels in one horizontal line, whereas the calculation block 11B calculates the horizontal direction adjacent to the horizontal direction. In the two lines, only the lower line (current line) is configured to calculate the sum of the R value, the G value, and the B value. However, in the cycle for processing the uppermost two lines (lines L1 and L2 in FIG. 5), the sum of the R value, G value, and B value is calculated for both lines L1 and L2.
Except for the uppermost two lines (lines L1 and L2 in FIG. 5), the upper horizontal line (the preceding line) is the lower line in the preceding cycle as the R value, G This is because the sum of the value and the B value is calculated, and it is only necessary to store the calculation result.

  Alternatively, the calculation block 11B has two lines, that is, one of the upper horizontal line (the preceding line) and the lower horizontal line adjacent to the height direction (current line). , (For each corresponding pixel), the sum of the R, G, and B values may be computed in every control cycle.

The function of the averaging block 13B is the same as that of the averaging block 13 of the first embodiment, but not only the averaged data is transmitted to the comparison means 14B but also the total (or average value) in the current line. In order to use it as the “total (or average value) of preceding lines” in the next cycle, it is transmitted and stored in the storage means 15B.
As described above with respect to the calculation block 11B, if the sum (or average value) in the current line is stored in the storage means 15B and used as the sum (or average value) of the preceding line in the subsequent cycle, the calculation block 11B This is because it is not always necessary to calculate the sum of the R value, the G value, and the B value for the two lines, the preceding line and the current line.
Similar to the first embodiment, the averaging block 13B can be omitted. When the averaging block 13B is omitted, what is transmitted to the storage means 15B is the sum total in the current line.

The comparison block 14B calculates the difference between the total sum or the average value of the R value, G value, and B value of the preceding line and the total sum or the average value of the R value, G value, and B value of the current line. An absolute value δ is obtained, and the absolute value δ of this difference is compared with a threshold value.
The decision block 16B receives the frame signal and determines the end of processing in the frame F being processed. Then, the current line with the absolute value δ of the difference exceeding the threshold and having the smallest line number is determined as the reference line SL. At the same time, the line number of the current line is acquired.

  In the processing unit 9B, the summation block 12, moving average block 17, distance determination block 18, distance correction block 19, height information signal generation block 20 and interface 21 are the same as those in the first and third embodiments. Detailed description is omitted.

Next, with reference to FIG. 12, control for determining the height direction (vertical direction in FIG. 5) position of the reference line SL in the fourth embodiment will be described.
Also in the description of such control, FIG. 5 may be referred to. Then, “one horizontal line” in FIG. 12 is one of the lines L1 to L480 in FIG.

In step S51 of FIG. 12, first, the camera 8 captures one frame F.
When the photographing is completed, “preceding line” and “current line” are defined in step S52.
The “preceding line” is, for example, an upper line (a line having a smaller number) of two horizontal lines (lines L1 to L480) adjacent in the vertical direction in FIG. The “current line” is the lower line (the line with the larger number).
That is, in FIG. 5, if the preceding line at the top of the frame F is the line L1, the current line is the line L2.
When the processing of the frame F is performed from the lower side to the upper side, the “preceding line” is the lower line (the lines L1 to L480) adjacent to each other in the vertical direction (line L1 to L480). The “current line” is the upper line (the line with the smaller number).

In the next step S53, for each of the preceding line (for example, line L1) and the current line (for example, line L2), the sum of the R value, G value, and B value of all the pixels in the line is calculated. The total sum of the R value, G value, and B value of each pixel is calculated.
That is, the sum of R value, G value, and B value and the sum thereof are obtained for all the pixels of the preceding line, and the sum of R value, G value, and B value and the sum thereof are obtained for all the pixels of the current line.
However, in FIG. 5, in the case of a control cycle in which the preceding line is the line L2 and a line below the line L2, in the preceding cycle, the R value, G value, and B value of all the pixels of the “current line” The sum and its sum are calculated. Therefore, the sum and sum can be stored in the storage unit 15B and used as the sum and sum of the “current line” in the preceding cycle. Therefore, when the preceding line is the cycle of the line L2 and the line below it, the sum of the R value, the G value, the B value, and the sum thereof may be obtained only for the “current line”.

Proceeding to step S55, the sum of the R, G, and B values for all pixels in the preceding line is divided by the number of pixels in the horizontal line (eg, 640 pixels in the illustrated embodiment), and The average value in the sum of R value, G value, and B value is obtained.
Similarly, for the current line, an average value in the sum of the R value, G value, and B value of each pixel is obtained. Then, the process proceeds to step S56.
However, step S55 can be omitted. Similarly, the averaging block 13B of FIG. 11 can be omitted. Therefore, in the description of the absolute value δ of the difference in step S56 described later, it is written together with “total or average value”.

  The sum is obtained in step S54, and the average value is obtained in step S55, although it is optional, as in the first and third embodiments, due to noise or the like for a single pixel. This is because when an abnormality occurs in the G value and the B value, the influence of the abnormality is minimized.

In step S56, the difference between the total sum (or average value) of the R value, G value, and B value of the preceding line and the total sum (or average value) of the R value, G value, and B value of the current line. Is obtained, and the absolute value δ of the difference is compared with a threshold value.
If the absolute value δ of the difference is equal to or less than the threshold value (No in step S56), the preceding line and the current line are both present in a region other than the reference line SL on the wall surface, or both are on the wall surface. And the process proceeds to step S58.

On the other hand, if the absolute value δ of the difference is larger than the threshold value (Yes in step S56), the decision block 16B indicates that either the preceding line or the current line corresponds to the reference line SL and the other is the wall surface. It is determined that it corresponds to an area other than the reference line SL.
In this case, the process proceeds to step S57, where the absolute value δ of the difference is larger than the threshold value (step S56 is “Yes”), and the line number of the “current line” having the smallest line number at that time Remember. In other words, step S56 is “Yes”, and the line number of the current line present at the uppermost position is stored.

  When the process proceeds from the bottom to the top of the frame, in step S57, the absolute value δ of the difference is larger than the threshold value (step S56 is “Yes”), and the line number at that time By storing the line number of the maximum “current line”, the line number of the current line existing at the uppermost position is stored.

As a case where the absolute value of the difference δ is larger than the threshold when the width of the reference line SL (the vertical width in FIG. 5) corresponds to a plurality of pixels,
(1) The preceding line is a wall surface other than the reference line SL, but when the current line corresponds to the reference line SL (upper edge of the reference line SL),
(2) If the preceding line corresponds to the reference line SL, but the current line corresponds to a wall surface other than the reference line SL (lower edge of the reference line SL),
There are two ways.
In the fourth embodiment shown in FIGS. 11 and 12, the upper edge of the reference line SL, that is, the current line (1) is selected as the height direction position of the reference line SL.

Of course, it is also possible to select the lower edge of the reference line SL, that is, the preceding line (2) as the height direction position of the reference line SL.
In that case, in step S57, the absolute value δ of the difference is larger than the threshold value, and the line number of the preceding line existing at the lowermost position is stored.

In step S57, the line number of the line acquired as the line corresponding to the height direction position of the reference line SL (the current line corresponding to the upper edge of the reference line SL) is acquired from the storage unit 15B.
As described above, the line number corresponds to the height direction position (vertical direction position in FIG. 5) of each of the horizontal lines (L1 to L480). This is because the position is determined.

Proceeding to step S58, it is determined whether or not the processing for the frame shot in step S51 has been completed.
As described above, in the first to fourth embodiments, the processing proceeds from the uppermost line L1 in FIG. 5 toward the lowermost line L480. Therefore, if the current line is the lowermost line L480 (see FIG. 5), the processing in the frame F is completed.

If the processing in the frame F has not been completed (No in step S58), in step S59, the preceding line and the current line are one pixel in the vertical direction of FIG. 5 (or one horizontal line). ) Move down.
That is, the “current line” becomes the “preceding line” in the next cycle. Then, the line adjacent below the “current line” becomes the “current line” in the next cycle.
On the other hand, if the processing in the frame F is completed (Yes in step S58), the process proceeds to step S60.

As described above with reference to step S57, when the preceding line is a wall surface other than the reference line SL and the current line corresponds to the reference line SL (in the case of the upper edge of the reference line SL), “ The “current line” corresponds to the height direction position of the reference line SL.
Therefore, in step S60, the actual measurement value of the height direction position of the reference line SL is determined from the line number of the “current line”.
Then, the process proceeds to step S61.

In step S61, a moving average of the height of the reference line (white line) SL in the preceding frame F is calculated. Such processing is the same as in the first embodiment (step S24 in FIG. 4) and the second embodiment (step S42 in FIG. 10).
In step S62, the height position of the reference line SL is determined based on the distance between the reference line (white line) SL and the camera 8 (distance between the wall surface on which the white line is drawn and the camera 8: determined by the distance determination block 18). Correct the measured value. This process is also the same as in the first embodiment (step S25 in FIG. 4) and the second embodiment (step S43 in FIG. 10).
Then, an actual measurement value of the position in the height direction of the reference line SL in the frame F is determined (step S63).

  Also in the fourth embodiment of FIGS. 11 and 12, the camera 8 uses a reference line SL drawn on a wall surface (not shown) existing in the vicinity of the wall surface of the road on which the asphalt finisher or the concrete finisher is to be leveled. The measured value of the position in the height direction of the reference line SL is determined, and the expansion / contraction control of the leveling cylinder 4 of the asphalt finisher and the expansion / contraction control of the leg extension actuator 4A of the concrete finisher are performed. By correcting the deviation from the target value, the spread level can be adjusted to a desired level.

Further, similarly to the first embodiment and the third embodiment, the fourth embodiment can be implemented without significantly changing or modifying the existing asphalt finisher or concrete finisher.
Other configurations, control modes, and operational effects in the fourth embodiment shown in FIGS. 11 and 12 are the same as those in the first to third embodiments.

The illustrated embodiment is merely an example, and is not intended to limit the technical scope of the present invention.
For example, the color of the reference line SL is fluorescent pink in the first embodiment and the second embodiment, and is white in the third embodiment and the fourth embodiment, but is white with the wall on which the reference line SL is drawn. Other colors may be used as long as they can be distinguished.

DESCRIPTION OF SYMBOLS 1 ... Vehicle main body 2 ... Screed 3 ... Side arm 4 ... Leveling cylinder 5 ... Cylinder control unit 6 ... Bracket 8 ... Camera 9 ... Processing unit 11 ... Arithmetic block 12 ... Summation block 13 ... Averaging block 14 ... Comparison block 15 ... Storage means 16 ... Decision block 17 ... Moving average block 18 ... Distance decision block 19 ...・ Distance correction block 20 ... Height information signal generation block

Claims (1)

When leveling asphalt or concrete that is road pavement material, a standard line is set in advance, and the leveling method can be adjusted along the standard line to a predetermined height direction. The leveling device (2) for leveling, the height position changing device (4) for changing the height direction position of the leveling device (2) and the reference line (SL) The processing unit (9) and the processing unit (9) for analyzing the video data taken by the camera (8) and the camera (8) and determining the measured value of the height direction position of the reference line (SL) Using a leveling machine having a control device (5) for controlling the height position changing device (4) based on the actually measured value and target value of the height direction position of the obtained reference line (SL), On the wall at the edge of the road A line reference line (SL) is drawn, the drawn reference line is photographed by the camera (8) (S1), a distance between the reference line (SL) and the camera (8) is obtained (S2), The image data captured by the camera (8) is sent to the processing unit (9), the actual measurement value of the height direction position of the reference line (SL) is acquired (S3), and the acquired reference line (SL) is acquired. The measured value in the height direction position is compared with the target value in the height direction position of the reference line (SL), and the difference between the target value and the measured value is obtained (S4). Based on the difference, the height position is determined. A paving material leveling method, characterized by controlling the changing device (4).

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