JPH0116167Y2 - - Google Patents

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to a reference line running device, and in particular, to a system that allows a trackless vehicle running on a road to travel on a reference line by controlling it while monitoring a monitor. The present invention relates to a reference line traveling device.

[Conventional technology]

Conventionally, when setting reference lines for construction in the direction of road extension, or when drawing median lanes and lane separation lanes, the width of the road was measured directly with a tape measure, and then the required position from the road edge was measured. They also measured it with a tape measure and recorded the values. Such operations were performed at predetermined intervals in the direction of road extension, and a reference line was created by connecting these marked points in the direction of extension.

Also, as other prior art, US Patent No. 3101175
In the specification, two cameras are used to capture images of both ends of the road, and these images are combined.
It shows a device that creates a line on the screen and uses this to draw a line on the road.

[Problems that this invention attempts to solve]

In this conventional work of setting reference lines, the measurer directly walks on the road to take measurements, which is time-consuming and labor-intensive, and vehicles are prohibited from passing on the road during the measurement. There were inconveniences such as having to do so.

In addition, the latter conventional example requires two cameras, and if the composite image deviates from the desired travel, the width of the single composite line only changes, and adjustment is not required. The drawback was that it was not easy.

The purpose of this invention is to eliminate the above-mentioned drawbacks of the conventional technology by using a single camera to monitor line segments at both ends of the road, and to monitor the road surface while easily and accurately confirming deviations in driving. To provide a reference line traveling device which travels and writes a reference line.

[Means for solving problems]

This invention uses the only television camera mounted on a self-propelled vehicle and the aforementioned cameras to capture images of the left and right edges of the road surface, and two cameras installed in an intersecting manner so that the left and right edges of the road can be viewed on a single monitor. The device is equipped with two plane mirrors and a recording member, and by adjusting the angle of these plane mirrors, the left and right ends of the road surface are displayed as one line.

〔Example〕

Next, embodiments of the present invention will be described with reference to the drawings.

In FIG. 1, a television camera 2 is placed above a trackless self-propelled vehicle 1 that is self-propelled on a road, and the imaging direction is directed upward and the scanning line is perpendicular to the linear traveling direction of the self-propelled vehicle. is installed. A monitor 3 is connected to the television camera 2, and the monitor 3 monitors the operation by outputting an image signal from the television camera 1. Further, the television camera 2 includes independent total reflection plane mirrors 4 and 5 arranged in an intersecting manner so as to vertically divide the imaging range of the television camera 2 into two in the scanning line direction so as to image both ends of the road surface 6. These plane mirrors 4 and 5 can be set at any angle with respect to the imaging direction of the television camera 2. Furthermore, a recording member 7 is attached near the center of the lower end of the self-propelled vehicle 1 in a state in which it contacts the road surface 6. Furthermore, 8 and 9 are the left and right end line segments in the width direction of the road record, respectively, and 10 is a point indicating the position of the reference line.

FIG. 2 shows an example of the screen display on the monitor 3. In FIG. 2, 3a is a line segment of the upper and lower division of the screen created by the settings of plane mirrors 4 and 5, 3b is a line segment at the left end of the road, and 3c is a line segment at the right end of the road. 3d indicates the imaged road surface 6, respectively.

In the reference line traveling device configured as described above, first, the linear traveling direction of the self-propelled vehicle 1 is set at right angles to the road width direction, and then the recording member 7 is moved to a point 10 indicating the desired position of the reference line on the road surface 6. The self-propelled vehicle 1 is moved so as to match. In such a situation,
A plane mirror 4 that displays an image on the monitor 3 by moving the television camera 2 so that the line segment 8 at the left end of the road is exactly halfway across the screen in the upper half of the screen of the monitor 3 in the horizontal direction. Adjust the angle to an appropriate angle with respect to the imaging direction. Similarly, the angle of the plane mirror 5 is adjusted so that the line segment 9 at the right end is exactly halfway across the screen in the horizontal direction.

By adjusting the angles of plane mirrors 4 and 5 in this way,
On the screen of the monitor 3, the line segments 8 and 9 at the left and right ends are displayed as one vertical line as shown in FIG. Therefore, on the screen of the monitor 3, set the line segments 8 and 9 at the left and right ends to be displayed as one vertical line as shown in FIG. 2, and then move the self-propelled vehicle 1 forward. If you control the recording member 7 while monitoring it so that the left and right line segments 8 and 9 displayed on the monitor 3 are always displayed as one line in the vertical direction, the recording member 7 will be recorded on the road surface 6. You can draw a reference line in the direction of extension. In the present invention, when the vehicle deviates from running, the line on the monitor bends, allowing easy and accurate confirmation of the deviation.

[Effect of idea]

As explained above, the present invention uses a single camera to monitor the line segments at both ends of the road so that they are displayed as a single line on the monitor screen while maneuvering a self-propelled vehicle to prevent obstructions to traffic. This has the effect of being able to efficiently travel on the reference line on the road and marking the reference line on the road surface.

[Brief explanation of the drawing]

The drawings show an embodiment of the reference line traveling device according to the present invention, and FIG. 1 is an explanatory diagram of the principle of operation, and FIG. 2 is an explanatory diagram of an example of the screen display of the monitor in FIG. 1. 1...Self-propelled vehicle, 2...TV camera, 3...
Monitor, 4, 5... Plane mirror, 6... Road surface, 7...
...Recording member, 8, 9...Line segment at left and right ends, 10...
A point indicating the position of the reference line.

Claims (1)

[Scope of utility model registration request] One television camera is mounted on a self-propelled vehicle, and two angle-adjustable television cameras are installed intersectingly to image the left and right edges of the road surface and divide the television screen into two. a plane mirror, a monitor for displaying a screen imaged by the television camera, and a recording member attached to the self-propelled vehicle in contact with the road surface; The angle of the plane mirror is adjusted so that the left and right edges of the road surface are displayed as one line on the monitor, and the self-propelled vehicle is adjusted so that the left and right edges of the road surface are maintained as one line on the monitor. A reference line traveling device characterized by being operated by.