KR102599168B1 - Lane Painting Guidance System for Lane Painting Vehicles using HUD - Google Patents

Abstract

The present invention relates to a lane painting guidance system for a lane-painted vehicle using a HUD that allows a driver to easily and safely drive a lane-painted vehicle along the lane.
A lane painting guidance system for lane painting vehicles using a HUD according to the present invention to solve the above problems includes a lane detection unit; Lane detection unit; Information generation department; output unit; Paint spraying device; and a control unit, wherein the lane detection unit includes a housing of a predetermined length installed to cover a predetermined length of the lane of the road; A plurality of LED modules installed along the length of the housing to emit light to the lane; It includes a plurality of cameras installed at predetermined intervals along the length inside the housing to photograph the lane, and the lane detection unit determines widths on both sides based on the lane in the video captured in real time by the plurality of cameras of the lane detection unit. Accordingly, a pair of guide lines are each extracted, a reference line is extracted by halving the extracted pair of guide lines, each extracted reference line is connected to detect a change in the lane, and the control unit, Position control is performed so that the injection nozzle of the paint spraying device follows the reference line, and the location of the reference line and the injection nozzle are graphically output on the windshield glass through the output unit to guide the driving direction and driving speed of the vehicle. Do it as

Description

Lane Painting Guidance System for Lane Painting Vehicles using HUD}

The present invention relates to a lane painting guidance system for a lane-painted vehicle using a HUD. More specifically, the present invention relates to a lane painting guidance system for a lane-painted vehicle using a HUD (Head Up Display) that guides the driving direction of the vehicle according to the position of the lane when driving a lane-painted vehicle. This relates to a lane painting guidance system for lane painted vehicles.

Typically, lanes are painted on roads to guide the driving direction and spacing of vehicles. However, as these lanes are exposed to the outside for a long period of time, their visibility decreases, making it difficult to maintain their original function. Therefore, lanes with reduced visibility are repainted. This ensures that its original function is maintained.

For this purpose, lane-painted vehicles have been developed and used in which a steel structure is mounted on the front of the vehicle to guide the vehicle to drive along the lane. These conventional lane-painted vehicles require approval for structural changes to the vehicle due to the steel structure. , It poses a safety problem as it acts as a risk factor for workers and surrounding vehicles when driving.

Therefore, devices are being developed to guide painted vehicles to drive along lanes without installing steel structures. The prior art for this purpose includes lane guidance for painted vehicles in registered patent publication No. 2409259 filed by the present inventor. A device (hereinafter referred to as 'patent document') is disclosed.

The patent document includes a camera installed in a vehicle; a display on which images captured by the camera are output; a virtual guide of a predetermined size that is overlaid on the image displayed on the display to guide driving direction along the existing lane; and a control unit that adjusts the output position and size of the virtual guide, wherein when a position alignment operation is selected while the vehicle is stopped, the control unit outputs the location of the existing lane and the virtual guide through the display. The position of and the position of the paint injection nozzle are controlled to be located in a straight line, the virtual guide is formed to be relatively wider than the existing lane, and the virtual guide is displayed on the lane guide screen of the display. A painting direction guide line having a predetermined length in the reference vertical vertical direction; a handle angle guide line formed to have a predetermined width horizontally on both sides of the painting direction guide line; a pair of lane width guide lines formed at both ends of the steering angle guide line to have a predetermined length in the vertical direction; and an arrowhead-shaped lane direction detection unit formed to have a predetermined size at the top (front) of the paint direction guide line, wherein the steering angle guide line intersects the paint direction guide line in accordance with the steering wheel operation of the vehicle. The angle is changed to the center, and the lane direction detection unit is transformed into a straight line or curve along the existing lane output from the lane guide screen, so that the direction of the lane can be recognized in advance through the direction of the lane direction detection unit. , the painting direction guide line is overlaid to have a predetermined length up and down along the center of the image captured by the camera to indicate the position of the spray nozzle on the existing lane, and the lane width guide line is the separation width. It is characterized in that it is configured so that the driver can manually adjust the width spaced apart from the boundary lines on both sides of the existing lane through touch manipulation of the display.

However, the above patent document requires that the driver drive a vehicle painted in the lane according to the lane and driving direction guided through the display installed inside the vehicle, and for this reason, the driver must continuously look at the display while driving the vehicle, and as a result, when driving the vehicle, There is a problem that interferes with driving due to the relative neglect of checking the front.

Therefore, there is a need for the development of a painted vehicle lane guidance system with an improved structure so that the driver can easily drive along the lane while looking ahead while driving a painted vehicle.

KR 10-2409259 B1 (2022. 06. 10.) KR 10-2466004 B1 (2022. 11. 07.) KR 10-2302285 B1 (2021. 09. 08.) KR 10-2020-0045696 A (2020. 05. 06.)

The present invention was developed to solve the problems of the conventional guidance device for lane-painted vehicles as described above. The problem that the present invention aims to solve is a lane-painting vehicle using a HUD that allows drivers to easily and safely drive a lane-painted vehicle along the lane. It provides a lane painting guidance system for painted vehicles.

The lane painting guidance system for lane painting vehicles using a HUD according to the present invention to solve the above problems includes a lane detection unit installed on the side of the vehicle to detect lanes on the road in real time; a lane detection unit that detects a lane area from data detected by the lane detection unit; an information generation unit that generates driving guidance information based on the lane position and direction information detected by the lane detection unit, and the driving direction and speed of the vehicle; and an output unit consisting of a head-up display that outputs the driving guidance information generated through the information generation unit on the windshield glass at the front of the vehicle. Paint spraying devices located on both sides of the vehicle and spraying paint into separate lanes; and a control unit that controls operations of the lane detection unit, lane detection unit, information generation unit, output unit, and paint spraying device, wherein the lane detection unit includes a housing of a predetermined length installed to cover a predetermined length of the lane of the road; A plurality of LED modules installed along the length of the housing to emit light to the lane; It includes a plurality of cameras installed at predetermined intervals along the length inside the housing to photograph the lane, and the lane detection unit determines widths on both sides based on the lane in the video captured in real time by the plurality of cameras of the lane detection unit. Accordingly, a pair of guide lines are each extracted, a reference line is extracted by halving the extracted pair of guide lines, each extracted reference line is connected to detect a change in the lane, and the control unit, Position control is performed so that the injection nozzle of the paint spraying device follows the reference line, and the location of the reference line and the injection nozzle are graphically output on the windshield glass through the output unit to guide the driving direction and driving speed of the vehicle. Do it as

Another feature of the present invention is that the paint spraying device is installed with spray nozzles on both sides of the vehicle, so that two lanes are painted simultaneously.

In addition, another feature of the present invention is that the injection nozzle is installed to be movable in the width direction of the road through a transfer device of a servomotor and a ball screw, and is configured to be adjusted according to the position of the lane.

In addition, another feature of the paint spraying device of the present invention is that the spray nozzle is configured to adjust its position within a range of 250 to 500 mm in the width direction of the lane.

Another feature of the control unit of the present invention is that when the injection nozzle is positioned within a range of 30 to 50 mm based on the minimum and maximum movable ranges, a vehicle position deviation alarm is generated.

According to the present invention, the position of the lane is detected through the camera of the lane detection unit installed on the side of the vehicle, the nozzle position of the paint spraying device is aligned, and the nozzle position and the position of the lane are output to the head-up display (HUD). It has the advantage of being graphically printed on the windshield glass (vehicle windshield) so that the driver can easily check the location of the lane and nozzle, and at the same time, receive guidance on the vehicle's driving direction easily and safely.

1 is a diagram showing an example of a lane painting guidance system for lane painting vehicles using a HUD according to the present invention.
Figure 2 is a diagram showing an example of a lane being painted using a lane painting vehicle according to the present invention.
Figure 3 is a diagram showing an example of a lane detection unit according to the present invention.
Figure 4 is a diagram showing an example of a lane detection unit according to the present invention.
5 and 6 are diagrams showing an example of an output unit according to the present invention.
Figure 7 is a diagram showing an example of a paint spraying device according to the present invention.

Hereinafter, the present invention will be described in detail according to the accompanying drawings showing preferred embodiments.

The present invention seeks to provide a lane painting guidance system for a lane-painted vehicle using a HUD that allows a driver to easily and safely drive a lane-painted vehicle along the lane. As shown in FIG. 1, the present invention includes a lane detection unit 10. , a lane detection unit 20, an information generation unit 30, an output unit 40, a paint sprayer 50, and a control unit 60.

The lane detection unit 10 is installed on the side of the lane-painted vehicle 2 and detects the lane 1 on the road while the vehicle is running.

In order to prevent the lane 1 of the road from being accurately recognized due to illumination or contaminants, the lane detection unit 10 is installed on the side of the vehicle to have a predetermined length along the front-to-back direction (in the longitudinal direction of the road lane). An installed housing 11, a plurality of LED modules 12 installed along the length inside the housing 11 to emit light to the lane, and spaced at predetermined intervals along the length inside the housing 11. It includes a plurality of cameras 13 that are installed to photograph the lane.

At this time, the housing 11 covers the lane 1 portion of the road, and this structurally prevents the camera 13 installed inside the housing 11 from being exposed to external direct sunlight or lighting from vehicles, etc. It will happen.

In addition, the LED module 12 is used to adjust the illuminance inside the housing 11 so that the road and the lane 1 are clearly distinguished through the image captured through the camera 13, and is operated by a control unit 60, which will be described later. Through this, the operation of the LED module 12 is controlled so that the illuminance inside the housing 11 is maintained at the set illuminance, and through this, under the condition that the illuminance inside the housing 11 is maintained constant, the lane ( 1) is filmed.

To this end, an illuminance sensor (not shown) that detects illuminance may be further installed inside the housing 11, and the camera 13 may be configured as a vision camera to clearly distinguish the lane 1. there is.

In addition, a vacuum suction device 14 may be further installed on the front side of the housing 11 (in the driving direction of the vehicle) to remove foreign substances from the road by vacuum suction, and through this, contaminants may affect lane (1) recognition. The occurrence of errors is reduced.

At this time, there is a block between the vacuum suction device 14 and the LED module 12 to block the space to prevent dust generated while the contaminants are vacuumed due to the vacuum suction force of the vacuum suction device 14 from flowing into the camera 13. Member 15 may be installed.

Here, the blocking member 15 may be composed of a frame having a length up and down, and a membrane member that is installed at the bottom of the frame and flexibly deforms when in contact with the road surface. In this case, the membrane member is made of a flexible material such as cloth, rubber, and silicone. It can be done with

In addition, two or more cameras 13 may be installed at a predetermined interval in order to control the position of the spray nozzle N by detecting changes in the direction of the lane 1 in advance, and in addition, the camera 13 may be installed in two or more cameras 13 at a predetermined interval. The camera 13 may be installed on a guide rail (not shown) having a predetermined length in the longitudinal direction, and the installation interval of the camera 13 may be adjusted under control of the control unit 60 as needed.

The lane detection unit 20 detects the lane area using data (image) detected by the lane detection unit 10.

This lane detection unit 20 distinguishes the road and lane areas through color correction of images captured in real time, and establishes a pair of guide lines (L1, L2) with a predetermined length along the width of both sides of the divided lane 1. It is extracted.

At this time, the guide lines (L1, L2) are created by detecting the edges on both sides of the lane (1) in the image, generating the width direction coordinate value (X-axis coordinate value) of the lane, and then calculating the average value of the generated X-axis coordinate value. As shown in Figure 4, it is created on both sides of the lane 1.

After a pair of guide lines (L1, L2) are created in this way, the spaced width (W) between the pair of guide lines (L1, L2) is measured, and the measured width (W) is halved to create a virtual A baseline (L3) is created.

That is, a reference line (L3) is created for each image captured through each of the plurality of cameras 13, and then a lane length value equal to the interval where the cameras 13 are installed is applied to create a lane through the information generation unit 30, which will be described later. Graphics are created.

At this time, the control unit 60, which will be described later, calculates the positional movement value (curve, etc.) of the lane 1 according to the driving speed of the lane-painted vehicle 2, and the output unit 40, which will be described later, is adjusted according to the calculated value. Through this, the shape of the lane graphic portions 43 and 44, which are graphically output on the windshield glass 3, changes in real time.

The information generation unit 30 provides driving guidance information to be output to the output unit 40, which will be described later, based on the location and direction information of the lane detected by the lane detection unit 20 and the driving direction and speed of the lane-painted vehicle 2. is to create.

When the baseline (L3) information detected by the lane detection unit 20 is input through a preset algorithm, the information generation unit 30 automatically generates lane graphics to be output through the output unit 40 and according to the current driving speed of the vehicle. It can be configured to generate graphics for guiding the driving direction and speed of the vehicle.

The output unit 40 is installed inside the lane-painted vehicle 2 and outputs graphics generated through the information generation unit 30 to the windshield glass 3 in real time.

This output unit 40 consists of a head-up display (HUD) for outputting information to the windshield glass 3, and more preferably an LED array for outputting graphics generated in the information generation unit 30. , It may be configured to include a TFT projection display that outputs graphics output through the LED array, and a plurality of reflectors that reflect graphics output through the TFT projection display.

Here, the LED array can be installed by attaching to the windshield glass, and can be configured to automatically adjust the color and brightness of the output graphics according to the illuminance so that the visibility of the output graphics is not reduced by sunlight or shadows.

In addition, a separate auxiliary battery (not shown) may be further installed in the output unit 40, and through this, even if the power supply from the lane painting vehicle 2 is interrupted or power is supplied unstable, the output unit 40 is supplied through the auxiliary battery. Power is applied to (40) to prevent arbitrary operation interruption.

This output unit 40 is configured to have a predetermined length along the windshield glass 3, as shown in FIGS. 6 and 7, and has lane graphic units 43 and 44 that guide the shapes of both lanes, respectively. They are output on both sides of the windshield glass (3), and a driving direction guide unit (41) and a speed guide unit (42) that guide the driving direction and driving speed of the lane-painted vehicle (2), respectively, can be output between them. there is.

In addition, the position of the injection nozzle (N) of the paint spraying device 50, which will be described later, is output to the lane graphic units 43 and 44 in an overlapping manner, and at the same time, the driving direction guide unit 41 ) Alternatively, a paint information output unit 45 may be further output at a predetermined distance from the speed guide unit 42 and includes the remaining amount of paint of the paint sprayer 50, the spray speed of the paint, control information of the spray nozzle, etc. .

Through the configuration of the output unit 40 as described above, the driver can easily check information on both lanes, control information of the paint sprayer 50, and information such as the vehicle's driving direction and speed from the interior of the lane-painted vehicle 2. Through this, it is possible to safely operate the lane painting vehicle 2 so that both lanes can be repainted at the same time or the lane on one selected side can be repainted.

The paint spraying device 50 is installed on the lane painting vehicle 2 and sprays paint along the lane to repaint the lane.

This paint spraying device 50 can be configured to paint two lanes simultaneously by installing spray nozzles (N) on both sides of the vehicle, and the spray nozzles (N) are equipped with a servomotor as shown in FIG. 7. It is installed to be movable in the width direction of the road through (M) and the ball screw transfer device (B), and can be configured to be adjusted according to the position of the lane.

In addition, the spray nozzle (N) can be configured to be height-adjustable up and down through a vertically installed guide rail (no reference numeral), and through this, the width of the sprayed road is adjusted and the width of the lane to be painted is adjusted. It will happen.

In addition, the paint spraying device 50 is configured to adjust its position within a range of 250 to 500 mm in the width direction of the lane through the transfer device (B), and through this, the control unit can be operated by simply driving so that the driver does not deviate from the lane of the road. (60) automatically controls the position of the spray nozzle (N) of the road spray device (50), making it possible to easily control the spray nozzle (N) to be located in the middle of both lanes.

The control unit 60 is a component that controls the operations of the lane detection unit 10, lane detection unit 20, information generation unit 30, output unit 40, and paint spraying device 50.

This control unit 60 controls the operation of the servomotor (M) so that the spray nozzle (N) of the paint injection device (50) follows the reference line (L3), and sprays the baseline (L3) and the spray through the output unit (40). The position of the nozzle (N) is displayed graphically to guide the vehicle's driving direction and driving speed.

In addition, when the injection nozzle (N) reaches a range of 30 to 50 mm based on the minimum and maximum movable ranges, the control unit 60 generates a vehicle position deviation alarm and prevents the vehicle's position from being adjusted after the alarm is generated. Otherwise, it can be controlled to prevent the paint from being sprayed through the spray nozzle (N), thereby preventing the paint from being sprayed in the wrong location beyond the existing lane (1).

As described above, in the present invention, the position of the lane is detected through the camera of the lane detection unit installed on the side of the vehicle, the nozzle position of the paint spraying device is aligned, and these nozzle positions and lane positions are displayed on the head-up display (HUD). Through the output unit, a graphic is output on the windshield glass (the windshield of the vehicle), allowing the driver to easily check the location of the lane and nozzle, and at the same time, receive guidance on the vehicle's driving direction easily and safely.

Above, for convenience of explanation, reference numerals and names have been given to the drawings showing preferred embodiments and the configurations shown in the drawings. However, this is an embodiment according to the present invention, and the shapes shown in the drawings and the names given are The scope of the rights should not be construed as limited, and changes to various shapes predictable from the description of the invention and simple substitution with a configuration that performs the same function are within the scope of changes that can be easily carried out by a person skilled in the art. You will see this as extremely self-evident.

1: Lane 2: Lane painted vehicle
3: Windshield glass 10: Lane detection unit
11: Housing 12: LED module
13: Camera 14: Vacuum suction device
15: blocking member 20: lane detection unit
30: information generation unit 40: output unit
41: Driving direction information unit 42: Speed information unit
43, 44: Lane graphic unit 45: Paint information output unit
50: Paint injection device 60: Control unit
L1, L2: Guide line L3: Baseline
N: Nozzle M: Servo motor
B: transfer device

Claims (5)

A lane detection unit (10) installed on the side of the vehicle to detect lanes on the road in real time;
a lane detection unit 20 that detects a lane area from data detected by the lane detection unit 10;
An information generation unit 30 that generates driving guidance information based on the lane position and direction information detected by the lane detection unit 20, and the driving direction and speed of the vehicle;
An output unit 40 consisting of a head-up display that outputs the driving guidance information generated through the information generation unit 30 on the windshield glass in front of the vehicle;
A paint spraying device 50 located on both sides of the vehicle to spray paint separately into the lanes; and
A control unit 60 that controls the operations of the lane detection unit 10, lane detection unit 20, information generation unit 30, output unit 40, and paint spraying device 50;
Including,
The lane detection unit 10,
A housing (11) of a predetermined length installed to cover a predetermined length of the lane of the road;
A plurality of LED modules (12) installed along the length of the housing (11) to emit light to the lane;
A plurality of cameras 13 installed inside the housing 11 at predetermined intervals along the length to photograph the lane;
Including,
The lane detection unit 20,
A pair of guide lines (L1, L2) are extracted along both widths based on the lane in the image captured in real time by the plurality of cameras 13 of the lane detection unit 10, and the extracted pair of guide lines A reference line (L3) is extracted by halving the guide lines (L1, L2), and each extracted reference line (L3) is connected to detect a change in the suboptimal line,
The control unit 60,
The position of the spray nozzle (N) of the paint sprayer (50) is controlled to follow the reference line (L3), and the positions of the reference line (L3) and the spray nozzle (N) are adjusted through the output unit 40 to determine the position of the spray nozzle (N). Graphics are printed on the shield glass to guide the vehicle's driving direction and speed.
Inside the housing 11,
An illuminance sensor is installed to detect the illuminance,
The camera 13 is,
It is composed of a vision camera to clearly distinguish the lane (1),
On the front side of the housing 11,
A vacuum suction device 14 is installed to remove foreign substances from the road by vacuum suction, preventing errors in recognition of the lane 1 due to contaminants,
Between the vacuum suction device 14 and the LED module 12,
A blocking member 15 is installed to prevent dust generated in the process of vacuum suction of contaminants due to the vacuum suction force of the vacuum suction device 14 from flowing into the camera 13,
The blocking member 15 is,
A frame having length up and down;
A membrane member installed at the bottom of the frame and flexibly deformed in contact with the road surface;
It consists of,
The membrane member is,
Made of cloth, rubber or silicone material,
The paint spraying device 50,
A lane painting guidance system for lane painting vehicles using HUD, characterized in that two lanes are painted simultaneously by installing spray nozzles (N) on both sides of the vehicle.
delete In claim 1,
The injection nozzle (N) is,
A lane painting guidance system for lane painting vehicles using HUD, which is installed to be movable in the width direction of the road through a servomotor (M) and a ball screw transfer device (B), and is configured to be adjusted according to the position of the lane. .
In claim 1,
The paint spraying device 50,
A lane painting guidance system for lane painting vehicles using a HUD, characterized in that the spray nozzle (N) is configured to adjust its position within a range of 250 to 500 mm in the width direction of the lane.
In claim 4,
The control unit 60,
A lane painting guidance system for lane painting vehicles using a HUD, characterized in that when the injection nozzle (N) is located in the range of 30 to 50 mm based on the minimum and maximum movable ranges, a vehicle position deviation alarm is generated. .

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