WO2018094206A2

WO2018094206A2 - Self-guided road marking system

Info

Publication number: WO2018094206A2
Application number: PCT/US2017/062297
Authority: WO
Inventors: James P. Crocker
Original assignee: Waterblasting, Llc
Priority date: 2016-11-18
Filing date: 2017-11-17
Publication date: 2018-05-24

Abstract

The invention relates to a system and method for a self-guided road marking system and method for automatically guiding either vehicles or equipment secured to a vehicle for applying, removing or modifying road markings. More specifically, the system includes a camera, a controller and one or more actuators that are manipulated in response to ground markings visible in the camera field. This allows the vehicle or the equipment secured to the vehicle to be positioned in real-time as the vehicle progresses.

Description

SELF-GUIDED ROAD MARKING SYSTEM

FIELD OF INVENTION

The present invention generally relates to mobile vehicles and, more particularly, to vehicles or equipment secured to a vehicle that self-guides the vehicle or equipment to apply, remove or modify road markings.

BACKGROUND INFORMATION

In the United States, the first documented use of a painted center line was along Trenton's River Road in Wayne County, Michigan, in 1911, when Edward N. Hines watched a leaky milk wagon leave a white trail along a road. A road surface marking is any kind of device or material applied to a road surface in order to convey official information. Typically, road surface markings are used on paved roadways to provide guidance information to both drivers and pedestrians. Marking uniformity is an important factor in minimizing confusion and uncertainty about their meaning, and efforts exist to standardize such markings.

Road surface markings vary in form: surface level permanently affixed, surface level temporarily but not permanently affixed, higher than road surface markers, and/or even mechanical devices. They are designed to inform motorist and pedestrians. Their designs range from merely a daytime or nighttime visual presentation to a raised or lowered pavement marker that advises motorist by light reflection or vehicle vibration resulting from contact between the vehicles tires and the marker. Efforts to improve road marking systems exist in the realm of the application of such markings, adding retro- reflectivity, increasing longevity, and lowering installation cost.

More specifically, two distinctions exist for road surface markings: mechanical and non-mechanical markings. Mechanical devices may be raised or recessed into the road surface, and either reflective or non-reflective. Most mechanical road surface markings are permanent; however, some are movable. Mechanical devices include, but are not limited to Botts' dots, rumble strips, and reflective markers. Botts' dots, low rounded white dots, generally are used to mark the edges of traffic lanes, frequently in conjunction with raised reflective markers. Rumble strips are typically a series of simple troughs that are ground into the asphalt. They can be used across the travel direction to warn of hazards ahead, or along the travel direction to warn of hazards of not staying within a specific lane. They create a strong vibration when driven over in order to alert a driver to various upcoming hazards, both by sound and the physical vibration of the vehicle. Reflective markers are used as travel lane dividers to mark the median or to mark exit slip-roads. By incorporating a raised retro-reflective element, they are typically more visible at night and in inclement weather than standard road marking lines.

Non-mechanical markings include, but are not limited to paint, thermo-set, tape, and thermoplastic pavement markings. Paint, which sometimes includes additives such as retro-reflective glass beads, is generally used to mark travel lanes, spaces in parking lots or special purpose spaces for disabled parking, loading zones, or time- restricted parking areas. Paint is a low-cost application, and is usually applied right after the road has been paved. The road is marked commonly by a truck called a "striper." These trucks typically contain hundreds of gallons of paint stored in huge drums which sit on the bed. The markings are controlled manually or automatically by a controller who sits on the truck bed. An operator sits at the rear of the truck with a secondary steering wheel to guide the truck from the rear as the stripes are applied. Paint is directed through a series of hoses under pressure and applied to the roadway surface, along with the application of glass beads for retro-reflectivity. Painted symbols, such as turn-lane arrows or HOV lane markers, may be applied manually or using stencils.

Thermoplastic is one of the most common types of road surface marking based on its balance between cost and performance longevity. It is durable, easy to apply, and reflective. For low traffic areas, traffic paint is suitable and will last for a year or so. However, in higher traffic areas, paint simply cannot handle the wear and will disappear in just a few months. The longevity of thermoplastic makes it a very cost effective traffic delineation solution. Thus, the use of thermoplastics over paints has increased; mainly due to the performance benefits of increased durability, retro- reflectivity, and a lack of volatile organic compound (VOC) solvents. Furthermore, municipalities like these features because they can budget for a thermoplastic job once every several years instead of having to budget for paint striping every year or less. Numerous machines and methods are also available for forming so-called rumble strips along the road markings of roadways. Rumble strips are provided at the margins of the driving lane so that, when encountered by the wheels of a vehicle, the vehicle is vibrated and sound is generated to inform the driver that the vehicle has wandered from the driving lane. A rumble strip can be in one of two forms. It can be a series of elongate raised ribs spaced apart along the length of the road, or a rumble strip can also be a series of elongate grooves in the roadway. A rumble strip can be formed in either the shoulder material or in the surface of the roadway itself, depending on the need. The rumble strips can be positioned adjacent to each other to provide a constant rumble or they can include periodic spacing that provides an interrupted rumble when driven over. In order to guide any of these devices, the prior art utilizes a driver that may be assisted by simple video camera to steer the vehicle along the proper trajectory. This often requires significant experience and talent to create markings or rumble strips, and may result in portions of the markings that need to be removed and replaced. Thus, a need exists in the art for an automated device for applying, removing or modifying road markings.

Thus, the present system provides a self-guided road marking system which overcomes the disadvantages of prior art manual systems. The self-guided road marking system of the present invention not only provides for relative ease in assembly and operation, it also permits improved road markings without the need to develop highly skilled operators.

SUMMARY OF THE INVENTION

Briefly, the invention involves a self-guided road marking system and method for automatically guiding either vehicles or equipment secured to a vehicle for applying, removing or modifying road markings. The system includes a camera, a controller and one or more actuators that are manipulated in response to ground markings visible in the camera field. This allows the vehicle or the equipment secured to the vehicle to be positioned in real-time as the vehicle progresses.

Accordingly, it is an objective of the present invention to provide a self- guided road marking system. It is a further objective of the present invention to provide a self-guided road marking system capable of steering a vehicle to follow a preexisting road marking.

It is yet a further objective of the present invention to provide a self- guided road marking system capable of steering a piece of equipment secured to a vehicle to follow a preexisting road marking.

It is another objective of the instant invention to provide a kit for a self- guided road marking system for installation on pre-existing road marking equipment.

Other objectives and advantages of this invention will become apparent from the following description taken in conjunction with the accompanying drawings wherein are set forth, by way of illustration and example, certain embodiments of this invention. The drawings constitute a part of this specification, include exemplary embodiments of the present invention, and illustrate various objects and features thereof.

BRIEF DESCRIPTION OF THE FIGURES

Figure 1 is a schematic view of one embodiment of the present invention; Figure 2 is a partial top perspective view of the embodiment shown in Fig.

1 illustrating the self-guided road marking system controlling a water blasting head secured to a vehicle;

Figure 3 is a partial top isometric view of the embodiment shown in Fig. 1 illustrating the self-guided road marking system controlling a rumble strip grinder secured to a vehicle; and

Figure 4 is a partial top view of the embodiment illustrated in Fig. 3.

DETAILED DESCRIPTION OF THE PREFERRED EMB ODEVIENT S

While the present invention is susceptible of embodiment in various forms, there is shown in the drawings and will hereinafter be described a presently preferred embodiment with the understanding that the present disclosure is to be considered an exemplification of the invention and is not intended to limit the invention to the specific embodiments illustrated.

Referring generally to Figures 1-4, a self-guided road marking system 10 for steering or locating a device used in association with road markings is illustrated. The self-guided road marking system includes a digital camera 12, a controller 14, at least one actuator 16, and may include a display monitor 18. The self-guided road marking system 10 is secured to a vehicle 20 having a frame 21 defining a longitudinal axis and a prime mover, preferably an internal combustion engine (not shown) for providing power to the vehicle for movement. In operation, the camera 12 is adjusted and positioned to direct the camera field 11 at the roadway surface in close proximity to or directly on the equipment that is being guided. The camera 12 is electrically connected to the controller 14, whereby a signal representing the picture in the camera field 11 is sent to the controller which includes software, memory, processing and outputs 15. The software is constructed and arranged to utilize the picture by examining the pixels that represent the picture to find a stripe or other marking that provides a color contrast in the picture. The software utilizes an algorithm to determine which side of the picture the marking is located on, and an output is provided to an actuator to move the vehicle or attached equipment to center the camera's field of view 11 over the marking 24. Thus, the output may be in the form of an electrical, optical or other type of signal that can be provided to a valve body, stepper or servo motor, suitable combinations thereof or the like to cause a response from the actuator 16 that causes the equipment to be moved in a desired direction. The camera may be secured directly to the auxiliary equipment or to the vehicle without departing from the scope of the invention. In some embodiments, the controller 14 may offset the auxiliary equipment an operator determined distance from a marking to, for example, provide a rumble strip next to an existing road stripe or provide a stripe next to an existing stripe. The controller may also be configured to work in conjunction with the vehicle's engine or hydraulic motive means (hydrostatic transmission) of the vehicle with various actuators to control the speed of the vehicle, whereby the vehicle speed may be increased between intermittent road markings for stripe application or removal. In this manner, the efficiency of the vehicle is significantly increased by decreasing the time intervals when the vehicle is traveling to the next location where a stripe, rumble strip, or groove is to be applied or removed. It should be noted that the present device and system has application for at least road marking application and removal, as well as cutting of rumble strips, application of road reflectors and the like. The present device may also be utilized for removal of rubber from airport runways and surface texturing of roadways by positioning the auxiliary equipment to minimize overlap of areas of the surface that have already been crossed with the equipment.

Referring to Figure 2, the present self-guided road marking system 10 is illustrated controlling a water blasting head 18 secured to vehicle 20 to remove an intermittent stripe 22 positioned beside a continuous road stripe 24. In this embodiment, a rotary actuator 26 is used in conjunction with a linear actuator 28 to control the positioning of the water blasting head 18. In this embodiment, both actuators are hydraulic, thus control valves (not shown) are electrically connected to the outputs 15 from the controller 14. It should be noted that, while hydraulic actuators are illustrated, pneumatic actuators and/or electrical motors, stepper motors and servo motors may be utilized without departing from the scope of the invention.

Referring to Figures 3 and 4, a rumble strip grinder 30 for attachment to a vehicle is illustrated. The rumble strip grinder 30 is securable to the rear or front of a vehicle to cut rumble strips 32, grooves, or remove markings from a roadway 32. In this embodiment, the camera 12 is positioned to utilize the side stripe 34 of the roadway 36 as a guide for locating the rumble strips 32 along a second axis 38. As shown in Fig. 4, a rotary actuator 26 having a gear 40 thereon cooperates with a rack gear 42 to position the rumble strip grinder, irrespective of the vehicle's position, so long as the vehicle is located over the area where the rumble strip is to be located. It should also be noted that, while not illustrated, it is also contemplated to connect the actuator(s) to the steering system of the vehicle, whereby the output from the controller can be utilized to actually steer the vehicle in place of moving the equipment secured to the vehicle.

It should be noted that, while not illustrated, the actuator(s) may be connected to the steering of the vehicle to direct the entire vehicle into alignment with the road marking.

All patents and publications mentioned in this specification are indicative of the levels of those skilled in the art to which the invention pertains. All patents and publications are herein incorporated by reference to the same extent as if each individual publication was specifically and individually indicated to be incorporated by reference.

It is to be understood that while a certain form of the invention is illustrated, it is not to be limited to the specific form or arrangement of parts herein described and shown. It will be apparent to those skilled in the art that various changes may be made without departing from the scope of the invention and the invention is not to be considered limited to what is shown and described in the specification.

One skilled in the art will readily appreciate that the present invention is well adapted to carry out the objects and obtain the ends and advantages mentioned, as well as those inherent therein. Any compounds, methods, procedures and techniques described herein are presently representative of the preferred embodiments, are intended to be exemplary, and are not intended as limitations on the scope. Changes therein and other uses will occur to those skilled in the art which are encompassed within the spirit of the invention and are defined by the scope of the appended claims. Although the invention has been described in connection with specific preferred embodiments, it should be understood that the invention as claimed should not be unduly limited to such specific embodiments. Indeed, various modifications of the described modes for carrying out the invention which are obvious to those skilled in the art are intended to be within the scope of the following claims.

Claims

CLAIMS What is claimed is:

1. A self-guided road marking system for a vehicle comprising:

a vehicle frame, said frame having a longitudinal axis;

a digital camera secured to said vehicle frame, said camera being constructed and arranged to digitize the colors of a surface at which the camera is directed and arrange those colors as a mirror image of said surface as pixels within a controller, said controller electrically connected to said camera, said controller including an algorithm for determining the position of a road marking within said pixels;

at least one actuator in electrical communication with said controller for positioning an auxiliary device along an axis extending transversely with respect to said longitudinal axis so that said auxiliary device aligns with said road marking.

2. The self-guided road marking system for the vehicle of Claim 1 wherein said actuator includes at least one encoder for bi-directional communication between said actuator and said controller.

3. The self-guided road marking system for the vehicle of Claim 1 wherein said controller includes an offset, whereby said at least one actuator positions said auxiliary device an offset distance in parallel to said road marking.

4. The self-guided road marking system for the vehicle of Claim 3, wherein said offset is input by an operator.

5. The self-guided road marking system for the vehicle of Claim 1, wherein said controller is constructed and arranged to control the speed of said vehicle when said auxiliary device is in operation.

6. The self-guided road marking system for the vehicle of Claim 5, wherein said controller is electrically connected to a throttle actuator for controlling said vehicle speed.

7. The self-guided road marking system for the vehicle of Claim 5, wherein said vehicle includes a hydrostatic drive for operation when said auxiliary device is operated, said controller electrically connected to said hydrostatic drive to control said vehicle speed by controlling flow of hydraulic fluid.

8. The self-guided road marking system for the vehicle of Claim 5, wherein said controller is configured to increase speed of said vehicle between intermittent road markings, said controller decreasing speed of said vehicle when a road marking is detected.

9. The self-guided road marking system for the vehicle of Claim 1, wherein said auxiliary device is a high pressure water blaster.

10. The self-guided road marking system for the vehicle of Claim 1, wherein said auxiliary device is a rumble strip grinder.

11. The self-guided road marking system for the vehicle of Claim 1, wherein said auxiliary device is a road striper.

12. The self-guided road marking system for the vehicle of Claim 1, wherein said actuator is hydraulically operated.

13. The self-guided road marking system for the vehicle of Claim 1, wherein said actuator is pneumatically operated.

14. The self-guided road marking system for the vehicle of Claim 1, wherein said actuator is electrically operated.

15. The self-guided road marking system for the vehicle of Claim 1, wherein said vehicle frame includes a prime mover for providing power to said vehicle.