CN114622469A - Automatic old wire laying control system and control method thereof - Google Patents
Automatic old wire laying control system and control method thereof Download PDFInfo
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- CN114622469A CN114622469A CN202210105194.6A CN202210105194A CN114622469A CN 114622469 A CN114622469 A CN 114622469A CN 202210105194 A CN202210105194 A CN 202210105194A CN 114622469 A CN114622469 A CN 114622469A
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- 238000000034 method Methods 0.000 title claims description 11
- 239000007921 spray Substances 0.000 claims abstract description 36
- 238000005507 spraying Methods 0.000 claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 20
- 230000003993 interaction Effects 0.000 claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims description 17
- 230000004927 fusion Effects 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000012937 correction Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000003708 edge detection Methods 0.000 claims description 2
- 238000009418 renovation Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 239000011324 bead Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000012943 hotmelt Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 230000003449 preventive effect Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/16—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings
- E01C23/20—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ
- E01C23/22—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/02—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling time, or sequence, of delivery
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/124—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Road Repair (AREA)
Abstract
An automatic old line laying control system comprises a marking off engineering vehicle, a lane line identification sensing system, a vehicle speed detection module, a re-spraying execution module, a man-machine interaction system and a central operation control unit, wherein the lane line identification sensing system is arranged at the lower part of the rear side of a chassis of the marking off engineering vehicle and used for shooting and identifying old lane lines on a road, the vehicle speed detection module is arranged on the marking off engineering vehicle and used for detecting the advancing speed of the marking off engineering vehicle, the re-spraying execution module is arranged at the lower part of the rear side of the chassis of the marking off engineering vehicle and used for re-spraying the old lane lines, the man-machine interaction system is arranged in a cab of the marking off engineering vehicle, and the central operation control unit is arranged on the marking off engineering vehicle and is respectively in signal connection with the lane line identification sensing system, the vehicle speed detection module, the re-spraying execution module and the man-machine interaction system. The invention can automatically identify the worn lane line, automatically align the spray gun to the worn lane line and automatically open the spray gun to realize re-spraying renovation, save labor cost, and has high efficiency and high precision.
Description
Technical Field
The invention relates to the technical field of marking, in particular to an automatic old wire laying control system and a control method thereof.
Background
At present, the total mileage of the Chinese expressway is the first place in the world, the comprehensive construction is carried out, the management and maintenance stage is carried out, and the expressway marking problem is concentrated on the aspects of periodic maintenance and preventive maintenance.
The maintenance state of the marked lines of the highway: where the line is missing and where it is repaired, the highway is generally resculped when the following conditions are met:
local damage of the road surface;
large-scale maintenance of the pavement;
normal wear of the original reticle.
At present, the marking is mainly hot-melt scraping, and the problem of maintenance marking is as follows:
manual operation has high specific gravity, low speed and low efficiency;
the recoating construction is difficult, especially for the side line of the highway, and is labor-intensive and highly empirical.
Short effective life, easy wear, non-durable reflection coefficient (< 5 months);
weather sensitivity: the operation is carried out in seasons of 10 degrees or more than 20 degrees, and the weather is dry and windless;
poor weather resistance: soft at high temperature, brittle at low temperature, and easy to freeze crack and wear.
The highway has complex road conditions, large traffic flow and high speed, and is smooth for being matched with the road of a traffic department, so that the road closure is not allowed. There are a number of risks and problems associated with maintaining the reticle:
the safety factor is low when people and vehicles are mixed;
the operation window period is short;
and the requirement of highway marking maintenance: the method is rapid, efficient, quality-guaranteeing and safe, and the traditional manual equipment does not meet the current requirements.
Disclosure of Invention
The invention aims to provide an automatic old line laying control system and a control method thereof, which can automatically identify an old lane line, enable a spray gun to automatically align to the old lane line and automatically open to realize re-spraying renovation, save labor cost, and have high efficiency and high precision.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic old line laying control system comprises a line marking engineering vehicle, a lane line identification sensing system, a vehicle speed detection module and a re-spraying execution module, the lane line recognition sensing system is arranged at the lower part of the rear side of a chassis of the line marking engineering vehicle and used for shooting and recognizing a broken lane line on a road, the vehicle speed detection module is arranged on the line marking engineering vehicle and used for detecting the advancing speed of the line marking engineering vehicle, the re-spraying execution module is arranged at the lower part of the rear side of the chassis of the line marking engineering vehicle and used for re-spraying the broken lane line, the re-spraying execution module is positioned at the rear side of the vehicle speed detection module, the human-computer interaction system is arranged in a cab of the line marking engineering vehicle and used for inputting a control command and observing the running state, and the central operation control unit is arranged on the line marking engineering vehicle and is respectively in signal connection with the lane line recognition sensing system, the vehicle speed detection module, the re-spraying execution module and the human-computer interaction system.
The lane line recognition sensing system comprises an industrial camera and a laser radar, the industrial camera and the laser radar are arranged on the lower portion of the rear side of a chassis of the line drawing engineering vehicle at intervals, the industrial camera shoots a lane line on a road surface, the laser radar detects the edge of the lane line in real time, and the central operation control unit is respectively connected with the industrial camera and the laser radar in a signal mode.
The speed detection module comprises a speed encoder and an IMU module, the speed encoder and the IMU module are both arranged on the line drawing engineering truck, the speed encoder is used for detecting the speed of the line drawing engineering truck, the IMU module is used for detecting the movement posture of the line drawing engineering truck, and the central operation control unit is in signal connection with the speed encoder and the IMU module respectively.
The re-spraying execution module comprises a spray gun, a slide rail and a left-right transverse movement driving mechanism, wherein the spray gun is arranged on the slide rail in a sliding manner, the slide rail is horizontally fixed on the marking engineering vehicle along the left-right direction, and the left-right transverse movement driving mechanism is arranged on the slide rail and drives the spray gun to move left and right.
An automatic old wire laying control method is operated by adopting the automatic old wire laying control system, and comprises two control modes:
(1) for worse road conditions
Simultaneously starting an industrial camera and a laser radar to detect worn lane lines on a road in real time, transmitting a shot image to a central operation control unit by the industrial camera, displaying the image through a display screen of a man-machine interaction system by the central operation control unit, carrying out pretreatment such as filtering and correction on the shot image by the industrial camera, carrying out combined calibration on a camera coordinate system, a reference sight coordinate system and a slide rail central point coordinate system, ensuring that when a lane line pixel center shot by the industrial camera is superposed with the reference sight center, the ground projection of the camera coordinate system origin, the lane line pixel center and the slide rail center is positioned on the same straight line, simultaneously measuring the motion attitude information of the line marking engineering vehicle through a speed encoder and an IMU module, keeping the speed of the line marking engineering vehicle at 3-15Km/h, and inputting the image processing information and the motion attitude information of the line marking engineering vehicle into the built-in intelligent fusion of the laser radar as the pretreatment of the laser radar In the algorithm, the laser radar carries out lane line edge detection in real time and inputs detection information into an intelligent fusion algorithm built in the laser radar, the intelligent fusion algorithm built in the laser radar outputs an accurate edge model of the old lane line through operation, then the laser radar transmits the accurate edge model of the old lane line to a central operation control unit, the distance between a spray gun and the old lane line is obtained through operation, the position of the spray gun is rapidly adjusted through a left-right transverse moving driving mechanism, the spray gun is positioned right above the old lane line, and meanwhile, the time for opening and closing the spray gun is calculated according to the speed of the line marking engineering vehicle and the state of the lane line, so that intelligent re-spraying is realized;
(2) for better road conditions
The method comprises the steps of independently starting an industrial camera to detect an old lane line on a road in real time, taking the center of a sliding rail as an original coordinate point o, taking the front direction as an X axis, taking the left direction as a Y axis and taking the upper direction as a Z axis, establishing a coordinate system, entering the position of the industrial camera away from the original point o through a human-computer interaction system, fusing the industrial camera to obtain the position of the old lane line, calculating the offset of the center line of the old lane line in an image through a central operation control unit, thus obtaining the offset Y of the center line of the old lane line in the image, storing the position from the original coordinate point o to the image, using subsequent calculation, fusing the industrial camera, a speed encoder and an IMU module to obtain an original point position o 'through the central operation control unit when a marking engineering vehicle runs for a certain distance, controlling a spray gun to move from the original point o' to the position, and calculating the moments of opening and closing the spray gun according to the speed encoder and the IMU module, and intelligent repeated spraying is realized, and the central operation control unit receives the image information of the industrial camera and continuously performs iterative computation along with the advance of the line marking engineering vehicle.
The invention has high mechanization and automation degree, saves labor cost, and has high re-spraying efficiency and high precision.
The invention can automatically identify the worn lane line, automatically align the spray gun to the worn lane line and automatically open the spray gun to realize re-spraying renovation, save labor cost, and has high efficiency and high precision.
Drawings
Fig. 1 is a block diagram of the present invention.
FIG. 2 is a schematic view of the positions of an industrial camera, a slide rail, a worn lane line and a reference sight of the present invention.
FIG. 3 is a block diagram of the output flow of the precise edge model of the worn lane line of the present invention.
FIG. 4 is a schematic diagram of the coordinates of successive images taken by an industrial camera during operation in good road conditions in accordance with the present invention.
Detailed Description
Embodiments of the present invention are further described below with reference to the accompanying drawings.
As shown in figures 1-4, an automatic old line laying control system comprises a line marking engineering vehicle, a lane line identification sensing system 1, a vehicle speed detection module 2, a re-spraying execution module 3, a man-machine interaction system 4 and a central operation control unit 5, wherein the lane line identification sensing system 1 is arranged at the lower part of the rear side of a chassis of the line marking engineering vehicle and used for shooting and identifying a broken lane line 13 on a road, the vehicle speed detection module 2 is arranged on the line marking engineering vehicle and used for detecting the advancing speed of the line marking engineering vehicle, the re-spraying execution module 3 is arranged at the lower part of the rear side of the chassis of the line marking engineering vehicle and used for re-spraying the broken lane line 13, the re-spraying execution module 3 is positioned at the rear side of the vehicle speed detection module 2, the man-machine interaction system 4 is arranged in a cab of the line marking engineering vehicle and used for inputting control commands and observing the running state, the central operation control unit 5 is arranged on the line marking engineering vehicle and respectively connected with the lane line identification sensing system 1, the lane line identification sensing system, The vehicle speed detection module 2, the repeated spraying execution module 3 and the human-computer interaction system 4 are in signal connection.
The lane line recognition sensing system 1 comprises an industrial camera 6 and a laser radar 7, the industrial camera 6 and the laser radar 7 are arranged on the lower portion of the rear side of a chassis of the line drawing engineering vehicle at intervals from front to back, the industrial camera 6 shoots towards a lane line on a road surface, the laser radar 7 detects the edge of the lane line in real time, and the central operation control unit 5 is respectively in signal connection with the industrial camera 6 and the laser radar 7.
The speed detection module 2 comprises a speed encoder 8 and an IMU module 9, the speed encoder 8 and the IMU module 9 are both arranged on the line drawing engineering truck, the speed encoder 8 is used for detecting the speed of the line drawing engineering truck, the IMU module 9 is used for detecting the movement posture of the line drawing engineering truck, and the central operation control unit 5 is in signal connection with the speed encoder 8 and the IMU module 9 respectively.
The multiple spray execution module 3 comprises a spray gun 10, a slide rail 11 and a left-right transverse movement driving mechanism 12, wherein the spray gun 10 is arranged on the slide rail 11 in a sliding manner, the slide rail 11 is horizontally fixed on the marking engineering vehicle along the left-right direction, and the left-right transverse movement driving mechanism 12 is arranged on the slide rail 11 and drives the spray gun 10 to move left and right.
An automatic old wire laying control method is operated by adopting the automatic old wire laying control system, and comprises two control modes:
(1) for worse road conditions
Simultaneously starting an industrial camera 6 and a laser radar 7 to detect an old lane line 13 on a road in real time, transmitting a shot image to a central operation control unit 5 by the industrial camera 6, displaying the image through a display screen of a man-machine interaction system 4 by the central operation control unit 5, carrying out pretreatment such as filtering and correction on the shot image by the industrial camera 6, carrying out combined calibration on a camera coordinate system, a reference sight bead 14 coordinate system and a slide rail 11 central point coordinate system, so that when a lane line pixel center shot by the industrial camera 6 is superposed with the reference sight bead 14 center, the ground projections of a camera coordinate system origin, a lane line pixel center and a slide rail 11 center are positioned on the same straight line, simultaneously measuring the movement attitude information of the marking engineering vehicle through a speed encoder 8 and an IMU module 9, keeping the speed of the marking engineering vehicle at 3-15Km/h, and using the image processing information and the movement attitude information of the industrial camera 6 as the movement attitude information of the laser radar 7 Preprocessing and inputting the preprocessed and input data into an intelligent fusion algorithm (conventional technology) built in a laser radar 7, detecting the edge of a lane line in real time by the laser radar 7 and inputting detection information into the intelligent fusion algorithm built in the laser radar 7, outputting an accurate edge model of an old lane line 13 through operation by the intelligent fusion algorithm built in the laser radar 7, transmitting the accurate edge model of the old lane line 13 to a central operation control unit 5 by the laser radar 7, obtaining the distance between a spray gun 10 and the old lane line 13 through operation, rapidly adjusting the position of the spray gun 10 through a left-right transverse moving driving mechanism 12, enabling the spray gun 10 to be positioned right above the old lane line 13, and simultaneously calculating the time for opening the spray gun 10 and closing the spray gun 10 according to the speed and the state of the lane line of a line marking engineering vehicle to realize intelligent re-spraying;
(2) for better road conditions
The method comprises the steps of enabling an industrial camera 6 to detect an old lane line 13 on a road in real time independently, using the center of a sliding rail 11 as an original coordinate point o, using the front direction as an X axis, using the left direction as a Y axis, using the upper direction as a Z axis, establishing a coordinate system, inputting the position of the industrial camera 6 away from the original point o through a human-computer interaction system 4, obtaining the position of the old lane line after fusing the industrial camera 6, calculating the offset of the center line of the old lane line 13 in an image through a central operation control unit 5, obtaining the offset Y of the center line of the old lane line 13 in the image in such a way, storing the position and the value from the original coordinate point o to the image, using subsequent calculation, obtaining the original point position o 'through the fusion of the industrial camera 6, a speed encoder 8 and an IMU module 9 through the central operation control unit 5 when the engineering vehicle runs for a certain distance, and controlling a spray gun 10 to move from the original point o' to the position, and calculating the time for opening the spray gun 10 and closing the spray gun 10 according to the speed encoder 8 and the IMU module 9 to realize intelligent repeated spraying, and continuously performing iterative calculation by receiving the image information of the industrial camera 6 by the central operation control unit 5 along with the advance of the line marking engineering truck.
The left-right traverse driving mechanism 12 adopts a screw transmission mechanism.
The line drawing engineering vehicle, the human-computer interaction system 4, the central operation control unit 5, the industrial camera 6, the laser radar 7, the encoder, the IMU module 9, the spray gun 10, the slide rail 11 and the left-right transverse movement driving mechanism 12 are all conventional technologies in the prior art, and specific structures and working principles are not described in detail.
The above embodiments are merely to illustrate rather than to limit the technical solutions of the present invention, and although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that; modifications and equivalents may be made thereto without departing from the spirit and scope of the invention and it is intended to cover in the claims the invention as defined in the appended claims.
Claims (5)
1. An automatic old line application control system is characterized in that: the lane line recognition sensing system is arranged at the lower part of the rear side of a chassis of the line marking engineering vehicle and used for shooting and recognizing a broken lane line on a road, the vehicle speed detection module is arranged on the line marking engineering vehicle and used for detecting the advancing speed of the line marking engineering vehicle, the re-spraying execution module is arranged at the lower part of the rear side of the chassis of the line marking engineering vehicle and used for re-spraying the broken lane line, the re-spraying execution module is positioned at the rear side of the vehicle speed detection module, the human-computer interaction system is arranged in a cab of the line marking engineering vehicle and used for inputting a control command and observing the running state, and the central operation control unit is arranged on the line marking engineering vehicle and is respectively in signal connection with the lane line recognition sensing system, the vehicle speed detection module, the re-spraying execution module and the human-computer interaction system.
2. The automatic wire dress control system of claim 1, wherein: the lane line recognition sensing system comprises an industrial camera and a laser radar, the lower portion of the rear side of the industrial camera and the lower portion of the laser radar are arranged in a chassis of the marking engineering vehicle at intervals in the front and back direction, the industrial camera shoots towards a lane line on a road surface, the laser radar detects the edge of the lane line in real time, and the central operation control unit is respectively in signal connection with the industrial camera and the laser radar.
3. The automatic wire dress control system of claim 2, wherein: the speed detection module comprises a speed encoder and an IMU module, the speed encoder and the IMU module are both arranged on the line drawing engineering truck, the speed encoder is used for detecting the speed of the line drawing engineering truck, the IMU module is used for detecting the movement posture of the line drawing engineering truck, and the central operation control unit is in signal connection with the speed encoder and the IMU module respectively.
4. The automatic wire dress control system of claim 3, characterized in that: the re-spraying execution module comprises a spray gun, a slide rail and a left-right transverse movement driving mechanism, wherein the spray gun is arranged on the slide rail in a sliding manner, the slide rail is horizontally fixed on the marking engineering vehicle along the left-right direction, and the left-right transverse movement driving mechanism is arranged on the slide rail and drives the spray gun to move left and right.
5. An automatic old wire laying control method is characterized in that: the automatic worn wire control system of claim 4, wherein the system comprises two control modes:
(1) for worse road conditions
Simultaneously starting an industrial camera and a laser radar to detect worn lane lines on a road in real time, transmitting a shot image to a central operation control unit by the industrial camera, displaying the image through a display screen of a man-machine interaction system by the central operation control unit, carrying out pretreatment such as filtering and correction on the shot image by the industrial camera, carrying out combined calibration on a camera coordinate system, a reference sight coordinate system and a slide rail central point coordinate system, ensuring that when a lane line pixel center shot by the industrial camera is superposed with the reference sight center, the ground projection of the camera coordinate system origin, the lane line pixel center and the slide rail center is positioned on the same straight line, simultaneously measuring the motion attitude information of the line marking engineering vehicle through a speed encoder and an IMU module, keeping the speed of the line marking engineering vehicle at 3-15Km/h, and inputting the image processing information and the motion attitude information of the line marking engineering vehicle into the built-in intelligent fusion of the laser radar as the pretreatment of the laser radar In the algorithm, the laser radar carries out lane line edge detection in real time and inputs detection information into an intelligent fusion algorithm built in the laser radar, the intelligent fusion algorithm built in the laser radar outputs an accurate edge model of the old lane line through operation, then the laser radar transmits the accurate edge model of the old lane line to a central operation control unit, the distance between a spray gun and the old lane line is obtained through operation, the position of the spray gun is rapidly adjusted through a left-right transverse moving driving mechanism, the spray gun is positioned right above the old lane line, and meanwhile, the time for opening and closing the spray gun is calculated according to the speed of the line marking engineering vehicle and the state of the lane line, so that intelligent re-spraying is realized;
(2) for better road conditions
The method comprises the steps of independently starting an industrial camera to detect an old lane line on a road in real time, taking the center of a sliding rail as an original coordinate point o, taking the front direction as an X axis, taking the left direction as a Y axis and taking the upper direction as a Z axis, establishing a coordinate system, entering the position of the industrial camera away from the original point o through a human-computer interaction system, fusing the industrial camera to obtain the position of the old lane line, calculating the offset of the center line of the old lane line in an image through a central operation control unit, thus obtaining the offset Y of the center line of the old lane line in the image, storing the position from the original coordinate point o to the image, using subsequent calculation, fusing the industrial camera, a speed encoder and an IMU module to obtain an original point position o 'through the central operation control unit when a marking engineering vehicle runs for a certain distance, controlling a spray gun to move from the original point o' to the position, and calculating the moments of opening and closing the spray gun according to the speed encoder and the IMU module, and intelligent repeated spraying is realized, and the central operation control unit receives the image information of the industrial camera and continuously performs iterative calculation along with the advance of the line drawing engineering vehicle.
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| CN202210105194.6A CN114622469B (en) | 2022-01-28 | 2022-01-28 | Automatic old line dressing control system and control method thereof |
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| CN202210105194.6A CN114622469B (en) | 2022-01-28 | 2022-01-28 | Automatic old line dressing control system and control method thereof |
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