Global positioning system roadway marker
First Claim
1. An apparatus for placing marks such as paint or another marking material onto the surface of a roadway, the apparatus comprising:
- a moving vehicle;
a GPS-based machine vision locator positioned on the vehicle for automatically sampling discrete geographical location data of an actual pre-existing roadway mark evident on the roadway before the mark is removed;
a computer including (a) a sampling program which receives a GPS reference location and uses a coordinate system having the origin defined at the reference location and further, based upon the coordinate system and a sampling interval, samples the geographical location of the pre-existing roadway mark, and (b) a curve fitting program which inputs discrete GPS coordinate data stored in data memory and determines a continuous smooth geographical location function best-fitted to the sampled geographical location data;
a marker positioned on the vehicle, having a GPS geographical location, and being responsive to the GPS-based machine vision locator and geographical location function for replicating automatically the pre-existing roadway mark onto the surface of the roadway; and
a feedback system comparing the GPS geographical location of the marker and the geographical location function and correcting the position of the marker if the comparison identifies an error.
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Accused Products
Abstract
An apparatus for placing marks on a resurfaced roadway. The apparatus includes a GPS-based locator for sampling discrete geographical location data of a pre-existing roadway mark evident on the roadway before resurfacing. A computer determines a continuous smooth geographical location function fitted to the sampled geographical location data. And a marker is responsive to the GPS-based locator and geographical location function for replicating automatically the pre-existing roadway mark onto the resurfaced roadway. The apparatus is typically part of a moving vehicle. A related method is disclosed for placing marks on a resurfaced roadway. A similar apparatus can be used to guide a vehicle having a snow plow along a snow covered roadway, or a paving machine along an unpaved roadway surface.
66 Citations
20 Claims
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1. An apparatus for placing marks such as paint or another marking material onto the surface of a roadway, the apparatus comprising:
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a moving vehicle; a GPS-based machine vision locator positioned on the vehicle for automatically sampling discrete geographical location data of an actual pre-existing roadway mark evident on the roadway before the mark is removed; a computer including (a) a sampling program which receives a GPS reference location and uses a coordinate system having the origin defined at the reference location and further, based upon the coordinate system and a sampling interval, samples the geographical location of the pre-existing roadway mark, and (b) a curve fitting program which inputs discrete GPS coordinate data stored in data memory and determines a continuous smooth geographical location function best-fitted to the sampled geographical location data; a marker positioned on the vehicle, having a GPS geographical location, and being responsive to the GPS-based machine vision locator and geographical location function for replicating automatically the pre-existing roadway mark onto the surface of the roadway; and a feedback system comparing the GPS geographical location of the marker and the geographical location function and correcting the position of the marker if the comparison identifies an error. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A moving vehicle for placing marks such as paint or another marking material onto the surface of a roadway at the direction of an operator, the vehicle comprising:
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a GPS-based machine vision locator for automatically sampling discrete geographical location data of an actual pre-existing roadway mark evident on the roadway before the mark is removed, the GPS-based machine vision locator including a GPS antenna, adapted to receive GPS radio wave signals originating from a GPS satellite system or a GPS-pseudolite array, connected to a GPS receiver which decodes the GPS signals for determining its geographical location, and a first imager focused downwardly onto the roadway and providing an image of a roadway mark; a keyboard adapted to permit the operator to enter data; a computer including (a) a sampling program which receives a GPS reference location and uses a coordinate system having the origin defined at the reference location and further, based upon the coordinate system and a sampling interval, samples the geographical location of the pre-existing roadway mark, and (b) a curve fitting program which inputs discrete GPS coordinate data stored in data memory and determines a continuous smooth geographical location function best-fitted to the sampled geographical location data; a display adapted to present information to the operator; a nozzle array and control system having a GPS geographical location and being responsive to the GPS-based machine vision locator and geographical location function for replicating automatically a roadway mark on the surface of the roadway by placing a marking material on the roadway; and a feedback system comparing the GPS geographical location of the nozzle array and control system and the geographical location function and correcting the position of the nozzle array and control system if the comparison identifies an error. - View Dependent Claims (15, 16, 17, 18)
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19. A method for placing marks such as paint or another marking material onto the surface of a roadway, the method comprising the steps of:
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automatically sampling the geographical location of an actual pre-existing roadway mark, evident on the roadway before the mark is removed, using a GPS-based machine vision locator positioned on a moving vehicle; receiving a GPS reference location and using a coordinate system having the origin defined at the reference location and further, based upon the coordinate system and a sampling interval, sampling the geographical location of the pre-existing roadway mark; inputting discrete GPS coordinate data stored in data memory and determining a continuous smooth geographical location function best-fitted to the sampled location data; marking a roadway mark onto the surface of the roadway, at a location determined by the GPS-based machine vision locator and the geographical location function, using a marker having a GPS geographical location; and comparing the GPS geographical location of the marker and the geographical location function and correcting the position of the marker if the comparison identifies an error.
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20. An apparatus for guiding a snow plow along a roadway, the apparatus comprising:
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a moving vehicle adapted to have a snow plow; a GPS-based machine vision locator positioned on the vehicle for automatically sampling discrete geographical location data of an actual pre-existing roadway mark evident on the roadway before the mark is covered by snow; a computer including (a) a sampling program which receives a GPS reference location and uses a coordinate system having the origin defined at the reference location and further, based upon the coordinate system and a sampling interval, samples the geographical location of the pre-existing roadway mark, and (b) a curve fitting program which inputs discrete GPS coordinate data stored in data memory and determines a continuous smooth geographical location function best-fitted to the sampled geographical location data; a positioning system having a GPS geographical location and being responsive to the GPS-based machine vision locator and geographical location function for positioning the snow plow on the surface of the roadway; and a feedback system comparing the geographical graphical location of the positioning system and the geographical location function and correcting the position of the positioning system if the comparison identifies an error.
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Specification