GPS-based machine vision roadway mark locator, inspection apparatus, and marker

• US 9,298,991 B2
• Filed: 12/27/2012
• Issued: 03/29/2016
• Est. Priority Date: 01/17/2012
• Status: Active Grant

• Current Assignee: LimnTech LLC
• Original Assignee: LimnTech LLC
• Inventors: Dolinar, Douglas D., Haller, William R.
• Primary Examiner(s): Nguyen, Cuong H
• Application Number:
  US13/728,062
• Publication Number:
  US 20130184938A1
• Time in Patent Office: 1,188 Days
• Field of Search: 701/117, 701/23, 701/28, 701/468, 701/469, 701/534, 701/439, 701/4, 701/46, 701/448, 701/53, 701/3, 701/41, 340/435, 340/436, 404/93, 427/136, 427/137, 427/427.2
• US Class Current: 1/1
• CPC Class Codes: B62D 5/0463 calculating assisting torque from the motor based on driver input
• CPC Class Codes: E01C 23/163 for marking-out the location of the markings; Guiding or steering devices for marking apparatus, e.g. sights
• CPC Class Codes: E01C 23/22 by spraying E01C23/206 takes precedence
• CPC Class Codes: F16M 13/022 repositionable
• CPC Class Codes: G01C 15/02 Means for marking measuring points
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle

Abstract

An apparatus for locating, inspecting, or placing marks on a roadway. The apparatus includes a GPS-based machine vision locator for sampling discrete geographical location data of a pre-existing roadway mark evident on the roadway. A computer may determine 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 roadway. The apparatus is typically part of a moving vehicle. A related method is disclosed for locating, inspecting, and 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.

Claims

1. An apparatus for determining a geographical location of a roadway mark from a moving vehicle, the apparatus comprising:

a GPS antenna mounted to a vehicle;

a GPS receiver responsive to the GPS antenna and configured to (a) determine a first time-tagged geographical location of the GPS antenna and a second time-tagged geographical location of the GPS antenna, and (b) generate a first periodic signal having a known time of occurrence and a first frequency;

a synchronization system responsive to the GPS receiver configured to generate a second periodic signal that (a) has a known time of occurrence, (b) is synchronized to the first periodic signal and (c) has a second frequency equal to an integer multiple of the first frequency;

a first imager mounted to the vehicle, wherein the first imager is (a) synchronously responsive to and triggered by the second periodic signal and (b) configured to image a first roadway mark to provide a first triggered roadway mark image; and

a computer (a) responsive to the GPS receiver and the first imager and (b) configured to determine a GPS location of the first roadway mark using positional interpolation based on the first time-tagged geographical location, the second time-tagged geographical location, and the first triggered roadway mark image.

2. The apparatus according to claim 1 wherein:

the GPS antenna, is configured to receive GPS radio wave signals originating from a GPS satellite system or a GPS-pseudolite array, and

the GPS receiver is configured to receive the GPS radio wave signals from the GPS antenna and decode the GPS signals to determine the first time-tagged geographical location of the GPS antenna and the second time-tagged geographical location of the GPS antenna.

5. The apparatus of claim 1, wherein the computer is further configured to (i) calculates roadway mark characteristics from the triggered roadway mark image and (ii) compares the calculated roadway mark characteristics against a standard set of roadway mark characteristics.

6. The apparatus according to claim 5, wherein the roadway mark characteristics are at least one of a width of the roadway mark, a length of the roadway mark, a grayscale reflectivity, retroreflectivity, and a fill percentage.

7. The apparatus according to claim 1, wherein the first imager is mounted to the vehicle using

an adjustable mount including a fixably adjustable axis of rotation parallel to a roadway surface including the first roadway mark for aligning the first imager so that the first imager can focus on the roadway mark.

22. The apparatus according to claim 1, wherein the first roadway mark is located to the left of a direction of travel of the vehicle;

the apparatus further comprising a second imager mounted on the vehicle and aligned to image a second roadway mark to the right of the direction of travel of the vehicle,

wherein the second imager is (a) synchronously responsive to and triggered by the second periodic signal and (b) configured to image the second roadway mark to provide a second triggered roadway image, and

the computer is (a) further responsive to the second imagers and the GPS receiver and (b) configured to determine a GPS location of the second roadway mark using positional interpolation based on the first time-tagged geographical location, the second time-tagged geographical location, and the second triggered roadway mark image.

28. The apparatus according to claim 2, wherein the GPS radio wave signals comprise a real time kinematic correction signal.

29. The apparatus according to claim 1, wherein the computer is configured to determine the GPS location of the first triggered roadway mark using positional interpolation based on the first time-tagged geographical location, the second time-tagged geographical location, and the known time of occurrence of the second signal.

32. The apparatus according to claim 1, wherein the synchronization system comprises a phase lock loop system.

33. The apparatus according to claim 32, wherein the phase lock loop system comprises (a) a phase lock loop responsive to the first periodic signal and including a feedback loop;

and (b) a programmable divider in the feedback loop of the phase lock loop.

34. The apparatus according to claim 32, wherein the phase lock loop system comprises a computer software implemented phase lock loop system.

35. The apparatus according to claim 34, wherein the computer software implemented phase lock loop system comprises (a) a computer software implemented phase lock loop responsive to the first periodic signal and including a feedback loop;

and (b) a computer software implemented programmable divider in the feedback loop of the phase lock loop.

36. The apparatus according to claim 1, wherein the first imager is a calibrated imager.

37. The apparatus according to claim 1, wherein the first imager is a charge coupled device camera.

3. A method for determining a geographical location of a roadway mark from a moving vehicle, comprising:

determining with a GPS receiver a first time-tagged geographical location of a GPS antenna mounted to a vehicle and a second time-tagged geographical location of the GPS antenna;

generating a first periodic signal using the GPS receiver, the first periodic signal having a known time of occurrence and a first frequency;

generating a second periodic signal using a synchronization system responsive to the GPS receiver, the second periodic signal (a) having a known time of occurrence, (b) synchronized to the first periodic signal and (c) having a second frequency equal to an integer multiple of the first frequency;

imaging a first roadway mark using a first imager mounted to the vehicle to produce a first triggered roadway mark image, wherein the first imager is synchronously responsive to and triggered by the second periodic signal; and

using a computer to determine a GPS location of the first roadway mark using positional interpolation based on the first time-tagged geographical location and the second time-tagged geographical location.

4. The method according to claim 3, wherein the computer determines the GPS location of the first triggered roadway mark using positional interpolation based on the first time-tagged geographical location, the second time-tagged geographical location, and the known time of occurrence of the second signal.

8. The method according to claim 3, further comprising using the computer to:

calculate roadway mark characteristics from the first roadway mark image; and

compare the calculated roadway mark characteristics against a standard set of roadway mark characteristics.

9. The method according to claim 3 wherein the first imager is a charge coupled device camera.

10. The method according to claim 3, wherein the first imager is a calibrated imager.

16. The method according to claim 3, wherein the synchronization system comprises a phase lock loop system.

17. The method according to claim 16, wherein the phase lock loop system comprises a computer software implemented phase lock loop system.

18. The method according to claim 17, wherein the computer software implemented phase lock loop system comprises (a) a computer software implemented phase lock loop responsive to the first periodic signal and including a feedback loop;

and (b) a computer software implemented programmable divider in the feedback loop of the phase lock loop.

19. The method according to claim 16 wherein the phase lock loop system comprises (a) a phase lock loop responsive to the first periodic signal and including a feedback loop;

and (b) a programmable divider in the feedback loop of the phase lock loop.

21. The method according to claim 3, wherein the first roadway mark is located to the left of a direction of travel of the vehicle, further comprising:

imaging a second roadway mark located to the right of the direction of travel of the vehicle using a second imager mounted to the vehicle to produce a second triggered roadway mark image, wherein the second imager is synchronously responsive to and triggered by the second periodic signal; and

using a computer to determine a GPS location of the second triggered roadway mark using positional interpolation based on the first time-tagged geographical location and the second time-tagged geographical location.

23. The method according to claim 3, wherein the first imager is mounted to the vehicle using an adjustable mount including a fixably adjustable axis of rotation parallel to the roadway surface for aligning the first imager so that the first imager can focus on the roadway mark.

24. The method according to claim 3, further comprising the GPS antenna receiving GPS radio-wave signals originating from a GPS satellite system or a GPS-pseudolite array, wherein determining the first time-tagged geographical location and the second time-tagged geographical location comprises the GPS receiver receiving the GPS radio-wave signals from the GPS antenna and decoding the GPS radio-wave signals.

26. The apparatus according to claim 24, wherein the GPS radio-wave signals comprise a real time kinematic correction signal.

27. The method according to claim 8, wherein the roadway mark characteristics include at least one of a width of the first roadway mark, a length of the first roadway mark, a grayscale reflectivity, retroreflectivity, and a fill percentage.

11. An apparatus for locating and placing marks on a roadway, the apparatus comprising:

a GPS antenna mounted to a vehicle;

a GPS receiver responsive to the GPS antenna and configured to (a) determine a first time-tagged geographical location of the GPS antenna and a second time-tagged geographical location of the GPS antenna, and (b) generate a first periodic signal having a known time of occurrence and a first frequency;

a synchronization system responsive to the GPS receiver configured to generate a second periodic signal that (a) has a known time of occurrence, (b) is synchronized to the first periodic signal and (c) has a second frequency equal to an integer multiple of the first frequency;

a first imager mounted to the vehicle, wherein the first imager is (a) synchronously responsive to and triggered by the second periodic signal and (b) configured to image a first roadway mark on a roadway to provide a first triggered roadway image;

a computer (a) responsive to the GPS receiver and the first imager, and (b) configured to;

(1) determine a GPS location of the first roadway mark, and

(2) determine a continuous smooth geographical location function best-fitted to the GPS location of the first roadway mark; and

a marker responsive to the computer for replicating automatically the first roadway mark onto the roadway based on the continuous smooth geographical location function.

12. The apparatus according to claim 11, wherein the GPS antenna is configured to receive GPS radio wave signals originating from a GPS satellite system or a GPS-pseudolite array, and

the GPS receiver is configured to receive the GPS radio wave signals from the GPS antenna and decode the GPS signals to determine the first time-tagged geographical location of the GPS antenna and the second time-tagged geographical location of the GPS antenna.

13. The apparatus according to claim 11 further comprising a second imager which images the roadway in front of the vehicle.

14. The apparatus according to claim 11 further comprising a speed detector and a nozzle array and control system, the speed detector informing the nozzle array and control system and enabling the nozzle array and control system to adjust the rate at which it places marking material onto the roadway.

15. The apparatus according to claim 11, wherein the computer generates an additional roadway mark function by offsetting the continuous function by an amount consistent with the desired position of a second roadway mark relative to the replicated roadway mark.

20. An apparatus for guiding a vehicle having a snow plow along a roadway, the apparatus comprising:

a GPS antenna mounted to a vehicle;

a GPS receiver responsive to the GPS antenna and configured to (a) determine a first time-tagged geographical location of the GPS antenna and a second time-tagged geographical location of the GPS antenna, and (b) generate a first periodic signal having a known time of occurrence and a first frequency;

a synchronization system responsive to the GPS receiver configured to generate a second periodic signal that (a) has a known time of occurrence, (b) is synchronized to the first periodic signal and (c) has a second frequency equal to an integer multiple of the first frequency;

an imager mounted to the vehicle, wherein the imager is (a) synchronously responsive to and triggered by the second periodic signal and (b) configured to image a roadway mark to provide a triggered roadway mark image;

a computer (a) responsive to the GPS receiver and the imager and (b) configured to;

(1) determine a GPS location of the roadway mark using positional interpolation based on the first time-tagged geographical location and the second time-tagged geographical location, and

(2) determine a continuous smooth geographical location function best-fitted to the GPS location of the roadway mark; and

a system responsive to the computer for positioning the snow plow based on the continuous smooth geographical location function.

25. An apparatus for locating and placing marks on a roadway, the apparatus comprising:

a GPS antenna mounted to a vehicle;

a GPS receiver responsive to the GPS antenna and configured to (a) determine a first time-tagged geographical location of the GPS antenna and a second time-tagged geographical location of the GPS antenna, and (b) generate a first periodic signal having a known time of occurrence and a first frequency;

a synchronization system responsive to the GPS receiver configured to generate a second periodic signal that (a) has a known time of occurrence, (b) is synchronized to the first periodic signal and (c) has a second frequency equal to an integer multiple of the first frequency;

an imager mounted to the vehicle, wherein the imager is (a) synchronously responsive to and triggered by the second periodic signal and (b) configured to image a roadway mark to provide a triggered roadway mark image; and

a computer (a) responsive to the GPS receiver and the imager, and (b) configured to;

(1) determine a GPS location of the roadway mark using positional interpolation based on the first time-tagged geographical location, the second time-tagged geographical location, and the first triggered roadway mark image and

(2) determine a continuous smooth geographical location function best-fitted to the GPS location of the roadway mark; and

a nozzle array and control system responsive to the computer for replicating automatically the roadway mark at a location defined by the continuous smooth geographical location function by placing a marking material on the roadway.

30. An apparatus for determining a continuous smooth geographical location function of a roadway mark comprising:

a GPS antenna mounted to a vehicle;

a GPS receiver responsive to the GPS antenna and configured to (a) determine a first time-tagged geographical location of the GPS antenna and a second time-tagged geographical location of the GPS antenna, and (b) generate a first periodic signal having a known time of occurrence and a first frequency;

a synchronization system responsive to the GPS receiver configured to generate a second periodic signal that (a) has a known time of occurrence, (b) is synchronized to the first periodic signal and (c) has a second frequency equal to an integer multiple of the first frequency;

an imager mounted to the vehicle, wherein the imager is (a) synchronously responsive to and triggered by the second periodic signal and (b) configured to image a roadway mark to provide a triggered roadway mark image; and

a computer (a) responsive to the GPS receiver and the imager, and (b) configured to;

(1) determine a GPS location of the roadway mark from the triggered roadway mark image and the geographical location of the GPS antenna, and

(b) calculate a smooth continuous geographical location function from the GPS location of the roadway mark.

31. The apparatus according to claim 30, wherein the smooth continuous geographical location function is a best-fitted continuous geographical location function.