Methods and apparatus for tracking motion and/or orientation of a marking device

• US 9,124,780 B2
• Filed: 09/19/2011
• Issued: 09/01/2015
• Est. Priority Date: 09/17/2010
• Status: Active Grant

• Current Assignee: Certusview Technologies LLC (Dycom Industries Incorporated)
• Original Assignee: Certusview Technologies LLC (Dycom Industries Incorporated)
• Inventors: Nielsen, Steven, Chambers, Curtis, Farr, Jeffrey, Vice, Jack M.
• Primary Examiner(s): Philippe, Gims
• Assistant Examiner(s): Fereja, Samuel D
• Application Number:
  US13/236,162
• Publication Number:
  US 20120069178A1
• Time in Patent Office: 1,443 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: B05B 12/084 responsive to condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
• CPC Class Codes: B65D 83/203 comprising an extension rod located between the aerosol container and the hand grip setting-out line markings on playing courts A63C19/065; marking-out on finished paving by spraying from aerosol containers E01C23/227
• CPC Class Codes: G06Q 10/0833 Tracking
• CPC Class Codes: H04N 7/183 for receiving images from a single remote source

Abstract

Marking material is dispensed onto a target surface using a marking device, and one or more images are captured by one or more camera systems attached to the marking device. The image(s) is/are analyzed to determine tracking information indicative of the a motion or an orientation of the marking device. The tracking information is analyzed to determine marking information relating to the dispensed marking material. In one example, the image(s) is/are analyzed to obtain an optical flow plot indicative of a path on the target surface traversed by the marking device. One or more reference plots respectively representing a plurality of reference marking patterns are compared to one or more portions of the optical flow plot to identify at least one reference marking pattern that substantially matches the portion(s) of the optical flow plot.

Claims

1. A method comprising:

A) dispensing marking material onto a target surface using a marking device to form at least one locate mark on the target surface;

B) capturing camera system data relating to at least one image using at least one camera system attached to the marking device;

C) analyzing the at least one image to determine tracking information indicative of a motion or an orientation of the marking device, wherein C) comprises;

C1) obtaining an optical flow plot indicative of a path on the target surface traversed by the marking device; and

D) analyzing the tracking information to determine marking information relating to the dispensed marking material,

wherein the marking information relating to the dispensed marking material comprises attribute information indicative of an attribute of the at least one locate mark, and wherein the attribute comprises at least one of;

a presence of the at least one locate mark,

a pattern of the at least one locate mark,

a location of the at least one locate mark,

a quality of the at least one locate mark, and

a color of the at least one locate mark.

2. The method of claim 1, further comprising:

recording the marking information relating to the dispensed marking material.

3. The method of claim 1, wherein A) comprises:

A1) actuating a trigger associated with the marking device to dispense the marking material;

A2) obtaining timestamp information indicative of at least one period of time during which the trigger is actuated to dispense the marking material; and

A3) using the timestamp information and the optical flow plot obtained in C) to identify marked portions of the path.

4. The method of claim 1, wherein C) further comprises:

C2) analyzing at least a portion of the optical flow plot to determine the attribute information indicative of the attribute of the at least one locate mark.

5. The method of claim 4, wherein C2) comprises:

applying at least one pattern recognition algorithm to the optical flow plot.

6. The method of claim 4, wherein C2) comprises:

C2a) comparing at least a portion of the optical flow plot to at least one reference plot to determine the attribute information indicative of the attribute of the at least one locate mark.

7. The method of claim 6, wherein C2a) comprises:

scaling the optical flow plot and the reference plot to a common reference grid comprising a plurality of regions;

determining a first set of regions of the grid traversed by the optical flow plot;

determining a second set of regions of the grid traversed by the reference plot; and

comparing the first and second sets of regions.

8. The method of claim 7, wherein C2a) further comprises:

determining first information indicative of an order in which the optical flow plot traversed the first set of regions;

determining second information indicative of an order in which the reference plot traversed the second set of regions; and

comparing the first and second order information.

9. The method of claim 6, wherein C2a) further comprises:

C2a1) identifying one or more portions of the optical flow plot that substantially corresponds to a marking pattern;

C2a2) generating at least one subplot from the optical flow plot containing at least one of the portions of the optical flow identified in C2a1); and

C2a3) comparing the at least one subplot generated in C2a2) with at least one reference plot to determine the attribute information.

10. The method of claim 9, further comprising:

C2a4) prior to C2a3), processing the at least one subplot to facilitate C2a3).

11. The method of claim 10, wherein C2a4) comprises at least one of:

scaling the at least one subplot;

rotating the at least one subplot; and

applying a grid to the at least one subplot.

12. The method of claim 1, further comprising:

E) obtaining, using at least one device, supplemental tracking information indicative of at least one of a location, a motion, and an orientation of the marking device.

13. The method of claim 12, wherein the at least one device comprises at least one of:

a global positioning system device, a triangulation device, an inertial measurement unit, an accelerometer, a gyroscope, a sonar range finder, a laser range finder, and an electronic compass.

14. The method of claim 12, further comprising recording the supplemental tracking information.

15. The method of claim 12, wherein D) comprises:

analyzing the tracking information and at least some of the supplemental tracking information to determine the marking information.

16. The method of claim 1, further comprising locating at least one facility buried under the target surface.

17. A marking apparatus for dispensing marking material onto a target surface, the marking apparatus comprising:

at least one camera system attached to the marking apparatus; and

control electronics communicatively coupled to the at least one camera system and comprising a processing unit configured to;

receive camera system data generated by the at least one camera system;

analyze the camera system data to determine tracking information indicative of the motion or orientation of the marking apparatus; and

analyze the tracking information to determine marking information relating to the marking material dispensed by the marking apparatus.

18. The apparatus of claim 17, further comprising:

at least one memory communicatively coupled to the processing unit, wherein the memory is configured to record the marking information.

19. The apparatus of claim 18, wherein the marking information comprises attribute information indicative of an attribute of at least one locate mark on the target surface.

20. The apparatus of claim 19, wherein the attribute comprises at least one of:

a presence of the at least one locate mark, a pattern of the at least one locate mark,

a location of the at least one locate mark,

a quality of the at least one locate mark, and

a color of the at least one locate mark.

21. The apparatus of claim 19, wherein the tracking information comprises an optical flow plot indicative of a path on the target surface traversed by the marking device.

22. The apparatus of claim 21, comprising a triggering system comprising:

a trigger associated with the marking apparatus;

an actuation mechanism configured to dispense the marking material from a marker container when the trigger is actuated; and

a signal generator to send a trigger signal to the control electronics indicative of an actuation of the trigger.

23. The apparatus of claim 22, wherein the processing unit is configured to:

in response to the trigger signal, obtain timestamp information indicative of periods of time during which the trigger is actuated to dispense marker material; and

identify marked portions of the path based on the timestamp information and the optical flow plot.

24. The apparatus of claim 21, wherein the processing unit is configured to analyze at least a portion of the optical flow plot to determine information indicative of an attribute of the at least one locate mark.

25. The apparatus of claim 21, wherein the processing unit is configured to apply at least one pattern recognition algorithm to the optical flow plot.

26. The apparatus of claim 21, wherein the processing unit is configured to compare at least a portion of the optical flow plot to at least one reference plot to determine information indicative of an attribute of the at least one locate mark.

27. The apparatus of claim 17, further comprising:

at least one input device in communication with the control electronics, wherein the at least one input device is configured to generate supplemental tracking information indicative of at least one of the location, the motion, and the orientation of the marking apparatus.

28. The apparatus of claim 27, wherein the at least one input device comprises at least one of:

a global positioning system device, a global navigation satellite system device, a ground-based triangulation device, an inertial measurement unit, an accelerometer, a gyroscope, a sonar range finder, a laser range finder and an electronic compass.

29. The apparatus of claim 27, wherein:

the processing unit is configured to;

receive the supplemental tracking information; and

analyze the tracking information and at least some of the supplemental tracking information to determine the marking information.

30. An apparatus for tracking a motion and/or an orientation of a marking device used to dispense a marking material onto a target surface, the apparatus comprising:

at least one communication interface;

at least one memory to store processor-executable instructions; and

at least one processor communicatively coupled to the at least one memory and the at least one communication interface, wherein, upon execution of the processor-executable instructions, the at least one processor;

A) analyzes at least one image of the target surface being marked to obtain an optical flow plot indicative of a path on the target surface traversed by the marking device, the at least one image being captured by at least one camera system attached to the marking device;

B) retrieves, from the at least one memory, a plurality of reference plots, respectively representing a plurality of reference marking patterns; and

C) compares at least one portion of the optical flow plot to at least some of the plurality of reference plots retrieved in B) to identify at least one reference marking pattern of the plurality of reference marking patterns that substantially matches the at least one portion of the optical flow plot obtained in A).

31. The apparatus of claim 30, wherein the apparatus is located remote from the marking device, and wherein the processor controls the at least one communication interface so as to receive the at least one image from the at least one camera system.

32. The apparatus of claim 30, further comprising a wireless communication link between the processor and the at least one camera system.

33. The apparatus of claim 30, further comprising the marking device, wherein the marking device comprises a triggering system comprising:

a trigger;

a marking container;

an actuation mechanism to dispense the marking material from the marking container when the trigger is actuated; and

a signal generator in communication with the processing unit to send a trigger signal to the processor indicative of the actuation of the trigger.

34. The apparatus of claim 33, further comprising a wireless communication link between the signal generator and the at least one camera system.

35. The apparatus of claim 33, wherein the memory and the processor are attached to or integral with the marking device.

36. The apparatus of claim 33, further comprising the at least one camera system, wherein the at least one camera system is attached to the marking device.

37. The apparatus of claim 30, further comprising the marking device.

38. A computer program product comprising a non-transitory computer readable medium having a computer readable program code embodied therein, the computer readable program code adapted to be executed to implement a method comprising:

A) receiving camera system data from at least one camera system attached to a marking device dispensing a marking material onto a target surface;

B) analyzing the camera system data to determine tracking information indicative of a motion or an orientation of the marking device; and

C) analyzing the tracking information to determine marking information relating to the dispensed marking material.

39. A computer-implemented method for tracking a motion and/or an orientation of a marking device used to dispense a marking material onto a target surface, the method comprising:

A) displaying at least one image of the target surface being marked on a display device;

B) analyzing, in the computer, the at least one image to obtain an optical flow plot indicative of a path on the target surface traversed by the marking device, the at least one image being captured by at least one camera system attached to the marking device;

B) comparing, in the computer, at least one portion of the optical flow plot to at least some of a plurality of reference plots respectively representing a plurality of reference marking patterns to identify at least one reference marking pattern of the plurality of reference marking patterns that substantially matches the at least one portion of the optical flow plot obtained in A).

40. A computer program product comprising a non-transitory computer readable medium having a computer readable program code embodied therein, the computer readable program code adapted to be executed to implement a method for tracking a motion and/or an orientation of a marking device used to dispense a marking material onto a target surface, the method comprising:

A) analyzing at least one image of the target surface being marked to obtain an optical flow plot indicative of a path on the target surface traversed by the marking device, the at least one image being captured by at least one camera system attached to the marking device; and

B) comparing at least one portion of the optical flow plot to at least some of a plurality of reference plots respectively representing a plurality of reference marking patterns to identify at least one reference marking pattern of the plurality of reference marking patterns that substantially matches the at least one portion of the optical flow plot obtained in A).