Research And Implementation Of Intelligent Road Marking System

In recent years,the number of highway miles and the number of residential cars in our country have increased sharply,which has brought serious traffic problems.As an important part of modern intelligent traffic,road traffic line marking plays an irreplaceable role in alleviating the existing traffic problems.The continuous construction of highways and the aging of the original traffic markings bring about a huge workload of spraying traffic markings.At present,hand-pushed and ride-driven line marking equipment is adopted in China,which has low automation degree and low spraying efficiency.It requires workers to control the spraying direction of the equipment in real time,and the spraying effect is easily affected by subjective factors.The operation process is more complicated when irregular marking is applied.Therefore,it is of great significance to study an intelligent road marking device that can realize automatic positioning,automatic traveling and multi-function spraying for the transformation of old and new kinetic energy and the construction of intelligent transportation.Aiming at the problems of low efficiency,single spray shape and unstable spray quality of traditional line marking in China,this paper combines machine vision and dot matrix spraying technology to design an intelligent road line marking equipment that integrates automatic marching,automatic positioning and multi-function spraying.The core work and main research contents of this paper are as follows:(1)In view of the problems of low efficiency,complex process and single spraying of traditional road marking equipment in our country,the technical requirements of intelligent road traffic marking equipment are put forward,and the overall design of intelligent road marking equipment is carried out according to the technical requirements and use requirements.The line marking equipment is designed with the idea of modularization.The equipment is divided into upper computer image processing module,ARM master control unit,environment sensing module,motion control module,array spraying module,coating supply module and power supply module,and is designed respectively.(2)In order to realize the automatic positioning of the road marking system,the road images collected by vehicle camera were processed and the parameters of the line along the road were extracted.Firstly,in view of the complex and changeable road marking environment,the collected road images are preprocessed,edge detection and straight line feature extraction.Secondly,in view of the problem that the detected lines along the road contain many interference lines,the Hough transform with direction constraint and the vanishing point detection algorithm based on probability voting method are proposed to filter the lines that do not meet the constraint conditions.Based on the accurate identification of the straight line along the road,the Kalman filter method was introduced to track the coordinate information of the straight line along the road and dynamically delimit the ROI region in order to solve the problem of the identification deviation and fluctuation of the straight line along the road during the marking process.After the tracking and recognition of the road edge is realized,the coordinate transformation is carried out according to the geometric model of camera imaging,the real-time coordinate parameters of the line-marking equipment are obtained,and the deviation control of the line-marking equipment is realized according to the CCP model.(3)According to the characteristics of multiple spraying of intelligent road marking system,the dot-matrix graphics library of traffic marking system is established and stored in external Flash.When spraying is needed,the master control unit calls the corresponding lattice data according to the offset address corresponding to the marking line to control spraying module.At the same time,according to the functional characteristics of the intelligent road marking system,a set of human-computer interaction system with complete functions,safety and stability is designed,which adopts RS485 interface communication and complying with the Modbus communication protocol.(4)Based on the model design and platform construction of the intelligent road marking system,the spraying pressure,spraying height and spraying time of the road marking system were tested,and the optimal spraying parameters were obtained.In different environments,the algorithm of road edge identification and traffic marking spraying of intelligent road marking system are experimented.The experimental results show that in different road environments,the system can accurately position according to the detected road edge,and spray in the appropriate position to achieve a better spraying effect.