Research And Design Of Intelligent Road Marking Syste

In recent years,with the increasing number of new highway miles and the aging of the original traffic markings,it has brought huge workload for the operators to spray traffic markings.At present,the commonly used marking methods in China are hand-push type and ride-on type,which require the operator to control the direction of movement of the equipment in real time and have strict requirements on the concentration and proficiency of the operator.When spraying irregular markings,the construction process is complicated and the spraying efficiency is low.In view of the low efficiency,unsatisfactory spraying effect and single spraying shape of the traditional marking method,the group has basically achieved the expected results in the aspects of automatic positioning,automatic travel and automatic spraying of diverse characters in the preliminary work,but there are still problems of imprecise road image recognition,poor motion control and substandard spraying accuracy.The subject has made improvements in machine vision and spraying structure,and designed an intelligent road marking system with precise positioning,high quality spraying,diversified spraying and other functions.(1)By analyzing the domestic traditional road marking system and the problems of imprecise road image recognition,poor anti-interference of motion control and substandard spraying accuracy in the preliminary work,the intelligent road marking system is analyzed functionally and the related technical requirements are put forward.Then the overall scheme design of the intelligent road marking system is carried out according to its working principle.The modular idea is used to divide the intelligent road marking system into six modules,and the hardware and software are designed for the six modules of image acquisition module,host computer module,main control unit,motion control module,paint supply module and spraying module respectively.(2)In order to solve the problems such as the image detection effect and the system control strategy control effect is not ideal,this topic adopts the way of extracting the road datum line to realize the automatic driving function of the equipment.The host computer processes the collected road images,extracts the road centerline,and controls the left and right wheel speed through the path tracking algorithm to make the equipment drive automatically along the road datum line.Firstly,because the road marking environment is complex and changeable,the host computer needs to pre-process the collected road images,eliminate road distortion and non-road edge information through inverse perspective transformation and mask technology,and extract the road edge straight line parameter information;secondly,determine the specific location of the road edge by using the method of sliding window detection,and fit the road edge by using the least squares method;filter the road through the method of outlier The coordinates of the road datum are filtered and the road datum is fitted with the least squares method to obtain the road datum.Finally,the relative position of the car body and the road datum line is calculated to determine whether the car body is yawing,and the next action of the marking system is decided by the self-anti-disturbance control strategy based on the sparrow search algorithm.The action command is transmitted to the motion module of the marking system through the serial protocol,so as to realize the automatic driving function of the marking system.(3)In order to solve the problems of unsatisfactory spraying accuracy of paint points during spraying operation and the quality of marking line spraying cannot reach the requirement,the spraying mechanical structure of marking line system and its motor control algorithm are designed.real-time data communication between PC and main controller is adopted by USB communication.When the marking system needs to be sprayed,the main controller receives the G code command sent by the host computer through the serial protocol,the main control unit first completes the G code parsing,extracts the displacement and speed information,and uses the improved Bresenham control algorithm to output the pulse to the drive mechanism control,so that the nozzle in the fixed area to achieve motion planning,while driving the high-frequency solenoid valve work to control the pneumatic atomization nozzle work to get To be sprayed markings,so as to achieve the diversified spraying function of intelligent road marking system.(4)Platform construction based on the hardware design and software design of the intelligent road marking system.After the platform was built,field testing of the road marking system was started to derive the optimal spraying parameters.Conduct experiments on the traffic marking spraying of the intelligent road marking system.After the experimental verification,the intelligent road marking system can accurately extract the road reference line and perform path tracking,so that it can spray at the right location and finally achieve a better spraying effect.