Road Marking Robot Trajectory Planning With Fiducial Localization

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Solution Overview

Problem

Existing automated systems for applying road markings face challenges in accurately localizing the application of complex shapes and lines, are often too complicated to use, and pose safety risks to workers due to manual application methods.

Innovation Solution

A system and method that utilizes a vehicle-mounted application tool with sensors and a computing device to precisely apply markings by generating a task plan, determining the tool's location and orientation, and computing a joint-space trajectory for accurate application, incorporating fiducial data and sensor fusion for enhanced precision.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If manual painting methods are used to apply road markings, then workers can apply complex shapes and lines with flexibility, but workers are exposed to safety risks from vehicle collisions and the process is labor-intensive

Engineering Contradiction:

Improveability to apply complex shapes and linesVSAvoidsafety risks to workers from vehicle collisions

Core Design Contradiction:

Adaptability or versatilityVSObject-affected harmful factors

Solution Approach 1:

The patent replaces manual painting operations with an automated robotic application tool that can be precisely positioned and oriented. The system uses sensors, fiducial tracking, and computer control to automate the marking application process, eliminating worker exposure to traffic hazards while maintaining the ability to apply complex shapes and lines through programmable motion control

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent introduces fiducial markers as intermediary reference points placed on the road surface. These fiducials serve as mediators between the planning system and the application tool, enabling precise localization and tracking of the vehicle's position and orientation without requiring workers to manually measure or mark positions in traffic

Inventive Principle:

Principle #24Intermediary (Mediator)

2Reliability

If automated systems are used to apply road markings, then worker safety is improved and consistency is enhanced, but the systems face challenges in accurately localizing where to apply markings and are too complicated to use

Engineering Contradiction:

Improveconsistency of marking applicationVSAvoidcomplexity of automated system operation

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The system performs self-localization by automatically detecting fiducial markers in its environment and computing its own position and orientation relative to the planned marking locations. The application tool autonomously adjusts its pose based on real-time fiducial detection, eliminating the need for complex manual setup or continuous operator intervention

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The patent implements a feedback loop where sensors continuously detect fiducial markers, the system computes the vehicle's current pose, compares it to the planned trajectory, and automatically adjusts the application tool's position and orientation. This closed-loop control ensures accurate marking placement while simplifying operation through automated correction

Inventive Principle:

Principle #23Feedback

3Productivity

If traditional automated marking systems are used, then productivity is improved, but measurement precision of the application location deteriorates due to inability to accurately localize complex shapes and lines

Engineering Contradiction:

Improvespeed of marking applicationVSAvoidaccuracy of marking location

Core Design Contradiction:

ProductivityVSMeasurement precision

Solution Approach 1:

The patent uses fiducial markers as intermediary reference objects that provide high-precision measurement references throughout the work area. These fiducials enable the system to accurately determine its position and orientation relative to complex marking geometries, achieving both high productivity through automated application and high precision through fiducial-based localization

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The system transitions from relying solely on GPS or wheel encoder-based positioning (2D plane positioning) to using fiducial markers that provide 3D spatial references. This additional dimensional information enables accurate localization of complex shapes and lines by providing known reference points in three-dimensional space that the vision system can detect and use for precise pose estimation

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

Data Source

PatentUS12559894B2Systems and methods to apply surface treatments

Publication Date: 2026.02.24 CASE WESTERN RESERVE UNIV

AI summary

An example method includes storing surface treatment data to specify at least one selected surface treatment to apply at a target location along a vehicle path of travel, the surface treatment data including a machine-readable description and a reference coordinate frame for the selected surface treatment. The method also includes generating task plan data to apply the selected surface treatment based on the surface treatment data and at least one parameter of an application tool. The method also includes determining a location and orientation of the application tool with respect to the vehicle path of travel based on location data representing a current location of a vehicle carrying the application tool. The method also includes computing a joint-space trajectory to enable the application tool to apply the selected surface treatment at the target location based on the task plan data and the determined location of the application tool.