EP3428342B1 - Verfahren zur konstanthaltung einer von einer strassenmarkiermaschine aufzubringenden markierungslinie und strassenmarkiermaschine - Google Patents

Verfahren zur konstanthaltung einer von einer strassenmarkiermaschine aufzubringenden markierungslinie und strassenmarkiermaschine Download PDF

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Publication number
EP3428342B1
EP3428342B1 EP17180988.2A EP17180988A EP3428342B1 EP 3428342 B1 EP3428342 B1 EP 3428342B1 EP 17180988 A EP17180988 A EP 17180988A EP 3428342 B1 EP3428342 B1 EP 3428342B1
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EP
European Patent Office
Prior art keywords
spray
marking
spray gun
height
line width
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP17180988.2A
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German (de)
English (en)
French (fr)
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EP3428342A1 (de
Inventor
Egbert Junge
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hofmann GmbH Maschinenfabrik und Vertrieb
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Hofmann GmbH Maschinenfabrik und Vertrieb
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hofmann GmbH Maschinenfabrik und Vertrieb filed Critical Hofmann GmbH Maschinenfabrik und Vertrieb
Priority to PL17180988T priority Critical patent/PL3428342T3/pl
Priority to EP17180988.2A priority patent/EP3428342B1/de
Priority to DK17180988.2T priority patent/DK3428342T3/da
Publication of EP3428342A1 publication Critical patent/EP3428342A1/de
Application granted granted Critical
Publication of EP3428342B1 publication Critical patent/EP3428342B1/de
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/16—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings
    • E01C23/20—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ
    • E01C23/22—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/084—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/124—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
    • B05B1/02—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to produce a jet, spray, or other discharge of particular shape or nature, e.g. in single drops, or having an outlet of particular shape
    • B05B1/04—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to produce a jet, spray, or other discharge of particular shape or nature, e.g. in single drops, or having an outlet of particular shape in flat form, e.g. fan-like, sheet-like

Definitions

  • the present invention relates to a method for keeping constant the line width of a marking line to be applied to a road surface by a road marking machine by means of a spray gun, consisting of a flowable marking substance applied under pressure from a spray nozzle of the spray gun in the form of a spray fan, whereby according to the parameters obtained during operation of the road marking machine Control signals a height of the spray gun above the road surface is automatically adjusted so that changes in the line width of the marking line are compensated, the marking process is continuously recorded as a video by means of a video camera, with an image evaluation program from the video recordings continuously actual values of the line width of the marking line generated are calculated, the calculated actual values of the line width being compared with stored nominal values of the desired line width, with deviations n corresponding control signals are generated between the actual values and the setpoint values of the line width and the height of the spray gun above the road surface is adjusted by means of the control signals in the sense of a reduction of the detected deviation.
  • the invention also relates to a road marking machine.
  • the spray pressure can change in a ratio of up to 1: 8 during the marking process, which can lead to changes in the spray angle and the generated line width of up to +/- 20%, which depends on certain properties of the used Marking substance and its temperature, which has an influence on the viscosity and thus on the injection pressure.
  • the height of the spray gun above the road surface must be controlled in such a way that changes in the spray angle and the line width changes caused by changes in the height of the spray gun above the road surface Road surface are compensated.
  • a device in which a hydraulic oil pressure proportional to the injection pressure is used to use a Hydraulic cylinder using a lever system to change the height of the spray gun above the road surface so that the line width generated remains within the permissible limits when the spray pressure and therefore the spray angle change.
  • the translation in the lever system can be changed so that the device can be adapted to different profiles of the spray angle depending on the spray pressure.
  • the range of the marking speed, in which the generated line width remains within the permissible limits has already been expanded.
  • a control unit provided can also be connected to an optical width measuring device for continuous detection of the width of the marking line generated and for determining and correcting any changes in width that may occur.
  • This known device requires a lot of adjustment and testing effort for correct adjustment and a new adjustment when changing the spray nozzle and / or marking substance as well as with larger temperature changes of the marking substance.
  • marking lines can also be generated with marking substances whose injection pressure / line width progression is irregular, so that the marking speed range, in which the line width is within permissible limits, could be further increased.
  • many injection pressure line width profiles for different temperatures and different makes of marking material can be saved and called up when required.
  • the object of the present invention is therefore to create a method of the type mentioned at the beginning which avoids the disadvantages set out above and with which the line width of a marking line to be applied by a road marking machine can be kept constant in the case of changing influencing parameters, such as marking speed, marking material temperature and -viscosity, spray pressure and make of marking material is achieved.
  • a road marking machine is to be specified with which the method can be carried out.
  • the part of the problem relating to the method is achieved with a method of the type mentioned at the outset, which is characterized in that the marker substance emerging from the spray nozzle in the form of a triangular spray fan forming on the spray nozzle with a spray angle is recorded as a video and evaluated becomes.
  • the method according to the invention is characterized in that it constantly determines and monitors the spray fan actually generated from the marking substance by video observation, i.e. optically, and, depending on the currently generated line width, if necessary, i.e. if there is a deviation from the target line width, the height of the spray gun above the road surface, ie the distance of the spray nozzle from the road surface, is adjusted so that a detected deviation from the nominal line width is reduced.
  • the marking substance that has emerged from the spray nozzle is recorded as a video and evaluated in the form of the spray angle of the triangular spray fan formed on the spray nozzle. An exact value of the generated line width can be calculated from the spray angle and the current height of the spray gun above the road surface.
  • a search section for the spray fan defining orientation mark is included.
  • the search section in which the image evaluation program searches for the spray angle always has the same position relative to the orientation mark, so that the spray angle can always be searched for in the same position relative to the orientation mark, which advantageously reduces the data processing effort in the course of the image evaluation program and the evaluation accuracy is increased.
  • a screen contrasting in color to the marking material in the video camera viewing direction behind the spray gun and the spray fan generates a contrast enhancement of the video recording becomes.
  • the marking substance is usually light, in particular white, it is expedient to use a screen with a dark, in particular black, surface.
  • the spray fan recorded as a video is illuminated with light of a narrow frequency spectrum, preferably with a light color or frequency that does not occur or only occurs little in the rest of the recorded video. This simplifies and improves the video evaluation.
  • the distance of all image points to the video camera is determined and recorded during the video recording by means of a distance sensor or by means of a distance measuring function integrated into the video camera.
  • the distance between the captured image points can thus be included in the image evaluation and used to improve the results.
  • a so-called "time-of-flight" video camera ie a camera operating according to the time-of-flight method, into which the function of determining the distance is integrated.
  • control signals are expediently generated and sent to the adjustment drive of the spray gun adjustment device when the deviations between the actual values and the target values of the line width exceed a predefinable threshold value.
  • the threshold value is of course set so that the resulting line width can only show dimensional fluctuations within the legally permissible limits.
  • the spray pressure of the marking substance is recorded before it exits the spray nozzle and that the recorded spray pressure is constantly stored together with the height of the spray gun above the road surface as a curve for the spray gun height depending on the spray pressure.
  • the data obtained in this way can be used to check the positioning of the spray nozzle relative to the road surface using the video image evaluation, which makes the security against errors in the process sequence particularly high.
  • the previously specified embodiment of the method offers the possibility that if the video recording or the image evaluation program fails, a alternatively, the height of the spray gun above the road surface is corrected in accordance with data from the stored curve for the spray gun height as a function of the spray pressure.
  • the method thus offers a fall-back level which allows a further, albeit somewhat less precise, operation of a marking machine operated according to the method in the event of failure of the video recording or the image evaluation program.
  • a road marking machine with a device for keeping constant the line width of a marking line to be applied to a road surface by means of a spray gun is proposed from a flowable marking substance which can be applied in the form of a spray fan under pressure from a spray nozzle of the spray gun, whereby according to A height of the spray gun above the road surface can be automatically adjusted from control signals that can be obtained while the road marking machine is in operation, so that changes in the spray angle of the spray fan can be compensated for while maintaining a desired line width of the marking line
  • the road marking machine having: a video camera with which the marking process can be continuously recorded as video, at least one computer in which actual values of the line width of the marking line generated can be continuously calculated from the video recordings by means of an image evaluation program and the calculated actual values of the line width with stored target values of the desired line width are comparable and in the event of deviations between the actual values and the target values of the line width, corresponding control signals can be generated and a spray gun adjusting device with which the height of
  • the method according to the invention described above can be practically carried out in order to create marking lines with an exact and constant line width even when parameters that otherwise influence the line width generated, such as marking substance temperature, are changed and viscosity, injection pressure and make of marking material, etc.
  • the video camera is aimed at the marking substance that has emerged from the spray nozzle in the form of the spray angle of the triangular spray fan formed on the spray nozzle and the current spray angle can be determined from the optically detected spray angle and the known or measured current height of the spray gun with the spray nozzle above the road surface generated width of the marking line can be calculated.
  • an orientation mark which is located in a certain position relative to the spray gun and which is recognizable by the image evaluation program and defines a search section for the spray fan, is arranged on the road marking machine in a recording area of the video camera.
  • a further measure to facilitate and improve the image evaluation consists in that behind the spray fan in the direction of view of the camera there is a preferably black screen which contrasts in color with the marking substance and by means of which a contrast enhancement of the video recording can be generated.
  • the marking machine has a light source directed at the spray fan recorded as a video and illuminating the spray fan with light of a narrow frequency spectrum, preferably with a light color or frequency that does not or only rarely occurs in the rest of the recorded video.
  • the invention also proposes for the marking machine that a distance sensor is provided in addition to the video camera, by means of which the distance of all image points to the video camera can be determined and recorded, or that the video camera is a camera with an integrated distance measuring function, by means of which the distance of all image points to the Video camera is detectable and detectable.
  • the distance data obtained in this way can advantageously be used to computationally eliminate all image areas in front of and behind the spray fan from the video recording, which simplifies image evaluation and reduces the data processing effort for determining the spray angle of the spray fan or the width of the marking line.
  • the spray gun adjustment device has an electrical or hydraulic or pneumatic adjustment drive which, by means of the control signals, is used to adjust the height of the spray gun above the road surface is controllable.
  • the road marking machine has an injection pressure sensor by means of which the injection pressure of the marking substance can be continuously recorded before it emerges from the injection nozzle, and that it has a data memory in which the recorded injection pressure together with the parallel recorded height of the Spray gun over the road surface as a curve for the spray gun height as a function of the spray pressure can be saved continuously.
  • This version of the road marking machine has the advantage that if the video camera or the image evaluation program fails temporarily, an auxiliary correction of the line width can be made by adjusting the height of the spray gun above the road surface according to the saved spray pressure curve.
  • the above-described method and the marking machine can of course also be used for other applications in addition to marking road surfaces, for example for producing markings on movement areas for aircraft at an airport or for producing markings on commercial operating areas, for example for optical purposes Delimitation of storage areas and movement areas.
  • the marking machine can also have several spray guns, which are then each adjustable in their height above the road surface in accordance with the method explained above.
  • FIG. 1 The drawing shows a scheme of the method for keeping constant the line width B of a marking line to be applied by a road marking machine to a road surface or other surface to be marked from a flowable marking substance applied under pressure from a spray nozzle of a spray gun in the form of a spray fan.
  • the marking process is continuously recorded as a video by means of a video camera 5.
  • an image evaluation program In an image processing 7 'downstream of the camera 5 in the form of a first computer, an image evaluation program first continuously calculates a spray angle of the marking substance emerging from the spray nozzle in the form of the spray fan from the image data recorded by the video camera 5 and sends it to a machine control 7, here in the form another computer.
  • the height of the spray gun above the road surface to be marked is adjusted as required so that a desired line width of the marking line is maintained.
  • the height adjustment 6 sends data about the current height of the spray gun above the road surface to the machine control 7.
  • the current line width B is calculated from the spray angle data supplied to it and the height data of the spray gun supplied by the height adjustment 6.
  • the calculated actual values B i of the line width B are compared with stored nominal values B s of the desired line width B. If there are deviations between the actual values B i and the set values B s of the line width B, corresponding control signals are generated by the machine controller 7 and forwarded to the spray gun height adjustment device 6 in the form of set height data.
  • the spray gun height adjustment 6 adjusts the height H of the spray gun above the road surface in the sense of reducing the detected deviation.
  • the method can be designed so that the spray pressure P of the marking substance is detected by means of a pressure sensor 8 before it exits the spray nozzle and that the detected spray pressure P together with the height H of the spray gun above the road surface as a curve for the spray gun height H is constantly stored in a data memory 70 of the machine control 7 as a function of the injection pressure P.
  • the data obtained in this way can be used to check the positioning of the spray gun with the spray nozzle relative to the road surface using the video image evaluation and / or to ensure continued operation of the associated road marking machine in the event of failure of the video camera 5 or the image processing 7 ', which ensures particularly high operational reliability power.
  • FIG. 2 shows part of a road marking machine in operation, in a schematic view.
  • the parts of the road marking machine relevant to the present invention are shown here, namely its spray gun 1 with a spray nozzle 10 directed downwards in the direction of a road surface 4 and a spray gun adjusting device 6, by means of which the height H of the spray gun 1 above the road surface 4, that is, the distance between the spray nozzle 10 and the road surface 4, in accordance with control signals sent to the adjusting device 6 via a signal cable 61 from the not shown here, based on the Figure 1 explained machine control are supplied, is adjustable.
  • marking lines 3 with a line length L and a line width B are already applied to the road surface 4, spaced apart from one another, in order to form an interrupted marking, for example to separate two lanes.
  • the marking substance forming the marking lines 3 is supplied to the spray nozzle 1 through a supply line (not specifically shown here) from a storage container Supplied via a pump and exits under pressure from the spray nozzle 10 of the spray gun 1 in the form of a spray fan 2 with a spray angle 20, while the spray gun 1 moves forward together with the rest of the marking machine, here according to Figure 2 from right to left, moved.
  • a supply line (not specifically shown here) from a storage container Supplied via a pump and exits under pressure from the spray nozzle 10 of the spray gun 1 in the form of a spray fan 2 with a spray angle 20, while the spray gun 1 moves forward together with the rest of the marking machine, here according to Figure 2 from right to left, moved.
  • the marking machine also has a video camera 50, which is aligned here in such a way that its recording area 50 captures the spray gun 1 and the spray fan 2.
  • the marking process is constantly observed with the video camera 5 and recorded in the form of image data.
  • the image data are passed on via a signal cable 51 to an image evaluation in which the spray angle 20 is first calculated and the line width B of the respectively generated marking line 3 is calculated from this and the current height H of the spray gun 1 above the road surface 4.
  • the machine control system If the computer forming the machine control system detects a discrepancy between the currently recorded actual line width B i and a stored desired line width B s , the machine control system generates control signals which are sent via the signal cable 61 to the spray gun adjustment device 6.
  • This adjusting device 6 contains an electric or hydraulic or pneumatic drive which, according to the supplied control signals, adjusts the height of the spray gun 1 above the road surface 4 so that the previously determined deviations in the line width are reduced.
  • An orientation mark 15 with a pattern easily recognizable by the video camera 5 is affixed to the spray gun 1 in a fixed position, so that the image section to be evaluated can be more easily determined for the image evaluation program during image evaluation, which reduces the data processing effort and improves the evaluation accuracy.
  • the marking machine has a light source 53 directed at the spray fan 2 recorded as video and illuminating the spray fan 2 with a light of a narrow frequency spectrum, preferably with a light color or frequency that does not or only rarely occurs in the rest of the recorded video.
  • the light source 53 is built onto the video camera 5 here and is designed, for example, as a small electric headlight. This simplifies and improves the video evaluation.
  • FIG. 2 a distance sensor 52 on the video camera 5, with which the distance of all objects located in the recording area 50 from the video camera 5 can be measured and detected.
  • the distance data detected by the distance sensor 52 can be fed together with the image data via the signal cable 51 to the machine control and used to mathematically remove from the image data all image areas containing objects in front of or behind the level of the spray fan 2, which improves the accuracy of the Determination of the spray angle 20 improved.
  • a so-called "time-of-flight" video camera that is to say a video camera operating according to the time-of-flight method, can also be used as the video camera 5, in which the function of distance determination is integrated, whereby a separate distance sensor 52 is unnecessary.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Road Repair (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
EP17180988.2A 2017-07-12 2017-07-12 Verfahren zur konstanthaltung einer von einer strassenmarkiermaschine aufzubringenden markierungslinie und strassenmarkiermaschine Active EP3428342B1 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PL17180988T PL3428342T3 (pl) 2017-07-12 2017-07-12 Sposób utrzymywania stałej linii znakowania nakładanej przez maszynę do znakowania dróg i maszyna do znakowania dróg
EP17180988.2A EP3428342B1 (de) 2017-07-12 2017-07-12 Verfahren zur konstanthaltung einer von einer strassenmarkiermaschine aufzubringenden markierungslinie und strassenmarkiermaschine
DK17180988.2T DK3428342T3 (da) 2017-07-12 2017-07-12 Fremgangsmåde til at holde en markeringslinje, der skal påføres af en vejmarkeringsmaskine, konstant og vejmarkeringsmaskine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP17180988.2A EP3428342B1 (de) 2017-07-12 2017-07-12 Verfahren zur konstanthaltung einer von einer strassenmarkiermaschine aufzubringenden markierungslinie und strassenmarkiermaschine

Publications (2)

Publication Number Publication Date
EP3428342A1 EP3428342A1 (de) 2019-01-16
EP3428342B1 true EP3428342B1 (de) 2020-09-30

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EP17180988.2A Active EP3428342B1 (de) 2017-07-12 2017-07-12 Verfahren zur konstanthaltung einer von einer strassenmarkiermaschine aufzubringenden markierungslinie und strassenmarkiermaschine

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EP (1) EP3428342B1 (pl)
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PL (1) PL3428342T3 (pl)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20250340068A1 (en) * 2022-05-25 2025-11-06 10Lines Oü Autonomous Marking System and Method
CN115192748B (zh) * 2022-06-23 2023-06-13 上海莱陆科技有限公司 一种物体表面全覆盖消毒控制系统及方法
DE102022206912A1 (de) 2022-07-06 2024-01-11 Robert Bosch Gesellschaft mit beschränkter Haftung Vorrichtung und Verfahren zur Erzeugung eines für einen automatisierten Fahrbetrieb dienenden Bodenmusters auf einer Fahrbahnoberfläche
WO2025071618A1 (en) * 2023-09-28 2025-04-03 Hewlett-Packard Development Company, L.P. Surface printer and line quality

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DE19511893C1 (de) * 1995-04-02 1996-05-30 Hofmann Walter Maschf Verfahren zum Erneuern vorhandener Markierungslinien auf einer Fahrbahn und Vorrichtung zur Durchführung des Verfahrens
DE102008059557A1 (de) 2008-11-28 2010-06-02 Hofmann Gmbh Maschinenfabrik Und Vertrieb Verfahren zur Konstanthaltung der Markierungslinienbreite bei eine Markierungslinienfarbe auf eine zu markierende Oberfläche verspritzenden Markierungsmaschinen und Markierungsmaschine zur Durchführung des Verfahrens
DE102013003069A1 (de) 2013-02-22 2014-08-28 Grün GmbH Spezialmaschinenfabrik Verfahren zur Konstanthaltung der Breite einer Markierungslinie und Vorrichtung für die Erzeugung von Markierungslinien
US9644331B2 (en) * 2014-05-13 2017-05-09 Laserline Mfg., Inc. Paint-striping laser guidance system and related technology

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DK3428342T3 (da) 2020-12-21
EP3428342A1 (de) 2019-01-16
PL3428342T3 (pl) 2021-06-14

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