JP2015132152A - Road compartment line painting system and compartment line work data recording unit - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a road compartment line painting system and a compartment line work data recording unit capable of painting a compartment line with a precise painting width even when the pavement surface has irregularity or rolling while improving safety and efficiency in the painting work.SOLUTION: A painting system includes: a painting unit which is provided with a paint splay nozzle movable together with a painting vehicle to spray a coating material for forming a compartment line on the pavement surface of a road etc. and vertical movement drive means 20 that drives the splay nozzle to move in a vertical direction; plural distance measuring sensors 22, 24 and 26 for measuring the distance from the road surface to be painted with a compartment line; a speed sensor 28 for measuring movement speed of the painting unit; painting width detection means 32 for detecting a width dimension of compartment line immediately after painting; and a calculation complex 30 that calculates the amount and the timing of vertical movement of the splay nozzle by the vertical movement drive means 20 based on the data acquired by the distance measuring sensors 22, 24 and 26, the speed sensor 28 and the painting width detection means 32 to output a control signal to the vertical movement drive means 20.

Description

  The present invention relates to a marking line marked on a pavement surface such as a road or a sidewalk used by automobiles and bicycles, a marking line coating apparatus marked on a pavement surface such as a passage through which an automatic machine passes, and construction of the marking line The present invention relates to a data recording apparatus.

On the surface of a paved road through which automobiles pass, so-called road marking lines such as a marking line, a side line, a center line, and the like for distinguishing a traveling lane from a passing lane are painted. Such road lane markings are a guideline when driving a car or when a bicycle passes, and are indispensable for ensuring smooth road traffic. Usually, such a lane marking painting operation is performed by a painting vehicle loaded with a coating tank and a set of lane marking coating equipment.

In road lane marking, two types of coating agents, paint paint and glass beads (for retroreflective at night), which form the lane marking, fix the design coating amount uniformly on the road surface and keep the line width constant. Therefore, it is necessary to carefully perform the construction work while synchronizing the discharge amount from the spray nozzle that sprays the paint against the road surface with the construction speed.

In the construction work, the paint spray nozzle discharge pressure (pump pressure, glass bead pressure) and the traveling speed of the painting vehicle, etc., are applied in advance to the traffic volume at the construction site in order to paint accurate marking lines. It was set accordingly, and while the workers were working, the paint spray nozzle was manually moved up and down to adjust the distance from the road surface while visually checking the paint width. In other words, the variation in the paint width that occurs during the continuous painting of road marking lines is mainly due to road surface undulations and changes in the attitude of the vehicle, and the paint spray unit (substantially paint spray nozzle) Since the main reason is that the distance from the road surface fluctuates, visual inspection by workers has been indispensable.

For this reason, when painting the lane markings, the painting vehicle is run at a speed of around 8 km / h, and the worker moves with the vehicle while observing the painting site and confirms whether the predetermined painting width has been achieved. Is common. This work requires a high level of skill and must move with the traveling painting vehicle, so the worker's physical strength is severely exhausted, and he has taken frequent breaks.

In addition, it is known that the fluctuation of the paint width of the lane marking is affected by the change in the viscosity of the paint in addition to the distance between the paint spray nozzle and the road surface. That is, the paint sprayed from the paint spray nozzle has a fan-shaped pattern shape when viewed from the side, but when the viscosity of the paint changes, the angle of the fan-shaped pattern shape varies. Even if the spray pressure is made constant using the same nozzle and the distance between the spray nozzle and the road surface is made constant, the paint width varies depending on the viscosity of the paint. Specifically, when the viscosity of the paint increases due to a decrease in the outside temperature, the pattern angle of the sprayed paint becomes narrower, and as a result, the paint width becomes narrower. The reality is that there are various types of irregularities.

From the above, at the construction site, skilled work that can quickly cope with changes during painting while taking into account changes in paint viscosity and spray pressure in order to keep the road line marking width constant. The presence of employees is essential. However, the shortage of manpower in recent years is a serious problem, and the automation and labor saving of road marking line painting equipment is an urgent issue.

Conventionally, as a known invention related to a painting apparatus mounted on a painting vehicle such as a road marking line, there is a road marking method described in JP-A-2002-188117. The invention described in this document uses a water-based paint as a marking line coating material for the purpose of reducing environmental impact, and discharges the water-based paint from a slit nozzle, and also microwave irradiation for early drying and homogenization of the paint film Equipment. According to this, the content of VOC (volatile organic compound) can be reduced, and it is said that there are effects such as improvement of the coating film remaining rate and high maintenance of the adhesion of glass beads.

  In addition, since the above-mentioned road marking work uses a slit nozzle having a predetermined width, it is possible to set the distance from the road surface to a height of several centimeters by means of the slit nozzle. It is said that the width and thickness of the width can be kept uniform, and that stable lane marking can be constructed.

JP 2002-188117 A

  However, the invention described in Patent Document 1 described above is effective for a wide and highly flat paved surface such as an aircraft runway, but the uneven surface exceeding 10 cm is provided for a paved surface of a general road for automobiles. It is often difficult to keep the distance between the slit nozzle and the pavement surface constant due to the presence of undulations and the provision of a water gradient for drainage. For this reason, there was a problem that the width of the lane marking could not be kept constant, and it was not possible to cope with automobile roads with unevenness, undulation, and severe dredging. In addition, for example, in the case of a road surface with a large step, such as a joint part of a bridge, there is a high possibility that the slit nozzle and the microwave irradiation device will be damaged by contact with the road surface during construction.

The present invention has been made in view of such circumstances, and even when the pavement surface has irregularities, undulations, etc., it is possible to coat the lane markings with an accurate coating width, and to improve the efficiency of construction work. An object of the present invention is to provide a marking line coating apparatus that can perform such a process.
In addition, it can respond in real time to variations in the coating width caused by variations in the fan-shaped pattern due to changes in the viscosity of the paint sprayed from the paint spray nozzle, reducing the burden on workers during construction work and ensuring safety. It aims at providing the coating device which can aim at improvement of.
It is another object of the present invention to provide a lane marking construction data recording device capable of recording the lane marking coating result.

The invention described in claim 1 is movable with the vehicle for painting, and is provided with a spray nozzle for spraying a coating agent for forming a marking line on a pavement surface such as a road, and an elevating drive means for moving the spray nozzle up and down. A plurality of distance measuring sensors for measuring the distance between the painting unit and the road surface on which the lane marking is painted, a speed sensor for measuring the moving speed of the painting unit,
Based on the data obtained by the paint width detecting means for detecting the width dimension of the lane marking immediately after painting, the distance measuring sensor, the speed sensor, and the paint width detecting means, the vertical amount of the spray nozzle by the elevating drive means, and It is characterized in that it comprises a composite arithmetic means for calculating the vertical movement timing and outputting a control signal to the lift driving means.

A second aspect of the present invention is the camera according to the first aspect, wherein the paint width detecting means is a camera provided with an image sensor, and is based on data on the number of pixels in the width direction in a painted lane line obtained by the image sensor. Then, the line width of the lane marking immediately after painting is calculated.

According to a third aspect of the present invention, in the above first or second aspect, the distance measuring sensor that measures the distance between the spray nozzle and the surface to be painted is installed on the front side in the traveling direction of the painting vehicle. The first ranging sensor, the second ranging sensor installed on the rear side in the traveling direction of the painting vehicle, and the third ranging sensor installed in the vicinity of the spray nozzle. It is characterized by being.

  According to a fourth aspect of the present invention, in any one of the first to third aspects, a servo motor is used as the elevating drive unit, and the composite arithmetic unit is configured to perform the operation according to a drive signal output from the servo motor. It is characterized by detecting the vertical amount of the spray nozzle.

  The invention according to claim 5 compares the distance measurement data detected by the first distance measurement sensor and the second distance measurement sensor by the composite calculation means in any one of the items 3 and 4 above. When the difference is the same or within a predetermined range, it is determined that there is no change in the attitude of the painting vehicle, and the lifting drive means is controlled based on the detection data of the speed sensor. .

  The invention according to claim 6 is movable with the coating vehicle, and is provided with a spray nozzle for spraying a coating agent for forming a marking line on a pavement surface such as a road, and an elevating drive means for moving the spray nozzle up and down. A plurality of distance measuring sensors for measuring the distance between the painting unit to be painted and the road surface on which the lane marking is to be painted, a speed sensor for measuring the moving speed of the painting unit, and a coating for detecting the width dimension of the lane marking immediately after painting. Based on data acquired by the width detection means, the distance measuring sensor, the speed sensor, and the paint width detection means, the vertical movement amount of the spray nozzle and the vertical movement timing by the lift driving means and the vertical drive timing are calculated. On the other hand, composite calculation means for outputting a control signal, each of the data detected by the plurality of distance measuring sensors, speed sensors, paint width detection means, and the composite Is characterized by comprising storage means for storing data of the control signal calculated by the calculation means.

According to the present invention, the distance variation between the paint spray nozzle and the road surface caused by road surface unevenness and undulation is detected by the plurality of distance measuring sensors, and the distance between the paint spray nozzle and the paint surface is constant based on these data. To keep on.
Further, in addition to the data of the distance measuring sensor and the speed sensor, the line width is calculated by photographing the dividing line immediately after painting, and the data is fed back to the composite calculation means to control the height position of the paint injection nozzle. I have to.
As a result, it is possible to paint lane markings with high accuracy, and to automate and save labor, further reduce the cost of construction work and work in close proximity to general traffic. Even if it is not possible to improve, safety is improved and the work environment is improved.

1 is a side view showing a painting vehicle equipped with a painting apparatus according to an embodiment of the present invention. Similarly, it is detail drawing which shows the principal part of the coating device which concerns on one Embodiment of this invention. Similarly, it is explanatory drawing which shows circuit structures, such as a ranging sensor in the coating device which concerns on one Embodiment of this invention. Similarly, it is a block diagram which shows the structure of the control system in the coating device which concerns on one Embodiment of this invention. Similarly, it is the table | surface which showed the measurement result of the correspondence of the distance from the coating width imaging | photography camera to a road surface, and the number of pixels in the coating device which concerns on one Embodiment of this invention. FIG. 6 is a graph of the results in FIG. 5 with the horizontal axis representing distance and the vertical axis representing the number of pixels. It is explanatory drawing which shows the vertical motion of the trolley | bogie by the unevenness | corrugation of the road surface which causes the fluctuation | variation of the line width of a division line in the case of control of the coating unit in the coating device which concerns on one Embodiment of this invention. Similarly, it is explanatory drawing which shows the attitude | position change of the vehicle for coating used as the cause which brings about the fluctuation | variation of the line width of a division line in the case of control of the coating unit of the coating device which concerns on one Embodiment of this invention. Similarly, it is explanatory drawing which showed typically arrangement | positioning relationship, such as a ranging sensor, the coating width detection camera, a coating spray nozzle, etc. in the coating unit of the coating device which concerns on one Embodiment of this invention. It is explanatory drawing which showed typically the behavior of the vehicle for coating under construction. It is explanatory drawing which shows the attitude | position change at the time of the vehicle for painting under construction being put on the road surface with a gradient.

DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of a lane marking coating apparatus and a lane marking construction data recording apparatus according to the present invention will be described in detail with reference to the accompanying drawings.
(Configuration of painting equipment)
FIG. 1 is a side view showing a painting vehicle equipped with a painting apparatus according to an embodiment of the present invention, and FIG. 2 is a detailed view showing a main part of the painting apparatus according to an embodiment of the present invention.
As shown in FIG. 1, the painting vehicle 100 is provided with a front guide 102 foldable on the front side thereof, which indicates the position of the marking line to be painted, by means of an inscription, and is mounted on the chassis on the rear side of the driver's seat. It is equipped with paint equipment such as paint tanks, glass bead tanks, hydraulic pumps and compressors. In addition, a coating apparatus 10 according to an embodiment of the present invention is installed on the rear wheel side of the vehicle body side.

As shown in FIG. 2, the coating apparatus 10 as a coating unit includes a carriage (carriage) 12, spray nozzles 14A and 14B for paint paint or glass beads, elevating drive means 20, moving wheels 18 and the like. Configured.
The carriage (carriage) 12 is installed on the side surface of the painting vehicle 100 and can be housed on the side of the vehicle 100 during normal driving. The painting vehicle 100 is pulled out in the lateral direction during painting work. While traveling with it, it moves while painting the lane markings. The carriage (carriage) 12 includes a moving wheel 18, and spray nozzles 14 </ b> A and 14 </ b> B, a lifting drive means 20, and the like are installed on the frame of the carriage 12.

The spray nozzle 14A is connected to a paint tank and a compressor, and paint paint is sprayed onto the road surface from the lower end of the spray nozzle 14A by compressed air, and the spray nozzle 14B is connected to a glass bead tank and a compressor. Is sprayed from a slightly diagonal direction.
Above the spray nozzle 14A, an elevating drive means 20 for moving the spray nozzle 14A up and down is installed, and the spray nozzle 14A is driven based on a control signal of a composite calculation means described later. As the elevating / lowering drive means 20, a motor capable of controlling the rotation speed and feeding back the drive amount to the composite calculation means, such as a stepping motor or a servo motor, is used.

FIG. 3 is an explanatory diagram showing a circuit configuration of a distance measuring sensor or the like in the coating apparatus 10 according to the present invention, and FIG. 4 is a block diagram showing a configuration of a control system in the coating apparatus 10.
As shown in FIG. 3 and FIG. 4, in the control system of the coating apparatus 10 in the present embodiment, the elevating drive means 20 centering on the composite arithmetic means 30, a total of three distance measuring sensors (range measuring mechanisms—a plurality of distance measuring mechanisms) Ranging sensors 22, 24, 26, the speed sensor 28 of the painting vehicle 100, and the painting width detecting means 32 are connected and combined based on the ranging data, speed data, and painting width data acquired from these sensors and the like. The calculation means 30 controls the driving of the lifting / lowering driving means 20.

As shown in FIG. 2, each distance measuring sensor has a first distance measuring sensor 22 installed on the front side in the traveling direction and the rear side in the traveling direction when the coating apparatus 10 is used as a reference. A second distance measuring sensor 24 is installed. In addition, a third distance measuring sensor 26 is installed in the vicinity of the paint spraying nozzle 14A, and the third distance measuring sensor 26 measures the distance between the spray nozzle 14A and the pavement surface directly below by a pinpoint. ing. The distance data detected by each of the distance measuring sensors 22 to 26 is sequentially input to the composite arithmetic unit 30.
As the distance sensor, an optical type including an LED, a laser, and a light receiving unit, an ultrasonic type, or the like can be used.

As shown in FIG. 4, the composite calculation means 30 is input with the data of the paint width detection means 32 in addition to the distance measurement data and the speed data. The paint width detecting means 32 is constituted by a paint width photographing camera 32A, an image processing means 32B, and the like, and detects the width dimension of the lane marking immediately after painting. The painting width photographing camera 32A is a digital camera equipped with an image sensor such as a CCD or CMOS, and is installed on the rear side of the painting unit 10 as shown in FIG. The image is output to the composite arithmetic unit 30 via the image processing unit 32B.
In FIG. 4, the image processing unit 32 </ b> B is installed in an independent state with respect to the composite arithmetic unit 30. However, the present invention is not limited to this, and the composite arithmetic unit 30 may perform the processing. .

Image data photographed by the paint width photographing camera 32A is processed as follows. The relationship between the distance from the paint width photographing camera 32B to the road surface and the number of pixels of the element of the paint width photographing camera 32B was examined by conducting an experiment using one type of specimen (assuming a lane marking). FIG. 5 shows the measurement results of the correspondence between the distance from the camera 32B to the road surface and the number of pixels, and FIG. 6 is a graph of the results, with the horizontal axis representing the distance and the vertical axis representing the number of pixels. The painting width shooting camera 32B is installed at a position of, for example, 637 mm from the road surface, the camera is focused so that the shot image is clear and sharp with the height as a reference value, and the number of pixels is changed while changing the distance from the road surface. Was measured. Of course, the reference value 637 mm may be changed depending on conditions.

As a result, as shown in FIGS. 5 and 6, when the focus is constant, the reference value of 637 mm is within a certain range of + -40 mm (W−W ′), and the distance from the camera 32 </ b> B to the road surface. It was found that the distance and the number of pixels have a proportional relationship. That is, even if the vehicle 100 moves up and down within the range of +40 mm, which is the reference value of 637 mm, the line width of the lane marking immediately after painting can be obtained by the painting width photographing camera 32A as long as it is within the range. It became clear that it was possible to calculate based on the pixel count data. That is, by calculating the distance that one pixel (pixel) is responsible for, the painted width can be calculated by counting the number of pixels in the width direction of the painted partition line.

FIGS. 7 and 8 are explanatory views showing the vertical movement of the carriage 12 due to road surface irregularities and the change in the attitude of the painting vehicle 100 that cause the fluctuation of the line width of the lane marking when controlling the painting unit.
The change (Y) in the distance between the paint spray nozzle 14A and the road surface is constituted by the displacement (Ya) due to the road surface unevenness and the displacement (Yb) due to the posture change of the painting vehicle 100, and is expressed by the following equation (1). Is done.

Distance change (Y) = displacement due to road surface unevenness (Ya) + displacement due to posture change (Yb) to (1)

The displacement (Ya) due to the unevenness of the road surface is absorbed by the carriage 12 provided in the painting vehicle 100 shown in FIG. 7A and the case where the carriage 12 shown in FIG. are categorized. Further, the displacement (Yb) due to the posture change is classified into a change due to the rise shown in FIG. 8A and a change due to the drop shown in FIG. 8B.
Since the positions where the distance measuring sensors 22, 24, and 26 are installed are not necessarily equal to the position of the posture change of the vehicle 100, they are detected by the distance measuring sensors 22, 24, and 26 and the paint width detection camera 32A. It is necessary to improve the accuracy of the line width of the division line to be painted by combining each data and performing the drive control of the paint spray nozzle 14A with good timing. The arrangement positions of the distance measuring sensors 22, 24, and 26 and the control procedure thereof will be described below.

(Paint unit control-When using only a distance measuring sensor)
FIG. 9 is an explanatory view schematically showing the positional relationship among the distance measuring sensors 22, 24, 26, the paint width detection camera 32A, the paint spray nozzle 14A, etc. in the painting vehicle 100, and FIG. 10 is a painting vehicle 100 under construction. It is explanatory drawing which showed typically a behavior. As shown in FIGS. 9 and 10, assuming that the vertical displacement due to road surface unevenness is Ya and the elapsed time is t, the control of the lift drive means 20 by the composite computing means 30 is processed as follows.

First, the height of a certain step is measured by the first distance measuring sensor 22 (S 1) on the front side of the carriage 12 [t = 0], and this distance data is input to the composite calculation means 30. At this time, since the painting vehicle 100 has moved forward, when using the distance measurement data detected at [t = 0] as the vehicle moves forward, the elevating operation is performed until after [t = A] has elapsed. The elevating drive means 20 is controlled so as to delay the time. In other words, the elevating operation is performed with a delay until the paint spray nozzle 14A is located directly above the step detected at [t = 0] [t = A].

That is, as shown in FIG. 10, when [t = A] as the vehicle moves forward, the distance between the paint spray nozzle 14A position and the road surface is kept constant, that is, [t = 0]. The drive amount of the paint spray nozzle 14 </ b> A by the elevating drive means 20 is manipulated at the timing when the paint spray nozzle 14 </ b> A reaches the step X so that the detected displacement amount is reached.
The timing and the driving amount are as described above when data detected by the third distance measuring sensor 26 (S3) installed in the vicinity of the paint spray nozzle 14A is used (when the attitude of the vehicle has changed). 3 and when the speed data V4 of the speed sensor 28 shown in FIG. 4 is used (when there is no change in attitude of the vehicle).

(When it is judged that there is a change in the attitude of the vehicle)
When the third distance measuring sensor (S3) 26 is used, the following equation (2) is established when the driving amount of the elevating driving means 20 is Y (m).

Y (m) manipulated variable = Ya (S1 t = 0)-Ya (S3 t = A) to (2)
Ya (S1 t = 0): Displacement amount measured by distance sensor 22 (S1) at t = 0 Ya (S3 t = A): Displacement amount measured by distance sensor 26 (S3) at t = A

That is, at (t = A), the displacement measured by the third distance measuring sensor (S3) 26 (the amount that the carriage has absorbed the unevenness) Ya (S3 t = A) is used as the first distance measuring sensor 22. The value subtracted from the displacement Ya (S1 t = 0) measured in (S1) is the drive amount of the lifting drive means 20, and is expressed by the above equation (2).

Further, when the vehicle 100 moves forward, the step X is [t = B] and is measured as (Yb) by the second distance measuring sensor 24 (S2). The distance measurement data Yb (S2 t = B) measured by the distance sensor 24 (S2) is the same value as Ya (S1 t = 0), or the difference thereof is within a certain range that takes into account errors and the like.
Since this measures the same step, Ya in the above-described equation (1) is the same as the detected value Yb of the second distance measuring sensor 24 (S2), or the difference between them is within a certain range. , Yb does not change.
If the distance measurement data Yb (S2 t = B) detected at [t = B] is not the same value as Ya (S1 t = 0) or exceeds a predetermined range, the vehicle 100 Since it can be determined that there has been a change in posture, it is expressed by the following equation (3).

Y (S1 t = 0) = Ya (S1 t = 0) + Yb (S1 t = 0)
Y (S2 t = B) = Ya (S2 t = B) + Yb (S2 t = B)
Since the same unevenness is measured, Ya (S1 t = 0) = Ya (S2 t = B)
That is, Y (S1 t = 0) −Y (S2 t = B) = Yb (S1 t = 0) −Yb (S2 t = B) to (3)

(When it is judged that there is no change in the attitude of the vehicle)
When the distance measurement data detected by the first distance sensor 22 and the second distance sensor 24 are the same, or when the difference between them is within a certain range, it is determined that there is no change in posture of the vehicle 100. The composite calculation means 30 performs control using the speed data V4 of the speed sensor 28.
As shown in FIG. 3, the distance measurement signal V1 of the first distance measuring sensor 22 input to the composite calculation means 30 is compared with the reference signal V, and the ascending command signal V5 or the descending command signal so as to be the same signal. V6 is output to the raising / lowering drive means 20, and the paint spray nozzle 14A is raised or lowered.

In order to determine the timing, the distance h between the measuring point g2 of the first distance measuring sensor 22 and the coating point g3 of the paint spray nozzle 14A, the speed data V4 obtained by the speed sensor 28, and the first The distance measurement signal V1 (height data) acquired by the distance sensor 22 is subjected to composite processing, and the elevation speed by the elevation drive means 20 is controlled synchronously, whereby the paint spray nozzle 14A and the object surface road surface i are The distance c can be kept constant.
In other words, the composite calculation means 30 obtains a delay time for driving the descending drive means 20 by dividing the distance h by the speed V4, and is the distance measurement data obtained by the first distance measurement sensor 22. The paint spray nozzle 14A is driven by the vertical amount.

(When using the paint width detection means 32)
In the present embodiment, in addition to the control using the distance sensor and the speed sensor described above, the control using the line width data of the road marking line e immediately after painting obtained by the paint width photographing camera 32A is simultaneously performed. As shown in FIG. 3, the road marking line e immediately after painting is photographed by the painting width photographing camera 32A, and the photographed data is output to the composite computing means 30 as the result signal V3 of the painting width f through the image processing means 32B. .
The composite arithmetic means 30 compares the result signal V3 with the reference value V, thereby comparing and adjusting the amount of change (deviation) between the line width of the partition line e immediately after painting and the reference set line width. The amount is output to the ascending / descending drive means 20 as an ascending command signal V5 or a descending command signal V6. As described above, the result signal V3 is calculated based on the pixel number data obtained by the paint width photographing camera 32A.

The coating width f of the road marking line e immediately after painting is measured when the viscosity of the paint changes, the angle θ of the fan-shaped pattern shape of the paint ejected from the paint spray nozzle 14A changes, and as a result, the paint width This is because it fluctuates. Therefore, by calculating the coating width f immediately after painting, the fluctuation is quickly caught and fed back to the composite calculation means 30 and used for controlling the lifting and lowering driving means 20 to suppress the fluctuation of the painting width. In other words, in the present embodiment, the cause of the variation in the paint width is considered as a variation factor in addition to the vertical movement of the carriage 12 due to a road step or the like, the change in the posture of the vehicle 100, and the change in the viscosity of the vehicle. Has been given.

  In the present embodiment, the control is performed based on the photographed coating width, but the present invention is not limited to this, and the fan pattern of the paint ejected from the paint spray nozzle 14A is sequentially photographed to determine the angle of the fan pattern. The variation of θ may be captured from the image data, and the elevation drive unit 20 may be driven based on the result, and the elevation drive unit 20 may be controlled so as to obtain an optimum line width. This also makes it possible to control the paint concentration, viscosity change, outside air temperature change, and the like.

Next, the influence caused by the posture change of the painting vehicle 100 will be described.
The change due to the rise shown in FIG. 8 (a) and the change due to the drop shown in FIG. 8 (b) mainly occur at a portion where the road gradient changes, etc., but after the front wheels approach the change point. Until the wheel passes, the posture of the vehicle changes. In other words, as long as the front wheels and the rear wheels are stable on the same line, it is not necessary to regard it as a posture change on both the uphill and the downhill. The change in the attitude of the vehicle occurs when the flat road surface changes to a sloped road surface until the slope of the vehicle and the inclination of the vehicle coincide with each other. That is, a change in the attitude of the vehicle occurs when the vehicle and the road surface are not parallel.

FIG. 11 is an explanatory view showing a change in posture when the painting vehicle 100 moving forward on a flat road surface Y is put on a road surface Z having a gradient. As shown in FIG. 11, the change in the posture of the vehicle changes from the ground contact point of the rear wheel to a fulcrum, and the vehicle that has advanced on the road surface Y at t = 0 is t = B, and the front wheel of the vehicle is For example, when the vehicle changes its posture when it reaches a certain road surface Z, for example, when it passes through an attachment portion such as an underpass or overpass, or when it crosses over a road surface.
That is, Yb (S1 t = 0) is a value obtained by measuring the road surface Y by the first distance measuring sensor 22 (S1) ahead at t = 0, and the second distance measuring sensor 24 (S2) is measured at t = B. Assuming that the measured value of the road surface Z is Yb (S2 t = B), the posture change value ΔYb (S2 t = B) at the S2 position is expressed by equation (4).

ΔYb (S2 t = B) = Yb (S2 t = B) −Yb (S1 t = 0) to (4)

Here, if ΔYb is zero, it can be determined that there is no change in posture, but if it is +, it can be determined that there is a change in the upward gradient, and if it is negative, it can be determined that there is a change in the downward gradient. The process proceeds to the process when there is a change in posture, not unevenness.

(When it is judged that the vehicle has a posture change)
If it is determined that there is a change in the attitude of the vehicle, the attitude of the vehicle 100 changes with the ground contact point of the rear wheel as a fulcrum, and therefore the entire vehicle 100 is arranged on the same line when the fulcrum is regarded as the origin. 11 changes according to a linear function.
Therefore, the displacement ΔYb (S1 t = B) corresponding to the posture change of the first distance measuring sensor 22 (S1) ahead at t = B can be calculated by the following equation (5).

ΔYb (S1 t = B) = (ΔYb (S2 t = B) / L1) × L3 to (5)

Here, the distance change (Y) of the first ranging sensor 22 (S1) at a certain time point t = z is expressed by the above-described expression (1), and therefore, the following expression (6) is obtained.

Distance change (Y) = Ya (S1 t = z) + Yb (S1 t = z) to (6)

Displacement due to road surface irregularities (steps): Ya (S1t = z)
Displacement due to posture change: Yb (S1t = z)

Since Yb (S1 t = z) in equation (6) is calculated by equation (5), displacement Ya (S1 t = z) due to road surface unevenness at t = z is as follows.

Ya (S1 t = z = Y (S1 t = z) −Yb (S1 t = z)
That is, Ya (S1 t = z = Y (S1 t = z) −ΔYb (S2 t = Z) / L1 × L3˜ (7)

The displacement of the unevenness is delayed by the timing [t = A] at which the elevating drive means 20 arrives and processed by the composite arithmetic means 30. The elevating drive means (driving module) taking into account the amount of posture change at that time. In order to operate 20, it is necessary to calculate the amount of posture change at point M at time [t = A], which is expressed by the following equation (8).

ΔYb (M t = A) = (ΔYb (S2 t = A) / L1) × L2 to (8)

These values are also used as elements when calculating the drive amount of the lifting drive means 20 by the composite calculation means 30.

(Use as construction data recording device)
In the coating apparatus described above, data is acquired by the distance measuring sensors 22, 24, 26, the speed sensor 28, and the coating width detecting means 32 during the construction work when controlling the paint spray nozzle 14 </ b> A. The data can be used as a construction data recording device by storing the construction results in a storage medium such as a flash memory, SSD, or hard disk connected to the composite computing means 30 at the same time. .
The accumulated data can be used as auxiliary or premise data for the next construction work, and can be used in various ways, such as presenting it to the supplier as an indication of the quality of lane markings. .
In particular, in recent years, research on automated driving using lane markings has progressed, and lane markings are considered to play an important role, so it is possible to accumulate construction data together with location information using GPS, etc. For example, it can be used as a document for infrastructure development and has a wide range of applications.

As described above, according to the lane marking coating apparatus according to the present invention, the variation in the coating width can be exemplified by the variation in the distance between the spray nozzle 14A and the surface to be coated during construction. In this coating apparatus 10, in order to control the height position of the paint spray nozzle 14A in consideration of the posture change of the coating vehicle 100 in addition to the unevenness (step) of the road surface, a section such as a road to be painted on the road surface It becomes possible to improve the accuracy of the coating width of the line.
Further, for the change in the viscosity of the paint, the line width of the lane marking immediately after painting is detected, and the driving amount of the paint spray nozzle 14A is controlled based on the detected value. Regardless of the construction period, it became possible to paint lane markings accurately with a certain line width.
Furthermore, by recording the data acquired by the distance measuring sensors 22, 24, 26, the speed sensor 28, and the paint width detecting means 32 during the construction work, it becomes possible to objectively grasp the construction result and construction status. By utilizing these data, it can be used to improve the painting quality of lane markings.

According to the present invention, the distance between the coating apparatus and the road surface caused by road surface unevenness and undulation, and the posture change of the coating vehicle are detected by a plurality of distance measuring sensors and speed sensors, and based on these data, the paint Since the interval between the spray nozzle and the painting surface is kept constant, it is possible to improve the accuracy of the painting width of the marking lines such as roads.
Further, the height position of the paint spray nozzle is controlled by photographing the division line immediately after painting, calculating the line width, and feeding back the data to the composite calculation means. As a result, it becomes possible to cope with changes in the viscosity of the paint due to changes in the concentration of the paint and changes in the outside air temperature, and the lane marking can be applied with high accuracy.

10 Coating equipment (painting unit)
12 Carriage
14A Paint spray nozzle 14B Glass bead spray nozzle 18 Moving wheel 20 Lifting drive means 22 First distance sensor (S1)
24 Second ranging sensor (S2)
26 Third distance measuring sensor (S3)
28 Speed sensor 30 Composite calculation means 32 Paint width detection means 32A Paint width photographing camera 32B Image processing means 100 Painting vehicle 102 Front guide

Claims (6)

A spray unit that is movable with a coating vehicle and sprays an application agent that forms a marking line on a pavement surface such as a road; and a painting unit in which an elevating drive means for moving the spray nozzle up and down is installed;
A plurality of distance measuring sensors for measuring the distance from the road surface on which the lane marking is painted;
A speed sensor for measuring the moving speed of the coating unit;
Painting width detection means for detecting the width dimension of the lane marking immediately after painting;
Based on the data acquired by the distance measuring sensor, the speed sensor, and the paint width detecting unit, the vertical amount of the spray nozzle and the vertical movement timing by the vertical driving unit are calculated and a control signal is sent to the vertical driving unit. A lane marking coating apparatus on a road or the like, comprising: a composite calculation means for outputting The paint width detecting means is a camera provided with an image sensor, and calculates the line width of the lane marking immediately after painting based on the data of the number of pixels in the width direction of the painted lane line obtained by the image sensor. The lane marking coating apparatus for roads or the like according to claim 1. The distance measuring sensor for measuring the distance between the spray nozzle and the surface to be coated includes a first distance measuring sensor installed in front of the traveling direction of the painting vehicle, and a traveling direction of the painting vehicle. The road according to claim 1 or 2, comprising a second distance measuring sensor installed on the rear side and a third distance measuring sensor installed in the vicinity of the spray nozzle. Lane marking coating equipment. A servomotor is used as the raising / lowering drive means, and the composite calculation means detects the vertical amount of the spray nozzle based on a drive signal output from the servomotor. A marking device for a lane marking on a road or the like according to claim 1. The composite calculation means compares the distance measurement data detected by the first distance sensor and the second distance sensor, and when the difference is the same or within a predetermined range, the attitude change of the painting vehicle 5. The lane marking coating apparatus for roads or the like according to claim 3, wherein the elevating drive unit is controlled based on detection data of the speed sensor. A spray unit that is movable with a coating vehicle and sprays an application agent that forms a marking line on a pavement surface such as a road; and a painting unit in which an elevating drive means for moving the spray nozzle up and down is installed;
A plurality of distance measuring sensors for measuring the distance from the road surface on which the lane marking is painted;
A speed sensor for measuring the moving speed of the coating unit;
Painting width detection means for detecting the width dimension of the lane marking immediately after painting;
Based on the data acquired by the distance measuring sensor, the speed sensor, and the paint width detecting unit, the vertical amount of the spray nozzle and the vertical movement timing by the vertical driving unit are calculated and a control signal is sent to the vertical driving unit. Combined arithmetic means for outputting
A road or the like comprising a plurality of distance measuring sensors, speed sensors, each data detected by the paint width detecting means, and storage means for storing data of control signals calculated by the composite arithmetic means Lane marking construction data recording device.

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