JP3352518B2 - Road Traffic Sign Marking Position Detection System, Automatic Marking System, and Responders and Detectors Used Therefor - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system for detecting a marking position of a traffic sign (road traffic sign) to be marked on a road surface and an automatic marking system for automatically marking a road traffic sign on a road surface by using the marking position detection system. Regarding the marking system.

[0002]

2. Description of the Related Art Road traffic signs include simple lines such as a lane center line (center line) which separates a vertical line, a vehicle lane boundary line separating a vehicle lane, and a vehicle stop line at an intersection. Some may be marked, and others may be marked in their respective patterns, such as a speed limit sign, a traveling direction sign, a no-turn sign, and a regulation time sign.

[0003] These road traffic signs are determined by measuring the road surface to determine the marking position. For linear traffic signs, a road traffic sign paint (hereinafter referred to as paint) is applied in a linear manner by a drawing machine. The pattern-shaped objects are marked on the road surface by applying the paint with the drawing machine along an auxiliary tool for forming a predetermined pattern.

[0004] A road traffic sign is constantly worn by the tires of a running car, and if the wear makes it difficult to identify the road traffic sign, it must be re-marked at the same place. Especially in a snowy area, since the road traffic sign is removed by the snow removing work, the work of re-marking the road traffic sign is frequently repeated.

[0005] When re-marking this road traffic sign,
The mark position is measured again on the road surface, and the paint is applied by the drawing machine. In particular, if the surface of the rutted road is scraped off or the road is damaged and the pavement is re-paved, all the old marks disappear, and the measurement of the mark on the road again is an essential operation.

[0006]

In the above-described conventional method for marking a road traffic sign, especially when the sign disappears and the mark is re-marked at the same place, it is necessary to measure the mark position again, which increases the working time. Therefore, not only the construction cost of re-marking work becomes higher and the maintenance cost of roads becomes higher, but also the time required for traffic regulation (for example, one-sided traffic regulation) required during the work becomes longer, causing longer traffic jams. Also.

[0007] Also, since the work itself of marking road traffic signs has conventionally been performed by running a wire drawing coater by human operation, the work time is long, and the coating of the paint is uniformly performed at a predetermined thickness. To do so requires considerable skill.

The present invention proposes to solve the above-mentioned conventional problems. In particular, in the work of re-marking the road traffic sign, the re-measurement work of the mark position is unnecessary, so that the position of the road traffic sign marking position is unnecessary. A first object is to obtain a detection system, and a second object is to obtain an automatic marking system for automatically marking road traffic signs using the detection system.

[0009]

In order to solve the first problem, the present invention is directed to a directional traffic marked on a road surface.
A system that detects the sign position and sign direction of the sign
At least two reference points at the above mark
At least two high frequencies, each buried and different in frequency
When an excitation signal is applied, one of them
In response to one of the high-frequency excitation signals,
Return a high-frequency resonance signal with the same frequency as the vibration signal
At least two types of responders, transmission operation and reception operation
Are repeated alternately at regular intervals, and the above response
At least two qualities due to the high frequency excitation signal
An interrogation signal is transmitted, and at least two
The answer signal based on the high-frequency resonance signal from the answer
Receive at least two types by receiving each answer type
And a detection device that detects the location where
Road traffic sign marking position detection system.

[0010] The responder for detecting the mark position of the road traffic sign is a resonance vibrator that uses the frequency of the interrogation signal transmitted from the detection device as a resonance frequency, and is connected to the resonance vibrator and receives the interrogation signal. And an antenna for receiving and applying the same to the resonance vibrator, and emitting a resonance signal generated by the resonance vibration of the resonance vibrator as a response signal, wherein a piezoelectric vibration element is used as the resonance vibrator. . As the piezoelectric vibrating element, a quartz vibrator is optimal.

[0011]

In addition, at least two types of responders having different resonance frequencies are used to detect at least two types of responders having at least two different reference frequencies for detecting the marking position of a road traffic sign which has directionality because it is marked in a pattern. Embedded in each of the points, the oscillating means of the detection device is configured to oscillate at least two kinds of high-frequency excitation signals having different frequencies, and at least two kinds of interrogating signals having different frequencies are sent from the interrogating signal sending means. The answer signal receiving means receives, as answer signals, the high-frequency resonance signals returned by the at least two kinds of responding bodies respectively in response to any of the at least two kinds of question signals, as answer signals, and The reception level is output for each frequency, and the reception level analysis means performs the reception level analysis processing for each of the answer signals. At least those which is adapted to detect identify the title position and title direction of the road traffic sign by detecting the embedded location of the two responders on the Type.

[0013] Further, as a configuration of a reception level analyzing means for detecting the mark position of the road traffic sign with higher accuracy, an interrogation signal is transmitted from two antennas to a responder buried under the road surface, Is received via the two antennas, and the reception level is obtained for each of the two antennas. The level difference obtained by calculating the difference between the two reception levels is as small as possible. A zero point is detected, and an intermediate point between the two antennas at the point is set as a buried portion of the responder, that is, a reference position reference point of a road traffic sign.

The present invention also provides a traffic sign marked on a road surface.
In order to detect the position of the mark,
It is buried and responds when a high-frequency excitation signal is applied
High-frequency resonance signal having the same frequency as the high-frequency excitation signal
Response cycle for sending and receiving operation
Alternately, and move upward toward the responder during the transmission operation.
Transmits an interrogation signal using a high-frequency excitation signal and performs reception.
A response signal from the responder based on the high-frequency resonance signal
To detect the location where the responder is buried.
Traffic sign marking device equipped with a detection device
The responder is the frequency of the interrogation signal transmitted from the detection device.
A resonance vibrating body that resonates and vibrates with the number as a resonance frequency;
Question sent from the above detection device connected to the vibration oscillator
Receiving a signal and applying the signal to the resonance vibrator;
Response signal is the resonance signal generated by the resonance vibration of the vibrating body
And a response side antenna that emits a, the detection instrumentation
The device is a detection device antenna and a high-frequency excitation signal transmitter.
And an interrogation signal for the high-frequency excitation signal oscillated by the oscillation means.
To the responder via the detection device side antenna
Signal transmission means for wirelessly transmitting the
Using the returned high frequency resonance signal as a response means
Wirelessly via the antenna on the
Answer signal receiving means to be output, and the detection device side antenna
Between the question signal sending means and the answer signal receiving means.
Switching means for switching connection to each other;
Level to analyze the reception level of the answer signal output from the
And a receiving level analyzing means.
Traffic sign that detects the location where the responder is buried
A traffic sign marking device,
Are output from the self-propelled means, the steering means, and the detection device.
The self-propelled direction is raised by the signal
The steering means is controlled in the direction along the location where the
Steering control means to release paint during self-propelled
It has a marking means for marking a traffic sign. Further, in the case where the road traffic sign is marked in a pattern, the pattern information of the road traffic sign is stored in advance, and the road traffic sign is marked by at least two types of responders buried under the road. A position and a marking direction are detected and identified, and the steering means and / or the marking means are controlled based on the pattern information so that the road traffic sign is marked at a predetermined position in a predetermined pattern.

[0015]

According to the present invention, when a responder effectively receives a query signal from a detection device, a resonance oscillator of the responder vibrates at the resonance frequency. When there are a plurality of types of responders (types due to the difference in resonance frequency), the interrogation signal is transmitted at a plurality of frequencies corresponding to the type of the responder, and the resonance frequency is the same as the frequency of the interrogation signal. The body resonates and vibrates. This resonance vibration continues while attenuating for a while after the interrogation signal is stopped (that is, vibration energy is accumulated in the resonance vibrator during reception of the interrogation signal, and the accumulated energy is attenuated after the operation of accumulating vibration energy is stopped). It is gradually released as vibration.),
The sustained damped vibration becomes a resonance signal and is emitted from the responder.

The resonance signal emitted from the responder as described above is received by the detection device as an answer signal, and the reception level signal is output from the detection device. By analyzing this reception level signal and detecting the point where the reception level is the maximum, the location immediately below the location is the location where the responder is buried, that is, the marking position of the road traffic sign.

Further, two antennas are provided in the detection device,
The interrogation signal and the answer signal are exchanged between the two antennas and the responder, the reception levels of the two antennas are obtained, and the difference between the two reception levels is calculated. Since the change is greater than the change in the single reception level, the location where the responder is buried is easily detected, and the detection accuracy is improved. In this case, the place where the responder is buried is equidistant from the antenna.

Automatic system for marking road traffic signs: The traffic sign marking device runs on its own, with the steering means controlled by a response object detection signal from a detection device mounted on the traffic sign marking device. During this self-propelled running, paint is discharged from marking means (nozzles) provided with the position of the antenna of the detection device as a reference position to mark a traffic sign on the road surface.

In the case of a traffic sign marked in a pattern, the mark position and the mark direction of the road traffic sign are detected by two types of responder detection signals from the detection device, and the antenna used when the detection signal is detected. With the position of as the reference position,
According to a predetermined pattern (a pattern based on pattern information stored in the detection device in advance), the steering means and / or the marking means are controlled to mark a traffic sign pattern on a road surface.

[0020]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view for explaining an embodiment of the present invention. FIG. 1 is a view for explaining an example of a road traffic sign and a place where a responder (hereinafter referred to as a marker) is buried. FIG. 4B is a diagram illustrating a road traffic sign, FIG. 4B is a diagram illustrating an example of a sign displayed in a plane, and FIG. 4C is a diagram illustrating a cross section of a marker embedding location. 2 and 3 are circuit diagrams of markers, FIGS. 4 and 5 are block diagrams of a detection device, FIG. 6 is a block diagram of a traffic sign marking device (hereinafter, referred to as a marking device), and FIG.
(A), FIGS. 8 and 9 are time charts showing the operation of the detection device, and FIGS. 7 (B) and 7 (C) are diagrams for explaining the operation of detecting the marker embedding position in the operation shown in FIG. 7 (A). It is a characteristic diagram.

As shown in FIG. 1 (A), the road surface 4 has a road traffic sign marked by a simple line and a road traffic sign marked by a predetermined pattern. Roadway center line (hereinafter referred to as center line) 40
1. Vehicle lane boundary line 402, vehicle lane outer line 40
3, a vehicle stop line 404, and the like, and examples of the latter include a speed limit sign 405 and traveling direction signs 406 and 40.
7, 408, a turn prohibition sign 409, and the like.

As shown in FIG. 1C, a marker 2 is buried on the road surface 4 below the road surface at a location indicated by a circle in FIG. 1A. The place where the marker 2 is embedded serves as a reference point for marking the road traffic sign 41. The place where the marker 2 is embedded may be, for example, immediately below the marking surface as in the center line 401, or in the vicinity of the marking surface as in the turn prohibition sign 409, for example.

FIG. 4 shows the marker 2 under the road surface described above.
Alternatively, the detection position of the road traffic sign 41 is detected by the detection device 1 shown in FIG. 5, or the road traffic sign 41 is automatically marked by the marking device 3 shown in FIG.

The structure of the marker 2 will be described with reference to FIGS.

As shown in FIG. 2, the first embodiment of the marker 2 comprises a crystal unit 201, an antenna 202 and a capacitor 203 connected in parallel.

The crystal resonator 201 is used as a resonance vibrator. The frequency of an interrogation signal sent from the detection device 1 is used as the resonance frequency. When the interrogation signal is applied, the crystal oscillator 201 is excited to accumulate vibration energy. When the application of the interrogation signal is cut off, the excitation stops, but the vibration at the resonance frequency continues for a while due to the accumulated vibration energy, and the resonance signal is emitted while attenuating. As a resonance vibrator,
In general, a piezoelectric vibrating element (a ceramic vibrator other than a quartz vibrator) can be used. Among them, the quartz vibrator is most suitable depending on conditions such as vibration energy storage efficiency and resonance frequency.

The antenna 202 is constituted by a loop antenna having at most 10 turns or less, receives an interrogation signal from the detection device 1 and applies the interrogation signal to the crystal oscillator 201, and a resonance signal of the crystal oscillator 201. (Answer signal).

The capacitor 203 is for adjusting the resonance of the crystal unit 201 and is provided as needed.

The above-mentioned marker 2 is usually buried under the road surface in such a manner that the plane formed by the loop of the antenna 202 is parallel to the road surface.

As shown in FIG. 3, the marker 2 of the second embodiment differs from the marker 2 of the first embodiment in that the antenna 202 is replaced by a loop type antenna and a dipole type antenna. There is a feature that directivity characteristics appear in the direction of the line of the antenna 202. Also, since there is no short-circuit path due to the antenna 202 and the capacitor 203 (the capacitor 203 is not used in the second embodiment) as in the first embodiment, the Q (queue) of the marker 2 is It is almost equal to and extremely high. Therefore, the efficiency of accumulating vibration energy is extremely high, and the residual vibration time (emission time of the answer signal) after stopping the excitation is longer than in the first embodiment. However, the reach distance of the answer signal is shorter than in the first embodiment.

Further, the above marker 2 is
It is buried under the road surface in a posture in which the direction of the line 2 corresponds to the direction of the road traffic sign.

The marker 2 described above has a case in which the above three or two elements are used as a case (in the first embodiment, a flat cylindrical case,
In the second embodiment, it is housed in a long rectangular case). The operating energy of the marker 2 is a high-frequency excitation signal from the detection device 1, and therefore, the marker 2 itself does not require a power source such as a battery.

Next, the configuration of the detection device 1 will be described.

FIG. 4 shows a reference example of the detection device 1.
In the reference example , the connection shown by the dotted line is omitted, and the marker 2
Is an example in which there is only one type, and the center line 401, the vehicle lane boundary line 402, the vehicle lane outer line 403, the vehicle stop line 404, and the like are linearly marked,
It is used for detecting the marked position of a road traffic sign having no direction (hereinafter referred to as a sign).

Reference numeral 101 denotes an oscillating unit which constitutes an oscillating means of a high-frequency excitation signal for exciting the marker 2 and oscillates a single- frequency high-frequency excitation signal. The oscillation frequency is set to be the same (as close as possible) to the resonance frequency of the marker 2 (crystal oscillator 201).

Reference numeral 102 denotes a transmission unit, which constitutes an interrogation signal transmitting unit for amplifying the high frequency excitation signal input from the oscillation unit 101 and outputting the amplified high frequency excitation signal as an interrogation signal.

Reference numeral 103 denotes a receiving unit which constitutes answer signal receiving means for receiving a high-frequency resonance signal returned from the marker 2 as an answer signal, and outputs a level signal proportional to the reception level of the answer signal.

Reference numeral 104 denotes an antenna for both transmission and reception, which transmits an interrogation signal from the transmission unit 102 to the marker 2 and receives the answer signal from the marker 2. When the marker 2 is of the first embodiment (having a loop antenna), the antenna 104 is also preferably of a loop type, and the marker 2 is of the second embodiment (having a dipole antenna). In this case, the antenna 104 is also preferably a dipole type.

Reference numeral 105 denotes a transmission / reception switching unit, which constitutes switching means for alternately switching and connecting the antenna 104 to the transmission unit 102 and the reception unit 103 at a constant period.

Reference numeral 106 denotes a level detector for detecting the reception level of the answer signal received by the receiver 103.

Reference numeral 107 denotes a buried point detection unit, and the level detection unit 1
Analysis of the reception level of the response signal from the
The reception level analyzing means for specifying the buried part is constructed.

Reference numeral 108 denotes a display control unit, and the embedded point detection unit 10
7 is activated by the buried portion detection signal from the controller 7 and outputs a display signal. The display signal includes an audible signal and a visible signal, and both are usually used in combination.

Reference numeral 109 denotes a display unit which displays a location where the marker 2 is buried by a display signal from the display control unit 108.

Reference numeral 110 denotes a switching control unit, and the transmission / reception switching unit 1
At 05, a transmission / reception switching signal of the antenna 104 is transmitted at a constant period.

FIG . 4 shows a first embodiment of the detection device 1, which is constructed by adding a connection indicated by a dotted line, and in which the marker 2 has two types (generally, a plurality of types). Yes, the speed limit sign 405, the traveling direction sign 406,
407, 408, turn prohibition sign 409, and the like are marked in a pattern and used for detecting the marked position of a directional sign.

The present embodiment differs from the reference example in that the oscillating unit 101 oscillates two types of signals having different frequencies and that the switching control unit 110 outputs three types of signals. That is, the switching control unit 1
10, in addition to the transmission / reception switching signal in the reference example, a frequency switching signal for switching the oscillation frequency with respect to the oscillating unit 101 is transmitted to the display control unit 108 of the answer signal from the two types of markers 2. Receive the marker 2
A display switching signal for displaying each type is transmitted.

FIG . 5 shows a second embodiment of the detection device 1, which is constructed by omitting the connection shown by a dotted line. As in the above-mentioned reference example , there is only one kind of marker 2 and the marking of a linearly marked marker. Used for position detection.

The second embodiment differs from the first embodiment in the following points.
Become.

The antennas are composed of two antennas (a first antenna 111 and a second antenna 1) provided at a predetermined interval.
12), and an antenna switching unit 113 for alternately switching and connecting the first antenna 111 and the second antenna 112 to the transmission / reception switching unit 105 at a constant cycle is provided.

The level detecting section is provided with the first antenna 111
And two detection units (a first level detection unit 114 and a second level detection unit) that detect the reception level of the answer signal received by the second antenna 112 separately for the first antenna 111 and the second antenna 112.
Level detector 115), and outputs the reception output (answer signal) of the receiver 103 to the first level detector 114 and the second
A reception output switching unit 116 for distributing and transmitting the signal to the level detection unit 115;
A level difference calculator 117 for calculating a difference between the reception levels detected by the level detector 115, and the level difference calculator 117
Has a zero level detection unit 118 which detects that the calculation result of has become zero as much as possible. The level difference calculation unit 117 and the zero level detection unit 118 constitute a reception level analysis unit, and correspond to the buried point detection unit 107 of the reference example .

Further, the switching control unit 110 includes an antenna switching signal transmitted to the antenna switching unit 113 and a reception output switching signal transmitted to the reception output switching unit 116 in addition to the transmission / reception switching signal in the reference example. Is output.

The third embodiment of the detection device 1 is constructed by adding a connection shown by a dotted line in FIG. 5, and, similarly to the first embodiment, has two types of markers 2 and is marked in a pattern. It is used for detecting the mark position.

The difference between the third embodiment and the second embodiment is the same as the difference between the first embodiment and the reference example . That is, the oscillating unit 101 oscillates two signals having different frequencies, and the switching control unit 110 oscillates the frequency switching signal and the display switching signal in addition to the transmission / reception switching signal, the antenna switching signal, and the reception output switching signal. 101
And to the display control unit 108.

Next, the configuration of the marking device 3 will be described.

Reference numeral 301 denotes a traveling drive unit which includes wheels, an engine,
Including the accelerator, brake, etc., it constitutes self-propelled means.

Reference numeral 302 denotes a travel control unit which is a travel drive unit 301.
The control signal is sent to the accelerator, brake and the like of the vehicle to control the travel of the marking device 3.

Reference numeral 303 denotes a traveling distance measuring unit, which is a traveling driving unit 3
The traveling distance of the marking device 3 is measured based on the number of rotations of the wheel No. 01.

Reference numeral 304 denotes a mark position detection unit which detects the position of the marker 2 buried on the road surface and detects the mark position of the sign. The mark position detection unit 304 is the detection device 1 itself.

Reference numeral 305 denotes a pattern storage unit, which constitutes a pattern storage means for storing pattern data of the marker when the marker to be marked is a pattern.

Reference numeral 306 denotes a steering unit which constitutes steering means for controlling the traveling direction of the marking device 3.

Reference numeral 307 denotes a steering control unit, and the mark position detection unit 3
04 along the buried portion of the marker 2 detected at 04 or based on the buried portion of the marker 2 as a reference.
05 based on the pattern data stored in the
6 constitutes a steering control means.

Reference numeral 308 denotes a paint supply unit which supplies paint for marking a mark.

Reference numeral 309 denotes a marking portion which includes a nozzle for discharging paint and constitutes marking means for marking a sign on a road surface.

Reference numeral 310 denotes a paint supply control unit, and the paint supply unit 3
From 08, the supply amount of the paint to the marking unit 309 is controlled to the optimum amount.

Reference numeral 311 denotes a marking movement control unit, which is a marking unit 309.
When the mark is movable, the moving amount and the moving speed of the marking section 309 are controlled.

Reference numeral 312 denotes a marking width control unit which controls the marking width of the mark to a set value by controlling the paint emission width of the nozzle when the paint emission width of the nozzle of the marking unit 309 is variable. .

Reference numeral 313 denotes a microprocessor (hereinafter referred to as CP).
U. ), The control of the marking device 3 is performed collectively.

Reference numeral 314 denotes a program storage unit,
3 is stored.

The first embodiment of the marking device 3 is for marking a sign marked with a simple line. In the above configuration, the pattern storage unit 305, the marking movement control unit 311 and the marking width control unit 312 are necessary. It is sufficient if the marking unit 309 is fixedly attached to the marking device 3 and the application discharge width of the nozzle can be manually changed as needed.

The second embodiment of the marking device 3 is for marking a mark marked in a pattern, and is composed of all of the components.

It goes without saying that a marking device having both the functions of the first embodiment and the second embodiment (which will be apparent from the operation description to be described later) can be realized. If the mark is recognized as a mark by a pattern (that is, pattern data indicating a line is stored in the pattern storage unit 305), the mark by the line according to the second embodiment is used to mark the mark by the line. Becomes possible.

Next, the operation of the embodiment will be described with reference to time charts shown in FIGS. 7 to 9 show:
The waveforms or operating states at points A to S shown in FIGS. 2 to 6 are shown, and signal waveforms are shown by envelopes.

FIG. 7 shows the operation of the mark position detection system using the reference example (in FIG. 4, the connection of the dotted lines is omitted) as the detection device 1. Hereinafter, the operation of this embodiment will be described. I do.

In this embodiment, linear markers 401 to 404 are used.
The marker 2 embedded in the mark reference point for detecting the mark position in FIG. 1 has its response frequency, that is, the resonance frequency of the crystal unit 201, all set to the same value. Note that any of the markers 2 shown in FIG. 2 or 3 may be used.

The oscillating section 101 constantly oscillates a high-frequency excitation signal (hereinafter, referred to as an excitation signal) for exciting the marker 2 as indicated by A in FIG. The frequency of the excitation signal matches the resonance frequency of the crystal unit 201 of the marker 2, and is set to 10 MHz or more.

The transmitting section 102 amplifies the power of the excitation signal from the oscillating section 101 into an interrogation signal.
To send to.

The switching control section 101 moves the point B to the point B in FIG.
The transmission / reception switching signal shown in FIG. 7A is output at a period t, and the transmission / reception switching unit 105 transmits the antenna 104 at each period t by the transmission / reception switching signal as shown in FIG. Switch connection.

Each time the transmission / reception switching unit 105 connects the antenna 104 to the transmission unit 102, the excitation signal output from the transmission unit 102 is emitted from the antenna 104 as shown in FIG. You. That is, the interrogation signal is sent to the marker 2 as a transmission signal that lasts for a period of t at intervals of 2t.

The marker 2 responds by receiving the interrogation signal transmitted from the antenna 104. That is, when the interrogation signal transmitted from the antenna 104 approaches the place where the marker 2 is buried,
The light enters the antenna 202 of the marker 2, and the quartz oscillator 2
01 and becomes an excitation signal of the crystal unit 201.

With the above operation, the marker 2 is displayed as shown in FIG.
It responds as indicated by E in (A). That is, while the interrogation signal is being applied, the crystal oscillator 201 resonates and vibrates at its resonance frequency, and the transmission / reception switching unit 105 of the detection device 1 switches the antenna 104 to the reception unit 103 side, and the interrogation signal is applied. When stopped, the vibration continues for a while while attenuating at the same frequency due to the vibration energy accumulated during the excitation period.

The high frequency resonance signal (hereinafter, referred to as resonance signal) is emitted from the antenna 202 of the marker 2 due to the damped vibration during the period of the residual vibration of the crystal unit 201.
This resonance signal becomes an answer signal and is incident on the antenna 104 of the detection device 1.

When the answer signal is incident on the antenna 104, the answer signal is received by the receiving unit 103 because the antenna 104 is connected to the receiving unit 103 by the transmission / reception switching unit 105. (A)
A reception signal as shown in F of FIG. This received signal is the envelope of the damped resonance signal generated by the residual vibration of the quartz oscillator 201.

The level detecting section 106 detects the level of the received signal output from the receiving section 103 and sends the level signal to the buried point detecting section 107. The buried point detecting section 107 analyzes the level signal and generates a marker. The embedding part 2 is specified, and a detection signal indicated by G in FIG.

When the detection signal is input, the display control unit 108 outputs an audible display signal and a visible display signal to the display unit 109, and the display unit 109 detects that the embedding location of the marker 2 has been identified. The display is performed by emitting a signal sound and emitting light from the light emitting element.

In the analysis processing for specifying the embedding point of the marker 2 in the embedding point detection unit 107, generally, the maximum level point of the level signal output from the level detection unit 106 may be detected. As shown in (B), the level change of the received signal gradually changes in the vicinity of the maximum point, so that it is very difficult to accurately detect the maximum point. Therefore, the level detection unit 106 is performed by the following method.
By analyzing the level signal from the marker 2, it is possible to accurately specify the buried portion of the marker 2. First, in the first analysis method, the antenna 104 is moved in parallel to the road surface, and a point when the level signal output by the level detection unit 106 reaches a certain level L during that time is detected. FIG.
As shown in (B), when the antenna 104 is moved in parallel, the level signal changes because the embedded point of the marker 2 is a peak point (maximum level) and shows a characteristic symmetric about the peak point. If the level L is set to an area below the maximum level where the change in the characteristic is large, there are two points where the level signal reaches the level L, and the level signal can be clearly identified. That is, P1 and P2 in FIG.
Is the point of the level L, and the marker 2 is buried in the vertical direction of the middle point P0 of the line connecting the points P1 and P2, so the above operation is performed at the point where the answer signal can be received. Is repeated twice to find the intermediate point P0 at each point, and the intersection of the vertical line at each of the intermediate points P0 becomes the embedding point of the marker 2. The above processing is performed by the embedded point detection unit 107.

In the second analysis method, when the antenna 104 of the detection device 1 and the antenna 202 of the marker 2 are loop antennas, the plane formed by the loop of the antenna 104 and the antenna 202 is orthogonal. With this setting, as shown in FIG. 7 (C), the change in the level signal rises as the antenna 104 approaches the marker 2 and reaches a peak point, and when the antenna 104 reaches the buried portion of the marker 2, it drops rapidly. Reached almost zero level, marker 2
It shows the characteristic that it rises again as it gets away from it and reaches a peak point. Therefore, by detecting a point where the level signal once rises to a zero level as much as possible, it is possible to specify a buried position of the marker 2 and, furthermore, a change when reaching the zero level is abrupt. Therefore, the detection accuracy of the marker 2 is also increased.

FIG. 8 shows the operation of the mark position detecting system using the first embodiment (in FIG. 4, the dotted line is connected) as the detecting device 1. The operation of this embodiment will be described below. explain.

In this embodiment, the pattern-like markers 405 to 405 are used.
409 (FIG. 1) to detect the mark position.
As shown in (B), at least two mark reference points are set for one marker, and each reference point has a marker 2 having a different response frequency (resonance frequency of the crystal unit 201).
1 and 22 are buried. In addition, the markers 21 and 22
Any of those shown in FIG. 2 or FIG. 3 may be used.

Since the basic operation of this embodiment is the same as that of the above-described embodiment, the description will focus on the differences from this embodiment.

The oscillating unit 101 is configured to oscillate a plurality of excitation signals having different frequencies, for example, two types of excitation signals having frequencies f1 and f2, and to respond to the response frequencies of the markers 21 and 22 embedded under the road surface. Is the frequency f
1, f2.

The switching control section 110 outputs a switching signal of the oscillation frequency of the oscillating section 101 to the point J as shown by J in FIG.
The oscillation frequency of 1 is switched to f1 and f2 alternately. The cycle of the frequency switching signal is set to twice (2t) the cycle t of the transmission / reception switching signal output to the point B, and the transmission / reception switching unit 105 connects the antenna 104 to the reception unit 103 at the output time. (When the detection device 1 is in a state of receiving a response signal from the marker 21 or 22). With the above setting, the interrogation signal emitted from the antenna 104 has a frequency of f
The intermittent signal becomes 1, f2.

The marker 21 or 22 buried under the road surface
When the frequency of the interrogation signal sent from the detection device 1 matches the resonance frequency of its own crystal unit 201, the interrogator responds by receiving the interrogation signal, and uses the damped resonance signal of the same frequency as the answer signal as the answer signal. Is returned to the detection device 1 by the same operation as that described above. The operation of this marker 21 or 22 is shown in FIG.
E1 and E2. Therefore, if the markers 21 and 22 are buried close to each other, the receiving unit 103
As shown by F, the answer signal having the frequency f1 or f2 is output alternately.

Level detecting section 106 and embedded point detecting section 107
This means that the detection of the level of the answer signal and the detection of the embedding point of the marker 21 or 22 based on this are performed in the same manner as in the above-described embodiment, and the detection signal is transmitted to the point G as shown in FIG. This detection signal is output irrespective of the frequencies f1 and f2, and the display control unit 108 determines which marker 21 or 22 has responded.

That is, the switching control unit 110 moves to the point K in FIG.
Output the display switching signal indicated by K in FIG.
08 is displayed on the display unit 109 each time the display switching signal is input.
Is controlled to switch the signal to be displayed. Accordingly, when the detection signal is output from the embedded point detection unit 107, the display unit 109 displays the marker 21 or the marker 21 corresponding to the frequency f1 or f2 of the answer signal received when the detection signal is output. 22 is displayed.

For the above control, the switching control unit 110
Indicates that the display switching signal has a period of 2t and a marker 21
Or, if 22 exists, the embedded point detection unit 107 repeatedly transmits the signal at the timing of outputting the detection signal. This can be achieved by matching the transmission timing of the transmission / reception switching signal transmitted to the point B and transmitting the display switching signal every other transmission / reception switching signal.

Note that it is necessary that the switching control of the oscillation signal in the oscillation unit 101 and the switching control of the display on the display unit 109 in the display control unit 108 be fixedly associated with each other. Since the signal is generated in the same switching control unit 110, a fixed correspondence between the two switching controls can be easily achieved.

The receiving section 103 discriminates the frequency of the received signal (answer signal), the level detecting section 106 detects the level of the answer signal for each of the discriminated frequencies, and the embedding point detecting section 107 embeds the signal for each frequency. If the location is detected, the switching control unit 110 switches to the display control unit 108.
It is not necessary to send a display switching signal to the terminal (therefore, no connection through the point K is required). Thus, the receiving unit 103
When the frequency discrimination is performed by the
It is also possible to use the oscillation signal at 1 as a signal in which the two frequencies f1 and f2 are mixed. In the case of such a mixed signal, the frequency switching signal from the switching control unit 110 to the oscillation unit 101 is Not required (hence, no connection through point J is required).

As described above, the two markers 21 and
2 can be detected for each type, for example, a turn prohibition sign 4
The mark position and the mark direction of the pattern-like mark such as 09 can be detected and identified.

FIG. 9 shows the operation of a mark position detection system using the second embodiment (in FIG. 5, the connection of the dotted lines is omitted) as the detection device 1. The operation of this embodiment will be described below. I do.

In this embodiment, the reception level analysis for detecting the buried portion of the marker 2 is performed based on the reception levels of the answer signals from the two antennas. This can be understood as a modification of the configuration of the protrusion 107. In this embodiment, as in the first embodiment, the positions of the linear markers 401 to 404 (FIG. 1) are detected, and all the markers 2 to be buried have the same response frequency. belongs to. Further, the marker 2 may be any one shown in FIG. 2 or FIG.

The difference between the operation of this embodiment and the operation of the two embodiments will be described. The two antennas (first antenna 111 and second antenna 112) provided in the detection device 1 at regular intervals are alternately arranged. A question signal is transmitted (the frequency of the question signal is the same), and the answer signal is transmitted to the antennas 111 and 11.
The reception level is separately detected, the reception level is separately detected, and a difference between the detected two reception levels is calculated to detect a point where the level of the difference becomes as small as possible. Since there is a place where the marker 2 is buried on the vertical line between the two antennas 111 and 112 at this point, two points where the level difference becomes zero are detected, and the two antennas 111 at each point are detected. , 112 become the embedding points of the marker 2.

The above operation is performed as follows.
That is, the switching control unit 110 sends the antenna switching signal indicated by M in FIG. 9 to the antenna switching unit 113 at the point M (FIG. 5), and the transmission / reception switching unit 105 intermittently transmits the signal in the same manner as in the above two embodiments. The excitation signal transmitted to the first antenna 111 and the second antenna 112 is alternately distributed and supplied to the first antenna 111 and the second antenna 112 by the switching control in the antenna switching unit 113 based on the antenna switching signal, and as shown in D1 and D2 in FIG. The query signals are emitted alternately and intermittently from the respective antennas 111 and 112.

The antenna switching signal is transmitted to the point M at a cycle 2t at the same timing as the transmission / reception switching signal transmitted to the point B. Thereby, two antennas 1
From 11 and 112, interrogation signals are repeatedly emitted with a time lag of 2t and a period of 4t.

The frequencies of the interrogation signals from the two antennas 111 and 112 are the same. Regardless of the interrogation signal, the marker 2 responds to the effective reception of the interrogation signal to emit a resonance signal.

Now, when the detection device 1 is moved, the first
Assuming that the antenna 111 approaches the marker 2 and the second antenna 112 has a positional relationship of moving away from the marker 2, the vibration of the marker 2 causes the first antenna 111 to move as shown in FIG. The vibration due to the interrogation signal from the second antenna 112 increases each time the interrogation signal is received, and the vibration due to the interrogation signal from the second antenna 112 decreases.

Further, the switching control unit 110 returns to the point N from FIG.
N is transmitted at the same period and at the same timing as the upper antenna switching signal, and the reception output switching unit 116 converts the answer signal output from the reception unit 103 as indicated by Q in FIG. The first level detector 114 and the second
The output is distributed to the level detector 115.

As described above, the answer signal received by the first antenna 111 is input to the first level detecting section 114, and the answer signal received by the second antenna 112 is input to the second level detecting section 115. , The reception level of the answer signal is detected.

The marker 2 and the two antennas 111 and 11
In the case where the positional relationship with R.2 is the above-described relationship, the first level detection unit 114 outputs a first level detection signal which rises every time an answer signal is received at point R1 as shown by R1 in FIG. Then, as shown by R2 in FIG. 9, the second level detection unit 115 outputs a second level detection signal that decreases every time the answer signal is received at the point R2. Note that the first level detection unit 114 and the second level detection unit 115
The level detectors 114 and 115 maintain the detection level of the answer signal of the previous input for 4t time from the input time point even if the input of the answer signal ceases, and the operation shown in FIG. In the example, a level signal that changes stepwise as shown in FIG.

The first level detection signal and the second level detection signal are input to a level difference calculation section 117 to calculate the difference between them, whereby the level difference signal shown at S in FIG. Is output.

The zero level detecting section 118 detects that the value of the level difference signal has become zero as much as possible, and outputs a detection signal shown at G in FIG. That is, when the first antenna 111 and the second antenna 112 are equidistant from the buried portion of the marker 2, the answer signal is received at the same level, so that the first level detection signal and the second level detection signal Are at the same level, and the value of the level difference signal is zero. If the positions of the two antennas 111 and 112 are detected when the level difference signal becomes zero, the marker 2 is buried on the vertical bisector at both positions. As in the first analysis method in the unit 107, the buried portion can be specified by two detection operations.

Other than the above operation, the embodiment is the same as the first embodiment described above.

The mark position detecting system using the third embodiment (in which the dotted line is connected in FIG. 5) as the detecting device 1 is the same as the detecting device 1 of the first embodiment.
Is a system for detecting the mark positions of the pattern-like markers 405 to 409 (FIG. 1), similarly to the mark position detection system using. It can be easily analogized. That is, the oscillation frequencies f1 and f2 of the oscillation unit 101 are alternately switched by the frequency switching signal from the switching control unit 110,
The operation of alternately transmitting excitation signals (interrogation signals) having different frequencies and the display switching control in the display control unit 108 based on the display switching signal from the switching control unit 110 are performed by the first antenna 11.
The reception level detection, the calculation of the level difference, and the zero level detection of the answer signal may be performed for each of the interrogation signals of the frequencies f1 and f2, respectively, for the first and second antennas 112.

Next, the operation of the marking device 3 will be described.

During the marking operation of the sign, the marking device 3 is self-propelled by the traveling drive unit 301 under the control of the traveling control unit 302. The traveling distance is measured by the traveling distance measuring unit 303, and the traveling distance data is recorded. Is always sent to the CPU 313.

The CPU 313 has a mark position detection unit 3.
Based on the detection of the marker 2 under the road surface in 04, detection data is input from the mark position detection unit 304, and based on the detection data, the CPU 313 provides the steering data to the steering control unit 307, and Part 30
Reference numeral 7 sends a steering signal to the steering unit 306 to control the traveling direction of the marking device 3.

As described above, the marking device 3 travels along the marking position of the marker (the place where the marker 2 is buried), during which the paint supply unit 308 sends the paint to the marking unit 309 via the paint supply control unit 310. Is supplied, and the paint is discharged from the nozzle of the marking section 309, and a mark is marked at a desired location on the road surface.

The paint supply control section 310 adjusts the supply amount of the paint, starts the supply of the paint, and stops the supply.
This is performed under the control of U313. Travel distance measuring unit 303
If the supply and stop of the paint are controlled based on the traveling distance data from the vehicle, for example, the vehicle lane boundary 402 (FIG. 1)
This is convenient when marking intermittent signs as described above (the number of markers 2 to be buried is small).

With the above operation, a linear marker can be marked (the first embodiment of the marking device 3), but the following control is further added to the marking of a pattern marker (the second device of the marking device 3). Example).

First, the pattern data is stored in the pattern storage unit 305. The mark position detection unit 304 is configured to distinguish and detect the two types of markers 21 and 22 described in FIG.

The CPU 313 controls the pattern storage unit 3
Pattern data read from 05, mileage measuring unit 3
Based on the traveling distance data input from the control unit 03, the steering data is sent to the steering control unit 307 to control the steering unit 306 in the traveling direction according to the sign pattern, and the mark movement control unit 3
11 to control the position of the nozzles of the marking section 309 in accordance with the pattern of the sign, and send the nozzle width control data to the marking width control section 312 to change the nozzle width of the marking section 309 to the pattern of the sign. , And controls the supply and stop of the paint by controlling the paint supply control unit 310.

By the combination of the above controls, the sign can be automatically marked in a predetermined pattern.

When the marking device 3 performs automatic marking of a sign, particularly when a linear marker is marked along the embedded portion of the marker 2, the marking position detecting unit 304 is used to identify the marking direction. It is necessary to always detect at least two markers 2. For this purpose, the antenna 104 of the detection device 1 used as the mark position detection unit 304 is required.
(Or a set of the first antenna 111 and the second antenna 112)
Are mounted before and after the marking device 3 in the traveling direction.
It is necessary to devise a way to detect the place where marker 2 is buried by using a set of antennas.

If the marker 2 of the second embodiment (shown in FIG. 3) is used, the marker 2 has a directionality in the direction of the dipole of the dipole antenna. Only one marker 2 needs to be constantly captured at 304, which is convenient.

[0124]

As described above, according to the present invention, one or a plurality of responders having a resonance vibrator are buried at a reference point of a sign mark on a road surface, and the embedment place of the above-mentioned responders is detected by a detection device. The mark position is detected and the mark position or the mark position and the mark direction are detected and identified.Since it is not necessary to measure the mark position in the sign mark work, especially in the re-mark work of the disappeared sign. This has a remarkable effect on reducing construction costs and road maintenance costs, and shortening traffic control time.

Further, in the present invention, the above-described detection device is mounted on a self-propelled marking device to automate the marking of a sign, and does not require a high level of skill in the marking operation. However, marking can be performed without using an auxiliary tool for marking, and the workers involved in the marking work can be inexperienced people, and a small number of people can be used. is there.

[Brief description of the drawings]

FIG. 1A is a diagram showing an example of marking a road traffic sign;
(B) is a figure which shows the relationship between a road surface traffic sign and a marker embedding place, (C) is a figure which shows the cross section of the road surface in which the marker was buried.

FIG. 2 is a circuit diagram of a marker according to the embodiment of the present invention.

FIG. 3 is a circuit diagram of a marker according to the embodiment of the present invention.

FIG. 4 is a block diagram of a detection device according to the embodiment of the present invention.

FIG. 5 is a block diagram of a detection device according to the embodiment of the present invention.

FIG. 6 is a block diagram of a marking device according to an embodiment of the present invention.

FIG. 7A is a time chart of the embodiment of the present invention.
(B) and (C) are reception level characteristic diagrams.

FIG. 8 is a time chart of the embodiment of the present invention.

FIG. 9 is a time chart of the embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Detecting device 2, 21 and 22 ... Marker 3 ... Marking device 4 ... Road surface 41 ... Road surface traffic sign 101 ... Oscillator 102 ... Transmitting unit 103 ... Receiving units 104, 111, 112 ... Antenna 105 ... Transmission / reception switching units 106 and 114 115, a level detection unit 107, an embedded point detection unit 108, a display control unit 109, a display unit 110, a switching control unit 113, an antenna switching unit 116, a reception output switching unit 117, a level difference calculation unit 118, a zero level detection unit 201 ... Crystal oscillator 202 ... Antenna 203 ... Condenser 301 ... Travel drive unit 302 ... Travel control unit 303 ... Travel distance measuring unit 304 ... Marked position detection unit 305 ... Pattern storage unit 306 ... Steering unit 307 ... Steering control unit 308 ... Paint supply Unit 309: Marking unit 310: Paint supply control unit 311: Marking movement control unit 312: Marking width control unit 3 13 CPU 314 Program storage unit 401-404 Linear traffic sign 405-409 Pattern traffic sign

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-4-118405 (JP, A) JP-A-4-93687 (JP, A) JP-A 64-38688 (JP, A) JP-A 64-64 38686 (JP, A) JP-A-64-38685 (JP, A) JP-A-62-50676 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01S 7/00-7 / 42 G01S 13/00-13/96 E01C 23/16

Claims (5)

(57) [Claims] 1. A system for detecting a marking position of a directional traffic sign marked on a road surface and a marking direction thereof, wherein the traffic sign is embedded at at least two reference points at the marking position and has different frequencies. At least two types of responders responding to either one of the two high-frequency excitation signals and returning a high-frequency resonance signal having the same frequency as the corresponding high-frequency excitation signal when the two high-frequency excitation signals are applied. And a transmitting operation and a receiving operation are alternately repeated at a constant cycle, and at least two interrogation signals are transmitted to the responder during the transmitting operation by the high frequency excitation signal, and the at least two interrogators are transmitted during the receiving operation. Detecting the buried portion of the at least two types of responders by receiving the response signal based on the high-frequency resonance signal from each of the types of the responders. Road traffic signs title position detection system constituted by the location. 2. A resonating body used in the mark position detecting system according to claim 1, wherein the resonating vibrator resonates using a frequency of an interrogation signal transmitted from the detection device as a resonance frequency, and the resonating vibrator. Is connected to, receives the interrogation signal transmitted from the detection device and applies to the resonance vibrator,
And a response body comprising an antenna which emits a resonance signal generated by resonance vibration of the resonance vibration body as a response signal. 3. A detecting device used in the mark position detecting system according to claim 1, wherein the antenna, an oscillating means for oscillating at least two kinds of high frequency excitation signals having different frequencies, and the oscillating means oscillate. Interrogation signal transmitting means for radio-transmitting at least two types of high-frequency excitation signals as interrogation signals via the antenna to at least two types of responders having different response frequencies, and at least different frequencies returned from the responders. Answer signal receiving means for wirelessly receiving two types of high-frequency resonance signals as answer signals via the antenna and outputting the reception levels of the respective answer signals; and transmitting the antenna to the question signal sending means and the answer signal receiving means. Switching means for alternately switching connection with the means, and a reception level of each answer signal output from the answer signal receiving means. Receiving level analyzing means for analyzing a bell, and the receiving level analyzing means performs a receiving level analyzing process of each of the answer signals so that the at least two
A detection device configured to detect a place where a type of responder is embedded, for each type of the responder. 4. The position of the traffic sign marked on the road surface
It is buried under the road surface at the above mark to detect
In response to the application of the wave excitation signal,
Response to return a high-frequency resonance signal of the same frequency as the excitation signal
Body, transmission operation and reception operation are alternately repeated at a fixed cycle.
During the transmission operation, the high-frequency excitation
Issue an interrogation signal with the
Receiving an answer signal based on the above high-frequency resonance signal
A detection device for detecting the location where the responder is buried.
And a traffic sign marking device mounted thereon, wherein the responder is
The frequency of the interrogation signal transmitted from the detection device is the resonance frequency
Connected to a resonant vibrator that resonates and vibrates as
Received the interrogation signal transmitted from the detection device
Applied to the resonance vibrator, and the resonance vibration of the resonance vibrator
Emit resonance signal generated by motion as answer signal
A responder-side antenna , wherein the detection device is a detection device
Side antenna, high-frequency excitation signal transmitting means,
Detection of the above by using the high-frequency excitation signal oscillated by the stage as the interrogation signal
Transmitted wirelessly to the responder via the device-side antenna
Query signal sending means, and a high frequency returned from the responder.
The above-mentioned detection device side antenna is used as the
Signal that is received wirelessly via the
Signal receiving means and the detection device-side antenna to the interrogation signal.
Switching connection between the sending means and the answer signal receiving means alternately
Switching means, and a time output from the answer signal receiving means.
There is a reception level analysis means for analyzing the reception level of the answer signal.
The above-mentioned analysis is performed by the reception level analysis means.
Automatic marking system for road traffic signs to detect the place where the responder is buried
A stem, wherein the traffic sign marking device includes: a self-propelled means; a steering means; An automatic marking system for a road surface traffic sign, comprising: a steering control unit for controlling the steering unit; 5. A responder as claimed in at least two different claims 2 resonance frequency buried under the title position road traffic signs, traffic signs self-running equipped with detection device according to claim 3 The traffic sign marking device is based on a self-propelled means, a steering means, a traffic sign pattern storage means, and an embedded portion detection signal of the at least two types of responders output from the detection device. A steering control means for determining a mark position and a mark direction of a traffic sign, and controlling a self-running direction based on the pattern information read from the pattern storage means; An automatic marking system for road traffic signs having marking means for marking a traffic sign.