JP4778291B2 - Road surface cutting device - Google Patents

Description

  The present invention relates to a road surface cutting device that cuts a road surface by ejecting processing water mixed with abrasive grains.

  When installing or repairing a water pipe or the like on a road, excavation is usually performed by cutting a position to be constructed using a road cutter. The road cutter includes a circular cutting blade, and cuts a construction position by cutting a cutting blade that rotates at high speed while supplying cutting water into the road surface (see, for example, Patent Document 1). Moreover, when cutting the surface layer part of concrete about several millimeters-several centimeters, the water jet cutting device which cuts by the injection of super-high pressure water is also used (for example, refer patent document 2).

JP 2005-42504 A JP 2003-136490 A

  However, since the road cutter and the water jet cutting device must be positioned at a place to be cut by an operation by an operator, there are problems that handling is difficult and skill is required, and productivity is low. Further, the road cutter has a problem that the noise is high and the working environment is bad.

  Therefore, the problem to be solved by the present invention is to make it possible to easily cut a desired position without skill and improve productivity in road surface cutting.

The present invention relates to a road surface cutting device mounted on a self-propelled vehicle that cuts a road surface. The present invention relates to a processing water storage tank that stores processing water mixed with abrasive grains and a pressure that applies pressure to the processing water mixed with abrasive grains. and pressure means, and the jet nozzle for jetting a communication with the processing water storage tank processing water, a plurality of patterns having a characteristic shape which is formed on the road surface automatically selected, as an induction mark seeking coordinates pattern An alignment unit that detects and positions the jet nozzle at a position to be processed , and the alignment unit includes an imaging unit that images the road surface, a movable unit that can move while supporting the imaging unit, and the imaging unit serves as a guide mark. And a control unit that drives the movable part to move along the movable part, and the movable part is configured to be movable in a direction orthogonal to the traveling direction of the self-propelled vehicle .

  In the present invention, since a guide mark formed on the road surface is detected, the jet nozzle can be positioned at a position to be processed in accordance with the guide mark, and processing water mixed with abrasive grains can be ejected. Even if it does not exist, the desired area | region of a road surface can be cut easily. In addition, noise is low and the working environment is good.

  As the guide mark, not only the guide line attached to the road surface, but also a pattern originally formed on the road surface can be used, so that labor for drawing the line can be saved and productivity can be further increased.

  A road surface cutting apparatus 1 shown in FIG. 1 includes a processing water storage tank 2 that stores processing water mixed with abrasive grains, and a pressurizing unit that applies pressure to the processing water stored in the processing water storage tank 2 and mixed with abrasive grains. 3 and a jet nozzle 4 that ejects the processed water pressurized by the pressurizing means 3 toward the road surface.

  In the pressurizing means 3, for example, a pressure of 10 [MPa] to 100 [MPa] is applied to the processing water mixed with the abrasive grains stored in the processing water storage tank 2. A valve 5 is interposed between the processing water storage tank 2 and the jet nozzle 4 so that the flow rate of the processing water flowing from the processing water storage tank 2 to the jet nozzle 4 can be adjusted.

  The jet nozzle 4 is positioned at a desired position to be processed by the alignment means 6. The alignment unit 6 includes an imaging unit 7 that images a road surface, a movable unit 8 that can move while supporting the imaging unit 7, and a control unit 9 that drives the movable unit 8. Based on the acquired image, the control part 9 detects the guide mark used as the mark of a cutting position, and controls the position of the movable part 8. FIG.

  The imaging unit 7 transfers an image acquired by imaging the road surface to the control unit 9. The control unit 9 detects a guide line 10 that is a guide mark given to the road surface by an operator or the like by image matching processing. And the control part 9 drives the movable part 8 so that the imaging part 7 can always image the guide line 10, ie, the imaging part 7 moves along the guide line 10 above. The guide line 10 in the example of FIG. 1 is formed in the X-axis direction, and the road surface cutting device 1 is movable as a whole in the X-axis direction.

  The movable portion 8 has a screwing portion 80 screwed to a feed screw 11 disposed in the Y-axis direction orthogonal to the X-axis direction, and a pulse motor 12 is connected to the tip of the feed screw 11. The movable part 8 is configured to move in the Y-axis direction as the feed screw 11 is rotated by being driven by the motor 12.

  The jet nozzle 4 is fixed to the movable unit 8, and the jet nozzle 4 and the imaging unit 7 are in a certain positional relationship. In the illustrated example, the jet nozzle 4 and the imaging unit 7 are configured to be positioned on a straight line in the X-axis direction. Therefore, if the imaging unit 7 moves along the guide line 10, the jet nozzle 4 follows it. The imaging unit 7 is connected to the display unit 13, and an image acquired by the imaging unit 7 can be displayed on the display unit 13.

  As shown in FIG. 2, the road surface cutting device 1 can be mounted on a self-propelled vehicle 14. The traveling direction of the self-propelled vehicle 14 in the example of FIG. 2 is the X-axis direction, and the guide line 10 is also formed in the X-axis direction, which is the traveling direction of the self-propelled vehicle 14. In this case, the movable part 8 can move in the Y-axis direction orthogonal to the X-axis direction. The display unit 13 is installed in the driver seat of the self-propelled vehicle 14.

  When the guide line 10 is formed as a guide mark on the road surface in the X-axis direction and the guide line 10 is cut, the imaging unit 7 images the road surface before cutting, and an image of the region including the guide line 10 is obtained. It is stored in a storage element such as a memory of the control unit 9 shown in FIG.

  At the time of actual cutting, the imaging unit 7 images the road surface while moving the movable unit 8 in the Y-axis direction under the control of the control unit 9, and an image acquired by the imaging unit 7 and an image stored in advance In the control unit 9, the guide line 10 is detected. Then, if the self-propelled vehicle 14 moves in the X-axis direction while maintaining a state in which the images are matched, the imaging unit 7 moves along the guide line 10 above.

  As shown in the display screen of the display unit 13 in FIG. 1, an alignment reference line 70 is formed on the lens of the imaging unit 7, and the jet nozzle 4 is on an extension line of the alignment reference line 70 in the X-axis direction. Therefore, if the imaging unit 7 moves along the guide line 10, the jet nozzle 4 follows the imaging unit 7, and the jet nozzle 4 also moves along the guide line 10. Therefore, the guide line 10 can be cut if the processing water mixed with abrasive grains is ejected from the jet nozzle 4. In this way, since the jet nozzle 4 is automatically positioned on the guide line 4, a skilled engineer is unnecessary and productivity is improved.

  In addition, even when the guide line 10 is not attached to the road surface, a pattern that can be recognized from the road surface, for example, gravel embedded in a paved road is detected on the surface of the road, and the gravel is used as a guide mark. The road surface can also be cut linearly.

  For example, as shown in FIG. 3, gravel 15 having a characteristic shape is automatically selected as a guide mark in an image acquired by the imaging unit 7 and displayed on the display unit 13, and the image is displayed on the control unit 9. Is stored in a storage element such as a memory, and the Y coordinate of the gravel 15 is obtained and stored in the control unit 9.

  When the self-propelled vehicle 14 shown in FIG. 2 is moved in the X-axis direction orthogonal to the Y-axis direction and the road surface is cut in the X-axis direction, it is acquired by the imaging unit 7 and is moved momentarily as the self-propelled vehicle 14 moves. If the gravel 15 is always extracted from the changing image and the trajectory of the gravel 15 on the image coincides with the X-axis direction, the imaging unit 7 moves linearly in the X-axis direction, and the jet nozzle 4 also moves along the X-axis. Therefore, cutting can be performed in the X-axis direction. Specifically, if the value of the Y coordinate of the gravel 15 does not change even if the self-propelled vehicle 14 moves, the trajectory of the gravel 15 will coincide with the X-axis direction, and the road surface in the X-axis direction. It can cut accurately.

  As the self-propelled vehicle 14 moves in the X-axis direction, the gravel 15 will eventually disappear from the image, but as shown in FIG. 4, the gravel 15 has a new characteristic shape before disappearing from the image. If gravel 16 is selected as a guide mark and the same processing as described above is performed, cutting can be continued in the X-axis direction. If such processing is repeated, cutting in the X-axis direction can be performed continuously.

  Thus, even when the guide line is not drawn on the road surface, it can be accurately cut in a desired direction.

It is a perspective view which shows an example of a road surface cutting device. It is a perspective view which shows the example by which the road surface cutting apparatus was mounted in the self-propelled vehicle. It is explanatory drawing which shows the 1st example of the display screen on which the guide mark was displayed. It is explanatory drawing which shows the 2nd example of the display screen on which the guide mark was displayed.

1: Road surface cutting device 2: Processing water storage tank 3: Pressurizing means 4: Jet nozzle 5: Valve 6: Positioning means 7: Imaging unit 70: Positioning reference line 8: Movable part
80: Screwing part 9: Control part 10: Guide line 11: Ball screw 12: Pulse motor 13: Display part 14: Self-propelled vehicle 15, 16: Gravel

Claims (1)

A road surface cutting device mounted on a self-propelled vehicle for cutting a road surface,
A processing water storage tank for storing processing water mixed with abrasive grains;
Pressurizing means for applying pressure to the processing water mixed with the abrasive grains;
A jet nozzle that communicates with the processing water storage tank and jets processing water;
A plurality of patterns having a characteristic shape formed on a road surface are automatically selected, and coordinates of the pattern are obtained and detected as a guide mark, and positioning means for positioning the jet nozzle at a position to be processed ,
The positioning means includes an imaging unit that images the road surface, a movable unit that can move while supporting the imaging unit, and a control unit that drives the movable unit so that the imaging unit moves along the guide mark. And consists of
The road cutting device , wherein the movable part is movable in a direction orthogonal to the traveling direction of the self-propelled vehicle .

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