JP6213156B2 - Road marking coating equipment - Google Patents

Description

  The present invention relates to a coating apparatus that automatically paints road markings such as road markings drawn on a road surface.

When drawing road markings such as letters and symbols on the road surface, first create a road marking drawing, perform surveys using the surveying equipment in accordance with this drawing, and change the shape of the road marking to be painted, such as chalk. Draw on the road surface with auxiliary lines. After that, the road marking is drawn by the painting device in accordance with the drawn drawing. The surveying work and the auxiliary line drawing work for drawing are labor intensive work, and skillful techniques are required.
In addition, when repairing road markings on roads that are already used for vehicle traffic, the work may be involved in traffic accidents because the work is restricted with some of the surrounding traffic. It was.

  2. Description of the Related Art Conventionally, a device for coating a marking on a road surface by providing a mechanism for tracking a laser beam on a vehicle equipped with a coating device has been developed (see, for example, Patent Document 1).

JP 61-162605 A JP 2007-218705 A

However, in such a coating apparatus, it is necessary to carry out surveying in advance and obtain the installation position and coating start position of the laser device by surveying.
In addition, only a straight line of the width of the coating nozzle provided in the coating apparatus can be drawn with respect to the coating line, and there is a problem that it cannot cope with the drawing of the curve.

  As described above, in the conventional road marking drawing work, it is necessary to carry out surveying in advance on the spot, and there is a problem that skilled techniques are required to perform surveying with particularly high accuracy. Since the drawing work itself is performed with some traffic restrictions, the worker himself who draws the road marking has a problem of getting involved in a traffic accident.

The present invention has been made to solve the above-mentioned problems, and it is possible to render a road marking easily and with high positional accuracy without the need for a surveying work performed in advance when drawing the road marking. It aims at providing the painting equipment.
It is another object of the present invention to provide a road marking coating apparatus capable of automatically painting a road marking having a width larger than the width of a coating nozzle that could not be painted.

A road marking coating apparatus according to the present invention includes positioning means for receiving a positioning signal radio wave from a satellite to determine a current position, a storage unit for storing the shape and position of a marking to be painted on a road surface, and imaging a road surface. camera and, an injection nozzle for injecting the coating agent to the road surface, the road surface image captured by the camera, painting the position of the marking determined from the position information on the indication and the current position and the mounting position of the ejection nozzles A destination direction indicating a direction with respect to the coating width, two linear guidelines for the coating width, a coating position determined from the installation position of the spray nozzle and the coating width, and the coating And a display unit that displays position information about the shape on the screen.

According to the road marking coating apparatus according to the present invention, while viewing the screen of the display unit such as the liquid crystal mounted on the road marking line, the straight line guideline on the screen is matched with the road marking shape to be painted, Since painting can be performed along the straight line guideline in the direction indicated by the direction indication, it is possible to easily paint the road marking with high positional accuracy.

It is the schematic showing the structure of the coating device for road markings concerning Embodiment 1 of this invention. It is an example of the list | wrist displayed on the display part of the road marking coating apparatus which concerns on Embodiment 1 of this invention. It is an example of the road marking displayed on the display part of the coating apparatus for road marking which concerns on Embodiment 1 of this invention. It is the schematic showing the structure of the road marking coating apparatus which concerns on Embodiment 2 of this invention.

Embodiment 1.
FIG. 1 is a schematic diagram illustrating the configuration of a road marking coating apparatus according to Embodiment 1 of the present invention.
In FIG. 1, a road marking coating apparatus 100 (hereinafter, simply referred to as “road surface coating apparatus 100”) includes a coating unit 1 that performs coating on a road surface, a coating nozzle 2 that ejects a coating agent, a figure to be painted, and its coating position. A graphic storage unit for storing, and a GNSS (Global Navigation Satellite System) antenna 11, a positioning calculation unit 12, an inertial navigation device for receiving radio waves from a positioning satellite in order to grasp the position of the road surface coating device 100 with high accuracy in real time. 13 and odometer 14 are provided. In addition, a front side laser unit 15 and a rear side laser unit 16 that measure the distance to surrounding features by irradiating laser light, a camera 17 that is attached to the floor surface of the road surface coating apparatus 100 and can image a road surface, and road surface coating A display unit 22 that displays position information of the current location of the apparatus 100, a painted figure on the road surface imaged by the camera 17, an operation handle 23 for operating the road surface coating apparatus 100, a moving tire 21 (front tire 21a, rear A tire 21b) is provided.
An operator who operates the road surface coating apparatus 100 holds the operation handle 23 and pushes and moves the road surface coating apparatus 100.
In addition, the sign of the road surface to be painted refers to all the indications drawn on the road surface, for example, not only the character “Torare” and a straight line that indicates the stop position of the car.

  The painting unit 1 includes a painting tank (not shown), and the painting tank is filled with a coating agent. The painting unit 1 is connected to the operation handle 23 through an operation line, and is attached so that the paint is sprayed from the painting nozzle toward the road surface when the operator presses a painting button attached to the operation handle.

The GNSS antenna 11 receives signal radio waves from satellites such as the GPS satellite 110 and the quasi-zenith satellite 111 used in the satellite positioning system. The GPS signal transmits a positioning signal, and the quasi-zenith satellite 111 transmits a positioning signal and a LEX signal. The GNSS antenna 11 receives a positioning signal from the GPS satellite 110 and the quasi-zenith satellite 111, and receives a LEX signal including positioning reinforcement information that represents an error amount included in the observation amount of the positioning signal from the quasi-zenith satellite 111. The positioning calculation unit 12 can determine the self-position with centimeter-class accuracy by correcting the observation amount of the positioning signal based on the positioning reinforcement information included in the LEX signal.
Since the quasi-zenith satellite 111 exists in a direction of a high elevation when viewed from various parts of Japan, the positioning signal and the LEX signal transmitted from the quasi-zenith satellite are rarely blocked by a building or the like. That is, the GNSS antenna 11 can receive the positioning signal and the LEX signal from the quasi-zenith satellite 111 even when the road surface coating apparatus 100 travels in an urban city area surrounded by a high building. You can get it.

  In addition, the road surface painting apparatus 100 includes the inertial navigation device 13 and the odometer 14 and calculates the current position and azimuth of the vehicle by adding the movement amount from the previous positioning to the self-position and azimuth measured previously. For example, it is configured to complement the measurement interval by GPS.

  Laser units (laser scanners) 15 and 16 are fixedly installed on the front side surface and the rear side surface of the road surface coating apparatus 100. The laser units 15 and 16 irradiate a laser to the side of the road surface coating apparatus 100 and observe the laser reflected and returned to the ground object, so that the relative distance and relative to the surrounding objects of the road surface coating apparatus 100 can be measured. The direction is generated as point data.

  Further, a camera 17 capable of imaging the road surface under the road surface coating apparatus 100 is installed on the floor surface of the road surface coating apparatus 100. The relative relationship between the installation position of the camera 17 and the position of the road surface coating apparatus 100 calculated by the positioning calculation unit 12 is acquired in advance, and the road surface position captured by the camera 17 can be calculated based on the position of the road surface coating apparatus 100. It has become.

FIG. 2 is an example of a work guide displayed on the display unit 22. In the example of FIG. 2, works 1 to 3 are displayed as a work list, and an operator can select an object to work on.
As an example, the workpiece 1 is an operation of painting a road surface marking on a road side line by the painting apparatus 100. The shape of the figure to be painted and the position information of the figure to be painted are associated with each work in the work list, and the figure storage unit 3 Is remembered. In addition, the color information of the paint is also associated.

FIG. 3 is an example of a road marking displayed on the display unit 22 of the road surface coating apparatus 100. There is a display enlargement / reduction button on the upper left of the display unit 22, and the magnification of the camera 17 displayed on the display unit 22 can be changed. In the lower left, a work message for performing the work (for example, work 1) previously selected in the work list display 32 is displayed.
On the display unit 22, a road marking shape 36 to be painted is displayed with a marking shape associated with the selected workpiece (work 1) and stored in advance in the graphic storage unit 3.

The graphic storage unit 3 stores painting information (painting start position, painting width, painting end position, painting start line end, painting shape, etc.) for painting for each workpiece as position information. Based on the painting information and the position of the road surface coating device 100 calculated by the positioning calculation unit 12, the display unit 22 displays a road marking shape 36 to be painted on the screen.
A painting start line 37 is shown in the road marking shape 36, and x marks are marked on the painting start line ends 38a and 38b at the end of the painting start line 37.

  On the other hand, two straight guide lines 33a and 33b with a width of 34 are displayed at the center of the display unit 22. A coating position 35 is displayed between the two straight guide lines 33a and 33b, and paint is sprayed from the coating nozzle 2 to the coating position 35. The width 34 is determined based on the paint information of the work list when a desired work is selected from the work list display 32. As for the coating nozzles 2, when a desired workpiece is selected from the work list display 32, the number of coating nozzles capable of coating the width 34 is selected.

A destination direction display 40 indicated by an arrow is displayed at the center of the display unit 22. This display shows the direction in which the road surface coating apparatus 100 is moved in order to match the coating position 35 at which the paint is ejected from the coating nozzle 2 with the desired position of the work selected in the work list.
The operator of the road surface coating apparatus 100 moves the road surface coating apparatus 100 according to the destination direction display 40, aligns the painting position 35 with the painting start line 37, and matches the straight line guide lines 33a and 33b with the side surface of the road marking shape 36 to be painted.
The destination direction display 40 may be a round arrow indicating rotation, or may be a long arrow when the user moves the road surface coating apparatus 100 largely, and may be a short arrow when the user moves the road surface coating apparatus 100 small.

As described above, the display unit 22 supports the movement of the road surface coating apparatus 100 to the painting start position and the tracing support of the painting position based on the current position by the positioning calculation unit 12 and the painting shape stored in the graphic storage unit 3. It has a function to display.
In the movement support to the painting start position, the current position of the painting nozzle 2 and the straight line guideline are displayed on the screen of the display unit 22 so as to be arranged in the center on the plan view showing the shape of the road marking to be painted. Then, as the apparatus is operated, the road surface painting apparatus 100 is configured such that the plan view on the screen moves and the position of the painting nozzle is updated.
The scale of the image on the display unit 22 can be adjusted by the operation of the operator. Alternatively, the scale is automatically adjusted so that the painting start position is automatically displayed on the screen.
Further, in order to show the movement direction from the current position to the painting start position in order to show the movement direction from the current position to the painting start position, the display unit 22 shows an arrow (a destination region) indicating the direction from the current position to the painting start position. Direction display 40) is displayed on the screen.

  As described above, according to the road surface coating apparatus 100 according to the present embodiment, the shape of the road surface marking object to be painted and the current position of the coating nozzle 2 are displayed with high accuracy on the screen of the display unit 22 such as liquid crystal. The operator can move the road surface painting device 100 to the painting start position according to the arrow indicating the direction of the painting start position, and then perform painting according to the guideline on the screen. Can be easily applied.

  Note that a plurality of cameras may be mounted as the camera 22 and a road image may be taken. An image obtained by projecting the image of each camera on the road surface may be overlaid on the screen of the display unit 22 and displayed.

Embodiment 2.
FIG. 4 is a schematic diagram showing the configuration of the road surface coating apparatus 101 according to the second embodiment of the present invention. The difference from the first embodiment is that the vehicle driving unit 24 for the road surface coating apparatus 101 to self-run, the moving distance according to the distance and direction to the target position, and the coating start position are determined. The vehicle control unit 25 is further mounted.
In Embodiment 1, the operator painted the road surface by moving the road surface coating apparatus 100 while looking at the screen on the display unit. However, in the road surface coating apparatus 101 according to the present embodiment, the operator first instructs the start of painting. In response to the painting start instruction, the positioning calculation unit 12 automatically obtains the self-position of the road surface coating apparatus 101, and the vehicle control unit 25 calculates the distance and direction to the preset coating start position, The vehicle drive unit 24 moves the road surface coating apparatus 101 to the painting start position.

When the road surface coating apparatus 101 reaches the coating start position, the coating unit 1 sends the road surface marking paint to the coating nozzle 2. The painting nozzle 2 paints the road surface by spraying paint onto the road surface. The injection timing of the coating nozzle 2 is controlled by an injection control unit (not shown) that controls the injection timing in response to data from the positioning calculation unit 12, the graphic storage unit 3, the vehicle drive unit 24, and the vehicle control unit 25. . For example, when the vehicle control unit 25 gives an instruction to the vehicle drive unit 24, the movement to the coating start position is started, and when the current position calculated by the positioning calculation unit 12 coincides with the coating start position, the injection control unit applies the coating. The spray of paint is started from the nozzle 2.
The vehicle control unit 25 moves the road surface coating apparatus 101 in accordance with the painting graphic stored in the graphic storage unit 3, and the injection control unit controls the spraying of the paint onto the road surface according to the painting graphic and the current position.

  Thus, in addition to the configuration of the road surface coating apparatus 100 according to the first embodiment, the road surface coating apparatus 101 according to the present embodiment includes the vehicle drive unit 24 for the road surface coating apparatus 101 to self-run, and the target position. The vehicle control unit 25 for determining the moving distance according to the distance and the direction and determining the painting start position is mounted. In addition, the display unit 22 can be removed and connected to the road surface painting apparatus 101 by wireless communication so that the operator can monitor the work status remotely even during painting work, and instruct the road surface painting apparatus 101 to interrupt the work. It is configured so that

  Thereby, the road surface coating apparatus 101 according to the present embodiment can automatically paint a predetermined graphic on the road surface in accordance with the painted graphic stored in the graphic storage unit 3, and the operator does not need a skilled technique, In addition, the road marking can be painted with high accuracy without risking getting involved in a traffic accident.

Embodiment 3.
In the road surface coating apparatuses 100 and 101 according to the first and second embodiments, the current position of each of the road surface coating apparatuses 100 and 101, the position such as the painting start position stored in advance, and the painting pattern are determined based on the painting pattern. Was controlling the spray of paint. However, when there is no high-accuracy road map, if painting is performed based on the absolute position, for example, the intention to stop is displayed at the center of one lane of the road, but it is shifted to one side and the stop display is painted on the road shoulder. It is possible that
Therefore, the road surface coating apparatus according to Embodiment 3 controls the spraying of the paint from the coating nozzle 2 based on the relative distance from the road structure, the white line, and the like.

The device configuration of the road surface coating apparatus 103 according to the present embodiment is the same as that of the road surface coating apparatuses 100 and 101 according to the first and second embodiments, and uses the front side laser unit 15 and the rear side laser unit 16.
Conventionally, GPS receivers, cameras, laser radars, etc. are mounted on measurement carts, and features such as road curbs and median strips are based on the camera recognition image and the distance to surrounding features output by the laser radar. An apparatus for acquiring the position of the white line has been developed (see, for example, Patent Document 2). The front side laser unit 15 and the rear side laser unit 16 of the present embodiment are configured to have a function corresponding to a laser radar. Here, the details of the method of acquiring the position of the road feature and the white line position will be omitted and will be described below.

In the graphic storage unit 3 according to the present embodiment, in addition to the graphic to be painted and the position to be painted, road structures such as surrounding road curbs, guardrails, lane markings, road signs, manholes, traffic lights, and the like to be painted The relative distance from the road structure and the white line such as the relative distance from the white line and the yellow line such as the median strip is stored.
The road surface coating apparatus 103 operates the front side laser unit 15 and the rear side laser unit 16 to irradiate the surroundings with laser light.
On the screen of the display unit 22, a three-dimensional point cloud model including relative distance information including irradiation points irradiated with laser light is displayed. For example, a distance from a surrounding road curb to the current position is displayed. It has become.
A destination direction display 40 indicated by an arrow is displayed at the center of the display unit 22. This display indicates the direction in which the road surface coating device 103 is moved in order to make the coating position 35 for spraying the paint from the coating nozzle 2 coincide with the position of the distance from the road curb previously specified for the work previously selected in the work list. It is shown.
The operator of the road surface coating apparatus 103 moves the road surface coating apparatus 103 according to the display of the destination direction display 40 and starts painting from a desired start position. Alternatively, instead of the operator, as described in the second embodiment, the vehicle may be automatically driven by the vehicle control unit, and coating may be performed from a desired start position.

Thus, the road surface coating apparatus 103 according to the present embodiment irradiates laser light from the front side laser unit 15 and the rear side laser unit 16 to be mounted, and includes a three-dimensional point including relative distance information to the surrounding structures. A group model is generated and displayed on the display unit 22.
The display unit 22 is based on the distance information associated with the generated three-dimensional point cloud model, the distance from the road curb of the figure to be painted and the distance from the white line of the median strip stored in the figure storage unit 3. Then, a destination direction display 40 for instructing a direction in which the road surface coating apparatus 103 is moved to a desired painting position is displayed. The operator moves the road surface coating apparatus 103 according to the displayed destination direction display 40 and starts painting.

  According to the road surface coating apparatus 103 according to the present embodiment, the road surface marking can be painted based on the distance from the road feature, the white line of the road, etc., so that it is easy to paint the road surface marking with high positional accuracy. It can be carried out.

DESCRIPTION OF SYMBOLS 1 coating part, 2 coating nozzle, 3 figure memory | storage part, 11 GNSS antenna, 12 positioning calculating part, 13 inertial navigation apparatus, 14 odometer, 15 front side laser part, 16 back side laser part, 17 camera, 21 moving tire, 22 display unit, 23 operation handle, 24 vehicle drive unit, 25 vehicle control unit, 36 road marking shape for painting, 37 painting start line, 38a, 38b painting start line end, 39 destination direction display, 40 destination direction Display, 100, 101, 102, 103 Road marking coating device (road surface coating device), 110 GPS satellite, 111 Quasi-zenith satellite.

Claims (5)

Positioning means for receiving a positioning signal radio wave from a satellite and positioning the current position;
A storage unit for storing position information relating to markings such as a painting width and a painting shape to be painted on the road surface ;
A camera for imaging the road surface;
An injection nozzle for injecting the coating agent onto the road surface;
A road surface image captured by the camera;
A destination direction indicating a direction with respect to the coating position of the sign determined from the mounting position of the spray nozzle, the current position, and position information regarding the sign ;
Two linear guidelines for the paint width;
Between the two straight line guidelines, a coating position determined from the mounting position of the spray nozzle and the coating width;
Positional information about the coating shape;
Display on the screen,
A road marking coating apparatus characterized by comprising: Positioning means for receiving a positioning signal radio wave from a satellite and positioning the current position;
A storage unit for storing position information on a sign such as a paint width and a paint shape to be painted on a road surface, and a relative distance between the sign and a predetermined feature;
A laser distance measuring unit that irradiates a laser beam at a predetermined angle and calculates a distance to the feature at the predetermined angle;
A camera for imaging the road surface;
An injection nozzle for injecting the coating agent onto the road surface;
A road surface image captured by the camera;
A three-dimensional point cloud model generated using the distance and angle to the feature calculated by the laser ranging unit ;
The relative distance between the current position and the predetermined feature calculated using the three-dimensional point cloud model, wherein the indication is determined from the relative distance between the marking and a predetermined feature be stored in the storage unit Destination direction indicating the direction to the painting position ,
Two linear guidelines for the paint width;
Between the two straight line guidelines, a coating position determined from the mounting position of the spray nozzle and the coating width;
Positional information about the coating shape;
Display on the screen,
A road marking coating apparatus characterized by comprising: 3. The road marking coating apparatus according to claim 2, wherein the predetermined feature is one of a curb, a guardrail, a lane separator, a road sign, a manhole, a traffic light such as a traffic light, a white line, and a yellow line. . The storage unit stores, as a work list, information related to the sign stored in association with each painting work,
The said display part displays the said work list, The display on a screen is changed according to the selected said painting operation | work, The coating for road markings as described in any one of Claim 1 to 3 characterized by the above-mentioned. apparatus. The road marking coating apparatus according to any one of claims 1 to 4, wherein the satellite is a quasi-zenith satellite.

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