JPH07198843A - Display position detecting system for road surface traffic sign, automatic display system and responding unit and searching unit used therefor - Google Patents

Abstract

PURPOSE:To eliminate-necessity of a measuring operation of a display position at the time of redisplaying a traffic sign by easily detecting a display position of the sign even if a road surface is worn to vanish the sign and to automatically display the sign based on detection information of a marker by placing a searching unit on a self-traveling type display unit. CONSTITUTION:A marker 2 which resonates by external exciting and discharges a resonance signal, is buried at a reference point of a traffic sign display position of a road surface, and the marker 2 is detected by s searching unit 1 to detect the display position of the sign. The unit 1 alternately transmits and receives by a transmission/reception switching unit 105, discharges an exciting signal from a transmitter 102 via an antenna 104 at the time of transmitting, receives a reference signal generated by resonance of the marker 2 by the exciting signal by a receiver 103 via the antenna 104 at the time of receiving, and detects a buried position of the marker 2 from a level of the received signal by a buried point detector 107.

Description

Detailed Description of the Invention

[0001]

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

[0002]

2. Description of the Related Art Road surface traffic signs are simple lines such as a roadway center line (center line) that separates up and down lines, a vehicle lane boundary line that separates vehicle lanes, and a vehicle stop line at an intersection. Some are marked, and some are marked with their respective patterns, such as speed limit signs, traveling direction signs, turn prohibition signs, and restricted time signs.

For these road surface traffic signs, the marking position is determined by measuring the road surface, and for linear ones, a road surface traffic sign paint (hereinafter referred to as paint) is linearly applied by a wire drawing machine. The pattern is marked on the road surface by applying the paint by the wire drawing machine along an auxiliary tool for forming a predetermined pattern.

The road surface traffic sign has its marking surface constantly worn by the tires of a running vehicle. If the road surface traffic sign is difficult to identify due to the wear, the road surface traffic sign must be remarked at the same place. Particularly in a snowy area, the road surface traffic sign is scraped off by the snow removal work, so the re-signing work of the road surface traffic sign is frequently repeated.

When remarking this road sign,
The marking position is measured again on the road surface, and the coating work is performed by the wire drawing machine. In particular, when the surface of a road surface with rubbing is scraped off or the road surface is damaged and re-paved, all the old markings are erased. Therefore, the re-measurement of the marking position on the road surface is indispensable work.

[0006]

In the conventional road surface traffic sign marking method described above, it is necessary to measure the marking position anew, especially when the sign disappears and the marking is made again at the same place, resulting in a long working time. Therefore, not only the construction cost of the re-marking work becomes high and the maintenance cost of the road becomes high, but also the time of traffic regulation (for example, one-way traffic regulation) required during the work becomes long, which causes the traffic congestion to be prolonged. Will also be.

Further, since the marking work of the road surface traffic sign itself is conventionally carried out by manipulating the wire-drawing coating machine, the working time is long, and the coating material is uniformly applied at a predetermined thickness. It takes a great deal of skill to do it.

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

[0009]

In order to solve the above-mentioned first problem, the present invention responds by applying a high frequency excitation signal and returns a high frequency resonance signal having the same frequency as the high frequency excitation signal. The body is embedded in the reference point of the marked position of the traffic sign, and the interrogation signal by the high-frequency excitation signal is transmitted to the responder from the detection device that repeats the transmitting operation and the receiving operation at a constant cycle during the transmitting operation. Thus, the marking position of the road traffic sign is detected by receiving the reply signal by the high frequency resonance signal which the responding body responds and returns in response to the detecting device during the receiving operation.

The responding body for detecting the marked position of the road traffic sign described above is a resonance vibrating body having a resonance frequency which is the frequency of the interrogation signal transmitted from the detection device, and the interrogation vibrating body connected to the resonance vibrating body. And an antenna for receiving as a response signal a resonance signal generated by the resonance vibration of the resonance vibration body, and a piezoelectric vibration element is used as the resonance vibration body. . A crystal oscillator is most suitable as the piezoelectric vibrating element.

Further, the above-mentioned detecting device for detecting the marking position of the road traffic sign has an antenna, a means for oscillating a high-frequency excitation signal, and a response through the antenna with the high-frequency excitation signal oscillated by the oscillation means as an inquiry signal. An inquiry signal transmitting means for wirelessly transmitting to the body, and an answer signal receiving means for wirelessly receiving a high frequency resonance signal returned from the responder as an answer signal via the antenna and outputting the reception level thereof, The antenna is composed of switching means for alternately switching and connecting the inquiry signal transmitting means and the answer signal receiving means, and a receiving level analyzing means for analyzing the receiving level of the answer signal output from the answer signal receiving means. Analysis processing by the reception level analysis means, for example, two positions of the antenna where the two reception levels obtained by moving the antenna in parallel with the road surface become equal. The process of detecting the center is obtained so as to detect buried location of the response body, i.e. the title positional reference point of the road traffic sign.

Further, in particular, in order to detect the marking position of a road traffic sign having directionality because it is marked in a pattern, at least two types of responders having different resonance frequencies are used as reference for at least two of the marking positions. Embedded in each of the points, and the oscillating means of the detection device is configured to oscillate at least two types of high-frequency excitation signals having different frequencies so that the interrogating signal transmitting means transmits at least two types of interrogating signals having different frequencies. The response signal receiving means receives, as response signals, high-frequency resonance signals that the at least two types of responders resonate with and return to any of the at least two types of question signals, and the response signals are received. The reception level is output for each frequency, and the reception level analyzing means performs the analysis processing of the reception level for each of the above response 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.

Further, as a structure of the reception level analyzing means for detecting the marking position of the road traffic sign with higher accuracy, a question signal is transmitted from the two antennas to the responder buried under the road surface, and the responder is sent. The response signal returned from the above is received through the two antennas, the reception levels are obtained for the two antennas, and 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 point of the responder, that is, a reference position reference point of a road traffic sign.

Further, according to the present invention, the detection device of the above marking position detecting system is mounted on a self-propelled traffic sign marking device,
By controlling the steering means of the marking device by the output signal of the detection device, the marking device is made to travel along the buried portion of the responder under the road surface, and during this time, the paint is ejected from the marking means (nozzle). It is intended to be emitted to the road surface and automatically mark the road traffic sign, and 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, The marking position and marking direction of the road traffic sign are detected and identified by at least two kinds of responders buried under the road surface, and the steering means or / and the marking means are controlled based on the pattern information, and the road traffic sign is displayed. Is marked at a predetermined position with a predetermined pattern.

[0015]

Operation: Marked position detection system for road traffic signs: When the responder effectively receives the interrogation signal from the detection device, the resonant vibrator of the responder vibrates at its resonant frequency. If there are multiple types of responders (types due to differences in resonance frequency), the interrogation signal is sent out at multiple frequencies corresponding to the types of responders, and the resonance frequency is the same as the interrogation frequency. The body vibrates in resonance. This resonance vibration continues to be attenuated for a while after the interrogation signal is stopped (that is, while the interrogation signal is being received, the vibration energy is accumulated in the resonance vibrating body, and the accumulated energy is attenuated after the accumulation operation of the vibration energy is stopped. It becomes a vibration and is released gradually.),
This sustained damping 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 a response signal, and the reception level signal is output from the detection device. When this reception level signal is analyzed to detect the point at which the reception level is maximum, the point directly below the point is the buried location of the responder, that is, the marked position of the road traffic sign.

Further, the detection device is provided with two antennas,
The inquiry 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 reception levels of the two antennas is calculated. Since the change is larger than the change in the single reception level, the embedded portion of the responder can be easily detected, and the detection accuracy is improved. In this case, the embedded portion of the responder is at a position equidistant from the antenna.

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

Further, in the case of a traffic sign to be marked in a pattern, the marking position and the marking direction of the road traffic sign are detected by two kinds of response object detection signals from the above-mentioned detection device, and the antenna when the detection signal is detected. With the position of as the reference position,
The traffic sign pattern is marked on the road surface by controlling the steering means and / or the marking means according to a predetermined pattern (a pattern based on pattern information stored in advance in the detection device).

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS All of the drawings are for explaining the embodiments of the present invention, and FIG. 1 is a diagram for explaining an example of a road traffic sign and a buried portion of a responder (hereinafter referred to as a marker). The figure which showed the road traffic sign, (B) is a figure which shows the example of a sign displayed in planar shape, (C) is a figure which shows the cross section of a marker burying place. 2 and 3 are marker circuit diagrams, FIGS. 4 and 5 are block diagrams of detection devices, FIG. 6 is a block diagram of a traffic sign marking device (hereinafter referred to as marking device), and FIG.
(A), FIG. 8 and FIG. 9 are time charts showing the operation of the detection device, and FIGS. 7 (B) and (C) are 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 road surface traffic signs marked with simple lines and road surface traffic signs marked with a predetermined pattern. As an example of the former, Roadway Chuo Line (hereinafter referred to as the center line) 40
1, vehicle lane boundaries 402, vehicle lane outside lines 40
3, a vehicle stop line 404, and the like, and as an example of the latter, a speed limit sign 405 and traveling direction signs 406, 40.
7, 408, turn prohibition sign 409, and the like.

On the road surface 4, a marker 2 is embedded as shown in FIG. 1 (C) under the road surface at a portion indicated by a circle in FIG. 1 (A). The location where the marker 2 is buried serves as a reference point for marking the road traffic sign 41. Note that the marker 2 may be buried in a position directly below the marking surface, such as the center line 401, or in the vicinity of the marking surface, such as the turn prohibition sign 409.

The marker 2 under the road surface described above is shown in FIG.
Alternatively, the marking position of the road traffic sign 41 is detected by detecting with 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. 2 and 3.

As shown in FIG. 2, the first embodiment of the marker 2 is constructed by connecting a crystal oscillator 201, an antenna 202 and a capacitor 203 in parallel.

The crystal oscillator 201 is used as a resonant vibrating body, and the frequency of the interrogation signal sent from the detection apparatus 1 is its 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 is stopped, but the vibration energy at the resonance frequency continues for a while due to the accumulated vibration energy, and the resonance signal is emitted while being attenuated. As a resonant oscillator,
Generally, a piezoelectric vibrating element (ceramic oscillators other than quartz oscillators can be used), and among them, the quartz oscillator is most suitable depending on conditions such as efficiency of accumulating vibration energy and resonance frequency.

The antenna 202 is composed of a loop-type antenna having 10 turns or less at most, receives the interrogation signal from the detection device 1 and applies it to the crystal oscillator 201, and the resonance signal of the crystal oscillator 201. (Response signal) is emitted.

The capacitor 203 is for adjusting the resonance of the crystal oscillator 201, and is provided as necessary.

Further, the above-mentioned marker 2 is usually buried under the road surface in a posture in which the plane formed by the loop of the antenna 202 is parallel to the road surface.

As shown in FIG. 3, the second embodiment of the marker 2 is the marker 2 of the first embodiment, in which the antenna 202 is replaced with a loop type antenna and is a dipole type antenna. The antenna 202 has a characteristic that directional characteristics appear in the linear direction. Further, 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 (cue) of the marker 2 is the Q of the crystal oscillator 201. Is almost equal to and becomes a very high value. Therefore, the storage efficiency of the vibration energy is extremely high, and the residual vibration time after the excitation is stopped (response signal emission time) becomes longer than that in the first embodiment. However, the reaching distance of the reply signal becomes shorter than that in the first embodiment.

Further, the above-mentioned marker 2 has the antenna 20.
It is buried under the road in a posture in which the direction of the line 2 corresponds to the marking direction of the road traffic sign.

In the marker 2 described above, the above three elements or two elements are cased (a flat cylindrical case in the first embodiment,
In the second embodiment, it is housed in a long rectangular case). Further, 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 structure of the detection device 1 will be described.

The first embodiment of the detecting device 1 is an embodiment in which the connection shown by the dotted line in FIG. 4 is omitted, and the marker 2 is of one kind. It is used to detect the marking position of a road traffic sign (hereinafter referred to as a sign) that is linearly marked such as the band boundary line 402, the vehicle lane outside line 403, the vehicle stop line 404, and the like.

An oscillating unit 101 constitutes an oscillating means for oscillating a high frequency excitation signal for exciting the marker 2, and in the first embodiment, oscillates a high frequency excitation signal having a single frequency. The oscillation frequency is set to be the same as the resonance frequency of the marker 2 (crystal oscillator 201) (as close as possible).

Reference numeral 102 denotes a transmitter, which constitutes an inquiry signal transmitting means for amplifying the high frequency excitation signal input from the oscillator 101 and outputting it as an inquiry signal.

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

Reference numeral 104 denotes an antenna for both transmission and reception, which sends an inquiry signal from the transmission unit 102 toward the marker 2 and receives the above-mentioned reply signal from the marker 2. When the marker 2 is of the first embodiment (having a loop type antenna), the antenna 104 is also preferably of the loop type, and the marker 2 is of the second embodiment (having a dipole antenna). Antenna), the antenna 104 is also preferably a dipole type.

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

Reference numeral 106 denotes a level detection unit that detects the reception level of the response signal received by the reception unit 103.

Reference numeral 107 is a buried point detecting section, which is a level detecting section 1.
Marker 2 by analyzing the reception level of the reply signal from 06
And a reception level analysis means for specifying the buried portion of.

Reference numeral 108 denotes a display control unit, which is an embedded point detection unit 10
It is activated by the buried point detection signal from 7 and outputs a display signal. There are an audible signal and a visible signal as the display signal, and usually both are used together.

Reference numeral 109 denotes a display unit, which displays the embedded portion of the marker 2 in response to a display signal from the display control unit 108.

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

The second embodiment of the detecting apparatus 1 is constructed by adding a connection shown by a dotted line in FIG.
Is an example in the case where there are two types (generally a plurality of types), the speed limit indicator 405 and the traveling direction indicator 4
06, 407, 408 and the turn prohibition mark 409 are marked in a pattern and used for detecting the marking position of a directional mark.

The second embodiment differs from the first embodiment 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. Is. That is, from the switching control unit 110, in addition to the transmission / reception switching signal in the first embodiment, a frequency switching signal for switching the oscillation frequency to the oscillation unit 101 is sent to the display control unit 108 in the above two types. The display switching signal for displaying the reception of the response signal from the marker 2 for each type of the marker 2 is transmitted.

The third embodiment of the detecting apparatus 1 is configured by omitting the connection shown by the dotted line in FIG. 5, and like the first embodiment, there is one type of marker 2 and a marker marked linearly. It is used to detect the marking position of.

The third embodiment differs from the first embodiment in the following points.

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

The level detecting section includes the first antenna 111.
And two detection units (first level detection unit 114, second detection unit) that detect the reception level of the response signal received by the second antenna 112 for each of the first antenna 111 and the second antenna 112.
Level detection section 115), and the reception output (response signal) of the reception section 103 is transmitted to the first level detection section 114 and the second level detection section 115.
The reception output switching unit 116 for distributing and transmitting to the level detection unit 115, the first level detection unit 114 and the second level detection unit
A level difference calculator 117 for calculating the difference between the reception levels detected by the level detector 115, and the level difference calculator 117
It has a zero level detection unit 118 that detects that the calculation result of (1) 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 means, and correspond to the embedded point detection unit 107 of the first embodiment.

In addition to the transmission / reception switching signal in the first embodiment, the switching control unit 110 also includes the antenna switching unit 113.
Antenna switching signal to be sent to and the reception output switching unit 116
It outputs the reception output switching signal to be sent to.

The fourth embodiment of the detection apparatus 1 is constructed by adding the connection shown by the dotted line in FIG. 5, and like the second embodiment, there are two types of markers 2 and they are marked in a pattern. It is used to detect the marking position of the sign.

The difference between the fourth embodiment and the third embodiment is the same as the difference between the second embodiment and the first embodiment. That is, the oscillating unit 101 oscillates two signals having different frequencies, and the switching control unit 110 causes the transmission / reception switching signal,
In addition to the antenna switching signal and the reception output switching signal, the frequency switching signal and the display switching signal are respectively supplied to the oscillating unit 10.
1 and the display control unit 108.

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

A traveling drive unit 301 includes wheels, an engine,
Including self-propelled means including accelerator and brake.

Reference numeral 302 denotes a traveling control unit, which is the traveling drive unit 301.
A control signal is sent to the accelerator, the brake, etc. to control the traveling of the marking device 3.

Reference numeral 303 denotes a traveling distance measuring unit, which is the traveling drive unit 3.
The traveling distance of the marking device 3 is measured based on the number of rotations of the wheel 01.

A marking position detecting unit 304 detects the position of the marker 2 embedded in the road surface to detect the marking position of the sign. The mark position detection unit 304 is the detection device 1 itself.

A pattern storage unit 305 constitutes a pattern storage means for storing and storing the pattern data of the mark when the mark to be marked is a pattern.

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

Reference numeral 307 denotes a steering control section, which is the mark position detecting section 3
The pattern storage unit 3 along the buried portion of the marker 2 detected in 04 or with the buried portion of the marker 2 as a reference.
The steering unit 30 based on the pattern data stored in 05.
The steering control means for controlling 6 is configured.

A paint supply unit 308 supplies paint for marking a mark.

A marking portion 309 includes a nozzle for discharging paint and constitutes marking means for marking a mark on the road surface.

Reference numeral 310 denotes a paint supply control unit, which is the paint supply unit 3
The supply amount of the paint from 08 to the marking portion 309 is controlled to an optimum amount.

Reference numeral 311 is a marking movement control unit, which is a marking unit 309.
Is movable, the moving amount and moving speed of the marking portion 309 are controlled.

A mark width control unit 312 controls the mark width of the marker to a set value by controlling the paint discharge width of the nozzle when the paint discharge width of the nozzle of the mark unit 309 is variable. .

313 is a microprocessor (hereinafter, CP
U. ), The marking device 3 is collectively controlled.

Reference numeral 314 is a program storage unit, which is a CPU 31.
The control program No. 3 is stored and stored.

The first embodiment of the marking device 3 is for marking a marker marked with a simple line, and the pattern storage unit 305, the marking movement control unit 311, and the marking width control unit 312 are required in the above configuration. However, it is sufficient that the marking portion 309 is fixedly mounted on the marking device 3 and the coating discharge width of the nozzle can be manually changed as necessary.

The second embodiment of the marking device 3 is for marking a mark marked with a pattern, and is composed of all the above-mentioned constituent parts.

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 given later) can also be realized, and a simple line is also possible. Even if it is a sign according to the above, if this is grasped 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 is marked by the marking device according to the second embodiment. Is possible.

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

FIG. 7 shows the operation of the marking position detecting system using the first embodiment (the connection of which the dotted line is omitted in FIG. 4) as the detecting device 1. The operation of this embodiment will be described below. Will be explained.

In this embodiment, linear markers 401 to 404 are used.
The marker 2 shown in FIG. 1 is detected, and the marker 2 embedded at the marker reference point has its reaction frequency, that is, the resonance frequency of the crystal oscillator 201, set to the same value. As the marker 2, any one shown in FIG. 2 or 3 may be used.

The oscillator 101 constantly oscillates a high frequency excitation signal (hereinafter referred to as an excitation signal) for exciting the marker 2 as shown by A in FIG. 7 (A). The frequency of this excitation signal matches the resonance frequency of the crystal oscillator 201 of the marker 2, and is set to 10 MHz or higher.

The transmitting section 102 power-amplifies the excitation signal from the oscillating section 101 into an inquiry signal, and the transmission / reception switching section 105.
Send to.

The switching control unit 101 sets point B to point B in FIG. 7 (A).
7A is output at a cycle t, and the transmission / reception switching unit 105 causes the antenna 104 to transmit to the transmitting unit 102 and the receiving unit 103 at every cycle t according to the transmission / reception switching signal as shown in C of FIG. Switch connection to.

The excitation signal output from the transmission unit 102 is emitted from the antenna 104 as shown in D of FIG. 7A every time the transmission / reception switching unit 105 connects the antenna 104 to the transmission unit 102. It That is, the interrogation signal is sent to the marker 2 as a transmission signal that continues for t hours at intervals of 2t.

The marker 2 responds by receiving the inquiry signal transmitted from the antenna 104. That is, the interrogation signal transmitted from the antenna 104, when the antenna 104 approaches the embedded portion of the marker 2,
The crystal oscillator 2 enters the antenna 202 of the marker 2 and
01 becomes the excitation signal of the crystal oscillator 201.

By the above operation, the marker 2 is displayed as shown in FIG.
Respond as indicated by E in (A). That is, while the interrogation signal is 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 to apply the interrogation signal. When stopped, the vibration energy accumulated during the excitation period causes the vibration to continue while being attenuated at the same frequency for a while.

During the residual vibration period of the crystal oscillator 201, a high frequency resonance signal (hereinafter referred to as a resonance signal) is emitted from the antenna 202 of the marker 2 due to the above-mentioned damped vibration.
This resonance signal becomes a response signal and enters the antenna 104 of the detection device 1.

When the response signal is incident on the antenna 104, since the antenna 104 is connected to the reception unit 103 by the transmission / reception switching unit 105, the response signal is received by the reception unit 103, and the point F is shown in FIG. (A)
The received signal as indicated by F is output. This received signal is an envelope of a damped resonance signal generated by the residual vibration of the crystal oscillator 201.

The level detecting unit 106 detects the level of the received signal output from the receiving unit 103 and sends the level signal to the embedding point detecting unit 107, and the embedding point detecting unit 107 analyzes the level signal to detect the marker. The embedded portion 2 is specified, and the detection signal indicated by G in FIG. 7A is output to the display control unit 108 at the point G.

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 to detect that the embedded portion of the marker 2 has been identified on the display unit 109. The display is made by emitting a signal sound and emitting light from the light emitting element.

In the analysis processing for identifying the embedded portion of the marker 2 in the embedded point detecting unit 107, generally, the maximum level point of the level signal output from the level detecting unit 106 may be detected. As shown in (B), the level change of the received signal changes gently near the maximum point, so it is very difficult to detect the maximum point accurately. Therefore, the level detection unit 106 is
The buried portion of the marker 2 can be accurately specified by analyzing the level signal from the. First, in the first analysis method, the antenna 104 is moved in parallel with the road surface, and the point when the level signal output by the level detection unit 106 reaches a constant level L during that time is detected. Figure 7
As shown in (B), the change in the level signal when the antenna 104 is moved in parallel has a peak point (maximum level) at the embedded portion of the marker 2 and exhibits a symmetrical characteristic about the peak point. If the level L is set to a region below the maximum level where the change in the characteristics is large, there are two points where the level signal reaches the level L, and it is possible to clearly specify. That is, P1 and P2 in FIG.
Is the point of the level L, and since the marker 2 is embedded in the direction perpendicular to the midpoint P0 of the line connecting the points P1 and P2, the above operation is performed at the point where the response signal can be received. When the intermediate point P0 at each of the intermediate points P0 is obtained by repeating 2 times, the intersection of the vertical lines at the respective 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 apparatus 1 and the antenna 202 of the marker 2 are loop type antennas, the planes formed by the loops of the antenna 104 and the antenna 202 are orthogonal to each other. 7C, the change of the level signal rises as the antenna 104 approaches the marker 2 and reaches the peak point, and when the antenna 104 reaches the buried portion of the marker 2, the level signal changes sharply. Marker 2 reached almost zero level
It shows the characteristic that it rises again and reaches the peak point as it goes away from. Therefore, the buried portion of the marker 2 can be specified by detecting the point where the level signal once rises and then reaches zero level as much as possible, and the change when reaching the zero level is rapid. Because of this, the detection accuracy of the marker 2 is also increased.

FIG. 8 shows the operation of the marking position detecting system using the second embodiment (the connection of which is indicated by the dotted line in FIG. 4) as the detecting device 1. The operation of this embodiment will be described below. explain.

In this embodiment, the pattern-shaped markers 405 to 405 are used.
409 (FIG. 1) is used to detect the marking position.
As shown in (B), at least two marking reference points are set for one mark, and markers 2 having different response frequencies (resonance frequencies of the crystal unit 201) are provided at each reference point.
1 and 22 are buried. Note that the markers 21, 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 previous embodiment, the difference between this embodiment will be mainly described.

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

The switching control section 110 outputs a switching signal of the oscillation frequency of the oscillation section 101 to the point J as shown by J in FIG. 8, and the oscillation section 10 is input every time the frequency switching signal is input.
The oscillation frequency of 1 is switched and becomes 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 antenna 104 is connected to the reception unit 103 by the transmission / reception switching unit 105 at the output time. While the detection device 1 is in the state of receiving the response signal from the marker 21 or 22, it is set. With the above settings, the frequency of the interrogation signal emitted from the antenna 104 is f
It becomes an intermittent signal of 1, f2.

Marker 21 or 22 buried under the road surface
When the frequency of the interrogation signal transmitted from the detection device 1 matches the resonance frequency of its own crystal oscillator 201, responds to the reception of this interrogation signal, and the attenuated resonance signal of the same frequency is used as the reply signal in the above-mentioned embodiment. It returns to the detection apparatus 1 in the same operation as. 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 is set to the position shown in FIG.
As indicated by F, the response signal whose frequency is f1 or f2 is alternately output.

Level detecting section 106 and buried point detecting section 107
In the same manner as in the above embodiment, the level detection of the response signal and the detection of the buried portion of the marker 21 or 22 based on the level detection are performed, and the detection signal is sent to the point G as shown in G of FIG. This detection signal is output regardless of the frequencies f1 and f2, and the display control unit 108 discriminates the responding marker 21 or 22.

That is, the switching control unit 110 is set to point K in FIG.
The display switching signal indicated by K in FIG.
08 indicates the display unit 109 every time the display switching signal is input.
The switching control of the signal to be displayed on is performed. Therefore, when the detection signal is output from the embedded point detection unit 107, the marker 21 corresponding to the frequency f1 or f2 of the response signal received when the detection signal is output to the display unit 109 or 22 detection displays are performed.

For the above control, the switching control unit 110
Indicates that the display switching signal has a period of 2t and the marker 21
Alternatively, if 22 is present, the embedded point detection unit 107 repeatedly transmits the detection signal at the timing at which the detection signal is output. In order to do so, it is only necessary to match the transmission timing of the transmission / reception switching signal transmitted to the point B and to transmit the display switching signal every other transmission / reception switching signal.

The oscillation signal switching control in the oscillation unit 101 and the display switching control in the display unit 109 in the display control unit 108 need to be fixedly corresponded, but the transmission / reception switching signal and the display switching are performed. Since the signal is generated in the same switching control unit 110, fixed correspondence between the above two switching controls is easily possible.

Further, the reception unit 103 discriminates the frequency of the received signal (response signal), the level detection unit 106 detects the level of the response signal for each discriminated frequency, and the embedding point detection unit 107 embeds each frequency. If the location is detected, the switching control unit 110 is changed to the display control unit 108.
It is not necessary to send the display switching signal to (therefore, the connection through the point K is not required). In this way, the receiving unit 103
When the frequency discrimination is performed by the
The oscillation signal at 1 may be a signal in which the two frequencies f1 and f2 are mixed. When the mixed signal is used as described above, the frequency switching signal from the switching control unit 110 to the oscillation unit 101 is changed. Not required (thus, no connection through point J is required).

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

FIG. 9 shows the operation of the marking position detecting system using the third embodiment (in which the connection of the dotted line is omitted in FIG. 5) as the detecting device 1. The operation of this embodiment will be described below. explain.

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

The difference in operation between this embodiment and the above two embodiments will be described. The two antennas (first antenna 111 and second antenna 112) provided in the detection apparatus 1 are alternately arranged at regular intervals. The interrogation signal is transmitted (the frequency of the interrogation signal is the same), and the answer signal is sent to the antennas 111 and 11
Each of the two reception levels is detected separately, the reception level is detected separately, the difference between the detected two reception levels is calculated, and the point where the level of the difference becomes as zero as possible is detected. Since the marker 2 is embedded 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, the intersection of the vertical lines of the midpoints is the location where the marker 2 is embedded.

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 point M (FIG. 5), and the transmission / reception switching unit 105 performs the intermittent operation similarly to the two embodiments. The excitation signal transmitted to the first antenna 111 and the second antenna 112 are alternately distributed and supplied by the switching control in the antenna switching unit 113 by the antenna switching signal, as shown in D1 and D2 of FIG. Interrogation signals are emitted alternately and intermittently from the respective antennas 111 and 112.

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

The frequencies of the interrogation signals from the two antennas 111 and 112 are the same, and the marker 2 emits a resonance signal in response to whichever interrogation signal is effectively received.

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

In addition, from the switching control unit 110 to the point N in FIG.
The reception switching signal as indicated by N is transmitted at the same cycle and at the same timing as the upper antenna switching signal, and the reception output switching unit 116 outputs the reply signal output from the reception unit 103 as indicated by Q in FIG. The first level detector 114 and the second
It is distributed to the level detection unit 115 and transmitted.

As described above, the reply signal received by the first antenna 111 and the reply signal received by the second antenna 112 are input to the first level detecting unit 114 and the second level detecting unit 115, respectively. The reception level of the reply signal is detected at.

The marker 2 and the two antennas 111 and 11
When the positional relationship with 2 is the above-mentioned relationship, the first level detection unit 114 outputs the first level detection signal which rises every time the reply 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 the second level detection signal that decreases every time the reply signal is received at the point R2. The first level detecting unit 114 and the second level detecting unit 115 set the detection level to 4
The level detectors 114 and 115 maintain the detection level of the previously input answer signal for 4t hours after the input even if the input of the answer signal is cut off, and the operation shown in FIG. 9 is performed. In the example, a level signal that changes stepwise as shown by R1 and R2 is output.

The first level detection signal and the second level detection signal are input to the level difference calculation section 117 and the difference between them is calculated. As a result, at the point S, the level difference signal indicated by 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 the detection signal indicated by G in FIG. 9 to the point G. That is, when the first antenna 111 and the second antenna 112 are equidistant from the embedded portion of the marker 2, the response signal is received at the same level, so that the first level detection signal and the second level detection signal are received. Becomes the same level, and the value of the level difference signal becomes zero. When the positions of the two antennas 111 and 112 when the level difference signal becomes zero are detected, since the marker 2 is embedded on the vertical bisector at both positions, the embedded point detection in the above embodiment is performed. Similar to the first analysis method in the unit 107, the buried portion can be specified by two detection operations.

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

Further, the marking position detecting system using the fourth embodiment (the connection of which is indicated by the dotted line in FIG. 5) as the detecting device 1 is the detecting device 1 of the second embodiment.
Is a system for detecting the marking positions of the patterned markers 405 to 409 (FIG. 1), similar to the marking position detecting system using the above. The operation is based on the operation described in FIG. 8 and the operation described in FIG. 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 by the display switching signal from the switching control unit 110 are performed by the first antenna 11
It suffices to perform the first and second antennas 112, respectively, and perform reception level detection of the response signal, calculation of the level difference, and zero level detection for each interrogation signal of frequencies f1 and f2.

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

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

Further, the CPU 313 has the marking position detecting unit 3
Based on the detection of the marker 2 under the road surface at 04, the detection data is input from the marking position detection unit 304. Based on this detection data, the CPU 313 gives steering data to the steering control unit 307, and the steering control is performed. 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 position where the marker 2 is embedded), and during this time, the paint is supplied from the paint supply unit 308 to the marking unit 309 via the paint supply control unit 310. Is supplied, the paint is discharged from the nozzle of the marking portion 309, and a mark is marked at a desired position on the road surface.

In the paint supply control unit 310, the adjustment of the paint supply amount, the start of the paint supply, the stop of the supply, etc.
It is controlled by U313. Mileage measurement unit 303
If the supply and stop of the paint is controlled based on the traveling distance data from the vehicle, for example, the vehicle lane boundary 402 (FIG. 1)
As described above, it is convenient when marking an intermittent marker (the number of embedded markers 2 can be small).

By the above operation, the marking of the linear marker can be performed (the first embodiment of the marking apparatus 3), but the marking of the patterned marker is further controlled (the second marking of the marking apparatus 3). Example).

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

The CPU 313 uses the pattern storage unit 3 described above.
Pattern data read from 05, mileage measurement unit 3
On the basis of the travel distance data input from 03, steering data is sent to the steering control unit 307 to control the steering unit 306 in the traveling direction according to the pattern of the mark, and the mark movement control unit 3
11, the nozzle width of the marking portion 309 is controlled to move along the marking pattern, and the nozzle width control data is transmitted to the marking width control portion 312 to set the nozzle width of the marking portion 309 to the marking pattern. To control the supply and stop of the paint by controlling the paint supply control unit 310.

By combining the above respective controls, the marker can be automatically marked in a predetermined pattern.

When the marking device 3 is used to automatically mark a mark, particularly when a linear mark is marked along the embedded portion of the marker 2, the marking position detecting section 304 is used for marking direction identification. It is necessary to detect at least two markers 2 at all times, and for this purpose, the antenna 104 of the detection device 1 used as the mark position detection unit 304 is detected.
(Or a set of the first antenna 111 and the second antenna 112)
Are attached before and after the running direction of the marking device 3, and the two or two
It is necessary to devise to detect the embedded portion of the marker 2 with a pair of antennas.

If the marker 2 of the second embodiment (shown in FIG. 3) is used, since the marker 2 has directivity in the linear direction of the dipole antenna, the above-mentioned mark position detecting section is used. Conveniently one capture of marker 2 at 304 is sufficient, which is convenient.

[0124]

As described above, according to the present invention, one or a plurality of responding bodies having a resonant vibrating body are embedded at the reference point of the marking mark portion on the road surface, and the responding body is buried by the detecting device. It is designed to detect and identify the marking position of the sign or the marking position and the marking direction.Since it is not necessary to measure the marking position in the marking work of the sign, especially in the re-marking work of the disappeared sign. It is extremely effective in reducing construction costs and road maintenance costs and shortening traffic regulation time.

Furthermore, the present invention is one in which the above-mentioned detection device is mounted on a self-propelled marking device to automate the marking of the mark, which does not require a high degree of skill in the marking work and is a patterned mark. However, marking can be done without using auxiliary tools for marking, the workers involved in the marking work may be inexperienced, and even with a small number of people, a markedly significant effect in terms of marking construction can be achieved. is there.

[Brief description of drawings]

FIG. 1A is a diagram showing an example of marking of 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 embedded.

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

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

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

FIG. 5 is a block diagram of a detection device according to an 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 an example of the present invention.
(B) and (C) are reception level characteristic diagrams.

FIG. 8 is a time chart of an example of the present invention.

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

[Explanation of symbols]

1 ... Detecting device 2, 21, 22 ... Marker 3 ... Marking device 4 ... Road surface 41 ... Road surface traffic sign 101 ... Oscillation part 102 ... Transmitting part 103 ... Receiving part 104, 111, 112 ... Antenna 105 ... Transmission / reception switching part 106, 114 , 115 ... Level detection unit 107 ... Buried point detection unit 108 ... Display control unit 109 ... Display unit 110 ... Switching control unit 113 ... Antenna switching unit 116 ... Received output switching unit 117 ... Level difference calculation unit 118 ... Zero level detection unit 201 ... Crystal oscillator 202 ... Antenna 203 ... Capacitor 301 ... Traveling drive unit 302 ... Traveling control unit 303 ... Traveling distance measuring unit 304 ... Mark position detecting unit 305 ... Pattern storage unit 306 ... Steering unit 307 ... Steering control unit 308 ... Paint supply Part 309 ... Marking part 310 ... Paint supply control part 311 ... Marking movement control part 312 ... Marking width control part 3 13 ... CPU 314 ... Program storage unit 401-404 ... Linear traffic sign 405-409 ... Pattern traffic sign

Claims (7)

[Claims] 1. A system for detecting a marking position of a traffic sign marked on a road surface, which is embedded at a reference point of the marking position and responds to a high frequency excitation signal by applying a high frequency excitation signal to the high frequency excitation signal. A responder that returns a high-frequency resonance signal of the same frequency, and a transmission operation and a reception operation are alternately repeated at a constant cycle, and a question signal based on the high-frequency excitation signal is transmitted to the response body during a transmission operation, and a reception operation is performed. A marking position detecting system for a road traffic sign, which comprises a detection device for detecting a buried portion of the responder by receiving a response signal from the responder by the high frequency resonance signal. 2. A system for detecting a marking position of a directional traffic sign marked on a road surface and a marking direction thereof, wherein the marking position is embedded in at least two reference points of the marking position and different in frequency. And at least two types of responders that respond to one of the two high-frequency excitation signals and return a high-frequency resonance signal having the same frequency as the responding high-frequency excitation signal. And a transmitting operation and a receiving operation are alternately repeated at a constant cycle, at least two interrogation signals by the high-frequency excitation signal are transmitted to the responder during the transmitting operation, and at least two responders during the receiving operation. Detecting the buried portion of the at least two types of responders by receiving the response signal from the above-mentioned high-frequency resonance signal for each type of the responders. Marking position detection system for road traffic signs consisting of a device. 3. A response vibrating body used in the marking position detecting system according to claim 1, wherein a resonance vibrating body which resonates and vibrates with a frequency of an inquiry signal transmitted from a detecting device as a resonance frequency, and the resonance. A response consisting of an antenna that is connected to a vibrating body, receives an inquiry signal transmitted from the detection device, applies it to the resonant vibrating body, and emits a resonant signal generated by the resonant vibration of the resonant vibrating body as a response signal. body. 4. The detection device used in the mark position detecting system according to claim 1, wherein the antenna, the oscillating means for the high frequency excitation signal, and the high frequency excitation signal oscillated by the oscillating means are used as the interrogation signal. An inquiry signal transmitting means for wirelessly transmitting to the responder via the response signal receiving means for wirelessly receiving the high frequency resonance signal returned from the responder as the response means via the antenna and outputting the reception level. Means, switching means for alternately connecting the antenna to the inquiry signal transmitting means and the answer signal receiving means, and a receiving level analyzing means for analyzing the receiving level of the answer signal output from the answer signal receiving means. A detecting device, which has the above-mentioned response level detecting means and detects an embedded portion of the responder by an analyzing process. 5. The detection device used in the mark position detecting system according to claim 2, wherein an antenna, an oscillating means for oscillating at least two kinds of high frequency excitation signals having different frequencies, and the oscillating means oscillates. Question signal transmitting means for wirelessly transmitting at least two types of high-frequency excitation signals as interrogation signals to at least two types of responders having different response frequencies via the antenna, and frequencies returned from the responders. Response signal receiving means for wirelessly receiving at least two types of high-frequency resonance signals different from each other as response signals via the antenna and outputting the reception level of each response signal, and the antenna as the inquiry signal transmitting means. Switching means for alternately switching connection with the response signal receiving means,
And a reception level analyzing means for analyzing the reception level of each response signal output from the response signal receiving means,
A detecting device adapted to detect the buried portion of the at least two types of responders by the type of the responders by the reception level analysis processing of the respective response signals by the reception level analysis means. 6. The self-propelled traffic sign marking device equipped with the responder according to claim 3 buried under the road surface where the traffic sign is marked, and the traffic sign marking device according to claim 4. The marking device includes a self-propelled means, a steering means, and a steering for controlling the steering means in a direction in which the self-propelled direction is along a buried portion of the responder by a detection signal of the buried portion of the responder output from the detection device. An automatic marking system for road traffic signs having a control means and a marking means for discharging paint during self-driving and marking traffic signs on the road surface. 7. A self-propelled vehicle equipped with the responder according to claim 3 of at least two kinds having different resonance frequencies, which is buried under the road surface where the traffic sign is marked, and the detecting device according to claim 5. The traffic sign marking device comprises a self-propelled means, a steering means, a traffic sign pattern storage means,
The marking position and the marking direction of the traffic sign are determined based on the buried position detection signals of the at least two types of responders output from the detection device, and the self-propelled direction is determined based on the pattern information read from the pattern storage means. An automatic marking system for road traffic signs, which has a steering control means for controlling the vehicle and a marking means for discharging paint during self-propelling and marking traffic signs on the road surface.