JPS61162609A - Marking of road surface - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION This invention relates to a road marking method that can extremely easily and accurately draw straight lines on a road surface by tracking one side of highly directional electromagnetic waves such as laser beams. ,,' Conventionally, when drawing straight lines on the road surface using paint, it is necessary to measure from the width of the road at each excessive length, stretch a thread, and mark along the thread. The process involved repeating the process of moving a work vehicle or hand-pushing machine along the marked lines, spraying paint from a spray gun, and drawing the lines, which was very labor-intensive and time-consuming. It was dangerous.

Therefore, in this invention, in order to eliminate the drawbacks of this conventional method, highly directional electromagnetic waves such as a laser blue line are radiated in one plane, and the position is detected by the detector attached to the work vehicle. By tracking the lines, we have developed a method that allows for extremely simple and accurate line drawing work.

To explain the diagram, Fig. 1 shows the conventional method. Measure the length points 2 and 3, tie a thread between the determined points 2 and 3, and mark 5 along the thread. The distance between points 2 and 3 is usually about 50 m, and this operation is repeated to complete long-distance drawing operations. In the figure, 6 indicates a worker. Then, as shown in FIG. 2, an indicator 7' is attached to the front of the work vehicle 7.
A work vehicle 7 is moved along the marking 5 drawn by the work shown in the figure, and a straight line 10 is drawn by spraying paint from a spray gun 8 fitted to the work vehicle.

FIG. 5 shows a working situation using the hand-push construction machine 9, in which the worker 6 moves the hand-push construction machine 9 along markings 5 using a pointing tool 9' in front of it, and sprays paint from the spray gun 8. Perform line drawing work for straight line 10.

In such a conventional method, drawing work for inking requires manpower, is very laborious and time-consuming, and since the work is carried out on a road where general vehicles pass, there are many dangers, and it is not a very rational method.

Therefore, in this invention, we have developed a method that can extremely easily and accurately draw straight lines by emitting highly directional electromagnetic waves such as laser beams in one plane and tracking that plane using a sensor. It is something that

FIG. 4 is an explanatory diagram showing the principle of the present invention, in which a straight line 10 is drawn using a laser oscillator (for the sake of explanation, a radar beam is used as an example of highly directional electromagnetic waves). It emits a laser surface 21, and the work vehicle 22
a laser sensor 25, a spray gun 24 and a spray gun drive section 25 that are moved by the laser sensor;
When the paint sensor section 26 is attached and the work vehicle is moved, the laser sensor 2 tracks the controlling laser surface 21 having a plurality of detection sections, and accordingly the spray gun drive section 25 is activated. The spray gun 24 moves in a controlled manner as shown by the arrow R, and draws the straight line 10 accurately. (Even if the vehicle turns in a meandering direction, the spray gun maintains the predetermined position based on the V laser beam.) Laser oscillation is performed in the plane rather than in a straight line, as shown in Fig. Even if there is an uneven surface, as long as the laser oscillator 20 emits a laser wavefront to the laser surface 21, the laser wavefront will be transmitted to the laser sensor even if the work vehicle 22 is on a depression or on the 6th ground as shown at 22'. Can receive.

However, as shown in FIG. 6, when the laser is emitted not from a plane but from a laser oscillator 20' as a perpendicular laser line 21', when the work vehicle is at a lower position with a height difference as shown by H (the work car is shown as 22')
The laser sensor 23 of the lower work vehicle 22' cannot receive the laser beam. Therefore, even if there are some unevenness on the road, if you want to receive the laser beam in a straight line, as shown in Figure 7, the laser beam 21', which travels straight, can be received even if there are unevenness and the vehicle body moves up and down, as shown in Figure 7. The sensor 23' must be of reasonable size. Therefore, in this invention, the laser beam is emitted in a planar manner, so that the laser sensor can be made smaller.

FIG. 8 is an explanatory diagram of a device that oscillates a laser beam in one plane. As shown in FIG. The laser beam 21' enters the prism 20bK, and since the ZOLIMEM rotates around the axis 200 in the plane of the paper, the laser beams 2 and 1' form a plane 21 perpendicular to the plane of the paper.A rotating mirror or the like may be used instead of the ceramic prism. Figure 8 shows the oscillator 20 and the rotating laser plane 21'. Therefore, if the rotation axis 20c is parallel to the horizontal plane or the road surface, the laser plane is perpendicular to the horizontal plane or the road plane as shown in Figure 4 etc. Become.

The laser surface does not necessarily have to be perpendicular to a reference plane such as a horizontal plane or a road surface, and may be slightly inclined, but in this case, the permissible range of the angle α to which it may be inclined will be considered. Figure 9 shows a laser oscillator 2 at point P on road surface 1 whose lowest point is point A.
0t-, a point separated by a distance that can be received by the sensor is designated as B, and the maximum height difference between the lowest point A and the highest point B is designated as H. (For the purpose of explanation, point B is the highest point.) Figure 10 shows the 9th point.
Looking at the diagram from arrow R, it is located at 9, next to the center, 111
1P is the height of the road surface point P where the laser oscillator 20 is located, the lower horizontal line 1 person is the height of the road surface of the bottom surface A, the upper side, 1jl
This is the height of the road surface at the highest point B of IBti.

Now, if the laser plane 21 is tilted by α with respect to a line perpendicular to a horizontal plane or a reference plane such as a road surface, there is a difference in the height of the road surface, so the position where the laser plane and the road surface intersect is Point A on the road surface becomes point A' shown on IAIj, and point B on the road surface becomes point B' shown on line 1B, which is higher or lower than point P where the laser oscillator is located, so that the intersection of the laser surface and the road surface shifts to the left and right. Therefore, when a work vehicle runs on this uneven road surface, the laser sensor moves left and right in response to the laser surface, and the spray gun also moves left and right accordingly. If the distance between the lowest laser surface position [A and the highest laser surface position B is ΔL, and the maximum height difference is H, then α=
tan'''' is 1 mu i/H, and this difference ΔL between the left and right sides can be tilted up to α within the tolerance range of line painting. Also, this means that if there is no difference in height of the road,
This means that it is possible to set the angle α close to the reference plane from a state in which the laser plane is perpendicular to the reference plane.

In addition, as shown in FIG.
If for some reason the laser beam does not reach the sensor and cannot be detected, such as when the laser beam 21 does not reach the sensor 23 of the work vehicle 22 due to a laser beam entering the sensor 23, should the driver be notified by means such as a buzzer? , take measures such as stopping the spraying of paint.

FIG. 12 is an explanatory diagram of the drive unit 25 of the spray gun, and FIG.
The figure is a conceptual diagram of the wiring diagram, and shows the laser oscillator 20.
#n21 of laser beam from laser sensor 23
(which has a plurality of detection parts), the laser hits any of the received divisions 23a, and the detection signal is sent to the calculator 47, and the result is sent via the amplifier 48 to the wiring 46 to connect the clutch. The clutch 42' of the motor 42 is attached and detached, and the Zerne 43 is moved, and the sensor 23, the support plate 44, and the spray gun 24 attached to the shaft 45 fixed thereto are moved left and right, respectively, so that the sensor is constantly moving the laser surface. Apply at the center and paint correctly at the corresponding position. Note that 41 is a holder for attaching this drive unit 25 to a work vehicle.When performing line drawing using the method of this invention, the laser sensor receives the laser beam and always moves to the correct position. As mentioned above, the control range of the paint gun's position is finite.

If the driving direction of the vehicle is too inaccurate, the sensor itself may be completely out of the laser beam. Therefore, the present invention provides a method that allows wire drawing to be carried out more accurately by instructing the driver in which direction the work vehicle should move within a control range.

As shown in FIG. 14, a laser beam 21 is emitted from a laser oscillator 20 and received by a laser sensor 26.
3 is moved, and the spray gun 24 is also moved correspondingly by the spray gun drive unit 25 so as to draw a straight line correctly, and its allowable controllable range is set as W.

On the other hand, the work vehicle 22 does not go straight, but meanderes.
If V is the meandering width of the meandering locus, unless V≦W, the sensor 25 will move out of the controllable range from the laser surface 21. No matter how meandering there is, V≦
In order to drive in a WK manner, a guide is attached to the driver's seat of the work vehicle and the direction of travel is instructed to the driver using the machine number 50. Then, as shown in FIG. 15, the meandering width of the meandering trajectory of the work vehicle will be within the controllable range of the laser sensor 26, regardless of the driving skill of the driver of the work vehicle, based on instructions from the in-7 automation box. Therefore, the straight line 10 can be drawn correctly along the laser beam #21.

FIG. 16 shows an example of a device for carrying out the method of the present invention. A laser beam from a laser generator 20 is received by a laser sensor 23, and the position where the laser beam is received is sent to a central processing unit 60 via a wiring 65. and is sent to the spray gun drive device 25, and is driven by the clutch motor 4 as described above.
2, the clutch 42' of 2 is attached and detached, and the 2 clutch 42' is rotated, and the sensor 23,
The spray gun 24 moves from side to side so that the laser beam is properly centered on the sensor. and limit switch 46. ..., the position fK of the moving body 49,
The lighting position of the lamp 51 of information number 50 is different, and the speaker 52, buzzer 53, etc. are designed to emit the necessary sounds.

In the figure, 61 is a generator, 62 is a kitchenette, 65 is a paint injection compressor, and 64 is a pressurized tank.

This is an example of the 171st Mti information 2x 50, and depending on the position of the sensor, the lamp 51,...
・The location of the lights is different, giving instructions in which direction to turn the steering wheel. 52 is a speaker, 53 is a buzzer, and 54 is a lamp indicating that the device is in operation.

Also, Figure 18 shows another example, where the TV is placed in the driver's seat.
An arrow 56 appears at - to indicate the direction of travel of the car.

FIG. 19 shows an example of the operation of the device shown in FIG. 17. When the spray gun 24 is located at the center of the control range as shown in (A) (that is, when the sensor is also located at the center of the control range and receiving the laser beam), The work vehicle 22 just has to go straight without cutting 7 dollars 22H. At this time, the second gate 51a in the center of the transformation number 50 is lit, instructing the driver to go straight.

As shown in (B), when the vehicle body moves to the right and the spray gun 24 is positioned to the left of the control range, the left lamp 51
1) lights up and instructs the driver to turn the steering wheel 22H to the left and move the vehicle to the left. 22' in the figure is the centerline position of the vehicle.

As shown in (C), when the vehicle body moves further to the right and the spray gun is controlled to the left, the left lamp 51c lights up further,
Furthermore, the driver is instructed to turn the handle 22H to the left. (D)
shows the case where the vehicle body is further shifted to the right.

(As shown in the diagram, if the vehicle body leans too far to the left or right and goes out of the controllable range of the sensor, the lamp will not light up and a buzzer will sound to instruct you to restart the work.

Also, if the sensor is off by more than the allowable error, the spray gun will stop spraying at the same time. In this way, the direction of travel of the vehicle is directed to the driver so that the spray gun and laser sensor are within controllable range.

Since the road marking method of this invention has such a configuration,
By emitting a laser beam onto a single surface and tracking it, we have developed a method that can extremely easily and accurately draw a straight line on a road surface, regardless of the unevenness of the road surface.

[Brief explanation of drawings]

FIGS. 1, 2, and 3 are explanatory diagrams showing the conventional road marking method, FIG. 4 is an explanatory diagram showing the method of the present invention, and FIG.
Fig. 6 is an explanatory diagram showing the effect of this invention when there is a difference in height on the road surface, Fig. 7 is an explanatory diagram showing the case where the laser beam is a straight line, and Fig. 8 (6) is an explanatory diagram showing the configuration of the Caesar surface oscillator. An explanatory diagram of an example, Figure 8 (Unit is an explanatory diagram of the laser surface, Figure 9 is an explanatory diagram of the laser surface, and Figure 10 is an explanatory diagram showing the limit of inclination when there is a difference in height on the road surface when the laser surface is tilted. The figure is an explanatory diagram showing the state when a general vehicle enters the laser plane, Figures 12 and 16 are explanatory diagrams of an example of the spray gun drive device, and Figures 14 and 15 are the trajectory of the work vehicle. An explanatory diagram showing the relationship with position control of the spray gun, Fig. 16 is an explanatory diagram of an example of an instruction device for the driver, Fig. 17 is an explanatory diagram of the information number, and Fig. 18 is an explanatory diagram of TV=i. Fig. 19 is an explanatory diagram of how to give instructions to the driver. 1...Road, 2.3...Fixed point, 4...Thread, 5...
・Marking, 6... Worker, 7... Work vehicle, 8... Spray gun, 9... Hand construction machine, 10... Straight line marking, 11... One side of the road, 20. ...Laser oscillator, 21...Laser beam, 22...Work vehicle, 23.
... Laser sensor, 24 ... Spraga /, 25
...Spray gun drive part, 26...Paint pump part, 50...Information Z, 55.
...TV monitor. Figure 1 Figure '5 Figure 6 Figure 17 Figure aγ Figure 8 F1 Figure 9. 11 (II Figure 12 Figure 13 Figure II 15 1!1 V20 Figure 17 Father Figure 18 Podium Figure 9 Procedural amendment May 27, 1985

Claims (1)

[Claims] 1) Straight line drawing construction is performed by tracking highly directional electromagnetic waves such as laser beams or other highly directional electromagnetic waves such as laser beams radially oscillated within one plane using a detector. A road marking method characterized by: 2) The road surface marking method according to claim 1, wherein the surface from which the highly directional electromagnetic waves such as laser beams are radiated is perpendicular to a horizontal plane. 3) The road surface marking method according to claim 1, wherein the surface from which the highly directional electromagnetic waves such as laser beams are radiated is perpendicular to the road surface. 4) The road surface marking method according to claim 1, wherein the surface from which the highly directional electromagnetic waves such as laser beams are radiated is slightly inclined from a horizontal plane or a plane perpendicular to the road surface. . 5) In a method of drawing straight lines by tracking the surface of highly directional electromagnetic waves such as laser beams, the operator of the work vehicle is asked to move the work vehicle so that the spray gun is within the controllable range. A road marking method characterized in that the direction of travel is notified.