WO2017138554A1 - 磁気マーカの施工方法及び作業車両システム - Google Patents
磁気マーカの施工方法及び作業車両システム Download PDFInfo
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- WO2017138554A1 WO2017138554A1 PCT/JP2017/004527 JP2017004527W WO2017138554A1 WO 2017138554 A1 WO2017138554 A1 WO 2017138554A1 JP 2017004527 W JP2017004527 W JP 2017004527W WO 2017138554 A1 WO2017138554 A1 WO 2017138554A1
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- Prior art keywords
- magnetic
- magnetic marker
- marker
- layer
- road surface
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Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/50—Road surface markings; Kerbs or road edgings, specially adapted for alerting road users
- E01F9/506—Road surface markings; Kerbs or road edgings, specially adapted for alerting road users characterised by the road surface marking material, e.g. comprising additives for improving friction or reflectivity; Methods of forming, installing or applying markings in, on or to road surfaces
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/16—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings
- E01C23/18—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for applying prefabricated markings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/30—Arrangements interacting with transmitters or receivers otherwise than by visible means, e.g. using radar reflectors or radio transmitters
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/50—Road surface markings; Kerbs or road edgings, specially adapted for alerting road users
- E01F9/506—Road surface markings; Kerbs or road edgings, specially adapted for alerting road users characterised by the road surface marking material, e.g. comprising additives for improving friction or reflectivity; Methods of forming, installing or applying markings in, on or to road surfaces
- E01F9/512—Preformed road surface markings, e.g. of sheet material; Methods of applying preformed markings
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/50—Road surface markings; Kerbs or road edgings, specially adapted for alerting road users
- E01F9/576—Traffic lines
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
Definitions
- the present invention relates to a magnetic marker laid on a road.
- a magnetic marker detection system for a vehicle that detects a magnetic marker laid on a road by a magnetic sensor attached to the vehicle is known (for example, see Patent Document 1).
- a magnetic marker detection system there is a possibility that automatic driving can be realized in addition to various driving assistances such as automatic steering control using a magnetic marker laid along the lane and a lane departure warning.
- the conventional magnetic marker has the following problems. For example, in order to realize driving assistance for lane departure warnings, it is necessary to lay magnetic markers at relatively short intervals, and it may not be possible to avoid an increase in construction cost unless good work efficiency can be secured for each magnetic marker. .
- the present invention has been made in view of the above-described conventional problems, and provides a construction method and a work vehicle system for efficiently constructing a magnetic marker.
- One aspect of the present invention is a vehicle that is laid on a road so that it can be detected by a magnetic sensor attached to the vehicle, and that supports driving operation of the vehicle by the driver or realizes automatic driving that does not depend on the driver's operation.
- a magnetic marker construction method for realizing side control includes a magnetizing step of magnetizing a magnetic marker disposed on a road by applying a magnetic field to the magnetic marker.
- One aspect of the present invention is a work vehicle system for laying the magnetic marker, A magnetizing device that applies a magnetic field toward the road surface; And a detection device that detects magnetism generated by the magnetic marker.
- the magnetic marker arranged on the road is magnetized.
- this construction method there is no need to confirm the magnetic pole property in advance when arranging the magnetic marker.
- the magnetic marker since the magnetic marker has been arranged with a wrong magnetic polarity, there is no need to remove and re-arrange the magnetic marker.
- the initial performance can be recovered by re-magnetization. For example, it is not necessary to dig up an embedded magnetic marker and replace it with a new one, so that the construction cost of the magnetic marker including maintenance can be reduced.
- the work vehicle system includes a magnetizing device that applies a magnetic field toward the road surface of a road, and is a construction system capable of performing the above construction method. According to this work vehicle system, it is possible to efficiently carry out the magnetization of the magnetic marker arranged on the road.
- the work vehicle system further includes the detection device that detects magnetism generated by the magnetic marker. If this work vehicle system is used, a series of operations from magnetization of the magnetic marker to confirmation of magnetic characteristics after magnetization can be completed.
- the magnetic marker can be efficiently constructed, and when the work vehicle system according to the present invention is used, this construction method can be carried out with high work efficiency.
- Explanatory drawing which illustrates a mode that a magnetic marker is detected with the magnetic sensor of a vehicle.
- Explanatory drawing which illustrates the lane where the magnetic marker was laid. The top view and side view of a magnetic marker.
- Sectional drawing which shows the cross-section of a magnetic marker.
- the graph which shows the magnetic field distribution of the perpendicular direction of a magnetic marker.
- Explanatory drawing which shows the first half of the process which produces a magnetic marker.
- Explanatory drawing which shows the latter half of the process which produces a magnetic marker.
- Explanatory drawing which shows a mode that a roll body is produced
- Explanatory drawing which shows a mode that the carrier sheet holding the magnetic marker is wound up.
- Explanatory drawing which shows a working vehicle.
- the flowchart figure which shows the procedure of construction of a magnetic marker.
- the magnetizing step included in the construction method according to the present invention may be a step of re-magnetizing the magnetized magnetic marker.
- the magnetized magnetic marker can be re-magnetized in the laid state, the construction cost including maintenance after laying can be reduced.
- the work vehicle system according to the present invention may be a system composed of one work vehicle or a system composed of two or more work vehicles.
- the magnetizing device is provided in one work vehicle
- the detection device is provided in another work vehicle
- a work vehicle provided with the magnetizing device may be preceded.
- Example 1 This example is an example relating to the magnetic marker 1 laid on a road for the purpose of assisting driving operation of the vehicle, automatic driving, providing information, and the like. The contents will be described with reference to FIGS.
- the magnetic marker 1 laid on the road surface 53 can be detected by, for example, the magnetic sensor 2 attached to the bottom surface 50 of the vehicle 5.
- the detection signal of the magnetic marker 1 by the magnetic sensor 2 is input to, for example, an ECU (not shown) on the vehicle 5 side, for example, automatic steering control for maintaining the lane, driving support control such as a lane departure warning, automatic driving control, etc. It can be used for various vehicle-side controls.
- the magnetic marker 1 is a flat circular sheet-like marker having a diameter of 100 mm and a thickness of 2.5 mm, as shown in FIGS.
- protective layers 12 including a glass cloth 12G (FIG. 7), which is a fiberglass fiber sheet, are laminated on both front and back surfaces of a magnetic layer 11 that generates magnetism.
- a layer mainly composed of asphalt, which is a paving material, is laminated, whereby the magnetic marker 1 has a five-layer structure.
- the magnetic layer 11 is formed by dispersing magnetic powder 111 (FIG. 6), which is an iron oxide powder, in asphalt as a base material.
- the protective layer 12 is a layer of a composite material (fiber reinforced composite material) obtained by impregnating glass cloth 12G with asphalt as a base material (matrix). Of the layers outside the protective layer 12, the layer that faces the road surface 53 when laid is the bonding layer 16 made of asphalt. The asphalt forming the bonding layer 16 functions as an adhesive when bonded to the road surface 53.
- the layer opposite to the bonding layer 16 is an anti-slip layer 15 in which an aggregate such as sand is mixed with asphalt.
- the magnetic marker 1 is bonded to the road surface 53 using asphalt forming the bonding layer 16 as an adhesive (FIG. 4).
- the thickness of the magnetic marker 1 of 2.5 mm is approximately the same as the thickness of road markings such as white lines printed on the road surface 53 and speed limit indications.
- the anti-slip layer 15 on the front side is formed of asphalt, like the surrounding road surface 53, and includes aggregates intended to prevent slipping. Therefore, even when the vehicle tire steps on the magnetic marker 1, the driver is less likely to feel discomfort, and the possibility of slipping or the like is reduced.
- the vertical magnetic field distribution of the magnetic marker 1 having a surface magnetic flux density Gs of 1 mT and a diameter of 100 mm is obtained as shown in FIG.
- the logarithmic scale of magnetic flux density acting in the vertical direction is set on the vertical axis
- the vertical height (height from the marker surface) with respect to the surface of the magnetic marker 1 is set on the horizontal axis. Is a semi-logarithmic graph.
- the magnetic flux density applied by the magnetic marker 1 is 8 microtesla (0.08 ⁇ 0.08 ⁇ 10) at a position of 250 mm corresponding to the upper limit of 100 to 250 mm, which is an assumed range of the mounting height of the magnetic sensor 2 on the vehicle 5 side. 10 -4 Tesla). Note that the accuracy of the computer simulation used has been confirmed in advance by the inventors through demonstration experiments.
- a magneto-impedance (MI) sensor is a magnetic sensor using a magneto-impedance element including a magnetic sensitive body whose impedance changes according to an external magnetic field.
- the magneto-impedance element (MI element) is caused by the skin effect in which the current density of the skin layer increases when a pulse current or high-frequency current flows through the magnetic body, and the depth (thickness) of the skin layer varies due to the external magnetic field.
- MI effect magneto-impedance effect
- highly sensitive magnetic measurement is possible.
- MI element it is possible to realize a low-cost and small-sized magnetic sensor that can detect weak magnetism of, for example, about 0.5 to 10 ⁇ T.
- a number of applications have been filed for MI sensors using MI elements. For example, WO 2005/19851 publication, WO 2009/119081 publication, and Japanese Patent No. 4655247 publication have detailed descriptions.
- the magnetic sheet 104A In producing the magnetic sheet 104A, first, a slurry 113 in which magnetic powder 111 (iron oxide powder in this example) is kneaded in molten asphalt serving as a base material is generated (FIG. 6A). After drying the pellets 101 (FIG. 6B) obtained by molding the slurry 113 into a predetermined shape, the pellets are thinly stretched into a sheet shape by the rolling roller 102, thereby producing a sheet-like magnetic sheet 104A (FIG. 6C). )).
- the magnetic sheet 104 ⁇ / b> A is a sheet that forms a first layer that becomes the magnetic layer 11 of the magnetic marker 1.
- an intermediate sheet which is an intermediate processed product for punching out the magnetic marker 1 by performing a step of laminating a second layer or the like serving as the protective layer 12 of the magnetic marker 1 on both the front and back surfaces of the magnetic sheet 104A.
- 104B is generated.
- this process is performed in a state where the magnetic sheet 104A is horizontally extended so that the processing surface faces upward in the vertical direction, and the magnetic sheet 104A is turned over to perform the same processing on both the front and back surfaces.
- a glass cloth 12G which is a woven fabric of glass fiber, is disposed so as to cover the surface of the magnetic sheet 104A (FIG. 7D). Then, a molten material mainly composed of asphalt is applied to the surface of the glass cloth 12G, and the glass cloth 12G is impregnated with asphalt. As a result, a composite material in which asphalt as a base material (matrix) is reinforced with the glass cloth 12G is formed, whereby the second layer made of the composite material can be formed.
- the molten material is further supplied beyond the amount capable of impregnating the glass cloth 12G with asphalt. Then, a layer mainly composed of asphalt can be formed outside the second layer made of the composite material.
- the component of the molten material to apply differs in both surfaces of 104 A of magnetic sheets. The components of the molten material applied to one surface are almost all asphalt, while the molten material applied to the other surface is a material obtained by mixing aggregate such as sand with asphalt. A layer formed of asphalt mixed with aggregate serves as the anti-slip layer 15 of the magnetic marker 1, and a layer formed only of asphalt serves as the bonding layer 16 of the magnetic marker 1.
- the intermediate sheet 104B of FIG. 7 (e) produced in this way a layer that becomes the protective layer 12 and a layer that becomes the bonding layer 16 are laminated on one surface side of the magnetic sheet 104A, and on the other surface side,
- the cross-sectional structure of the intermediate sheet 104B is such that the second layer forming the protective layer 12 is laminated on both the front and back surfaces of the first layer forming the magnetic layer 11, and the bonding layer 16 and the second layer are formed outside the second layer.
- a five-layer structure (not shown) in which a layer to be formed or a layer to be the anti-slip layer 15 is laminated.
- the intermediate sheet 104B is a large sheet on which a plurality of magnetic markers 1 can be punched.
- the punched position is indicated by a solid circle
- the planned punching position is indicated by a broken circle.
- a cylindrical punching die 3 that can accommodate the punched magnetic marker 1 can be used.
- the punching die 3 is a Thomson holder 32 that moves up and down following a hydraulic cylinder (not shown), a substantially cylindrical Thomson die 31 having a circular cutting edge at the tip, and a state where the punching die 3 is inserted in the Thomson die 31.
- an adsorption unit 33 slidable in the cylinder direction.
- the attracting unit 33 attracts the magnetic marker 1 punched from the intermediate sheet 104B and retreats by the thickness each time a new magnetic marker 1 is punched. As a result, the punched magnetic markers 1 are sequentially stacked in the Thomson mold 31.
- a laminated body 100 in which a plurality of punched magnetic markers 1 (FIG. 7 (f)) are overlapped is formed. It can.
- the intermediate sheet 104B may be replaced while the punching process is continuously performed. If the intermediate sheet 104B is replaced in the middle, a laminate 100 in which a larger number of magnetic markers 1 are laminated can be obtained.
- the roll body 10 holding the magnetic marker 1 is used.
- the roll body 10 is produced based on a sheet roll 40 in which a long belt-like polyethylene carrier sheet 400 is wound in a roll shape (see FIG. 9).
- the width of the carrier sheet 400 is 150 mm corresponding to the diameter of the magnetic marker 1 of 100 mm.
- the carrier sheet 400 In transferring the magnetic marker 1, the carrier sheet 400 is unwound from the sheet roll 40 set on the unwinding shaft 461, and the leading end is wound via the upper surface of the work surface 49 using the guide roller 464 or the like. It is good to lock on the take-up shaft 463.
- a holder 34 that accommodates the stacked body 100 and supplies the magnetic markers 1 one by one to the takeout port 340 can be used. The holder 34 can transfer the magnetic markers 1 one by one so as to push the stamp in a state where the takeout port 340 faces the carrier sheet 400.
- the holder 34 has a support plate 341 urged in the pushing direction by the urging member 342.
- the laminated body 100 urged in the push-out direction by the support plate 341 is positioned such that the end surface is flush with the take-out port 340 whose inner diameter is slightly reduced.
- the laminated body 100 urged by the support plate 341 is flush with the take-out port 340. It is pushed out and advanced by the thickness of the magnetic marker 1, and the next magnetic marker 1 can be transferred to the carrier sheet 400.
- the laminated body 100 is accommodated so that the anti-slip layer 15 may face the opening side of the extraction port 340. Therefore, when the magnetic marker 1 is transferred to the carrier sheet 400 using the holder 34, the anti-slip layer 15 of the magnetic marker 1 is located on the carrier sheet 400 side, and the bonding layer 16 is located on the opposite side. .
- the rotational speeds of the unwinding shaft 461 and the winding shaft 463 are controlled so that the unwinding portion of the carrier sheet 400 passes along the work surface 49 at a constant speed. While the carrier sheet 400 is passing, the magnetic marker 1 can be transferred to the carrier sheet 400 at regular intervals by repeatedly raising and lowering the holder 34 at regular intervals so as to push the stamp. On the winding shaft 463 side, the carrier sheet 400 that holds the magnetic marker 1 at a constant interval is wound up, and the roll body 10 that holds the magnetic marker 1 can be produced.
- This work vehicle 4 shown in FIG. 10 includes a cleaning device 410 that cleans the road surface 53 on which the magnetic marker 1 is laid, two heating devices 411 and 412 that heat the road surface 53 and the like, a supply device 42 that supplies the magnetic marker 1, Arrangement device 43 which arranges magnetic marker 1 supplied from supply device 42 on road surface 53, pressurization device 44 which pressurizes road surface 53, magnetizing device 45 which magnetizes laid magnetic marker 1, detection which detects magnetism This is a special vehicle equipped with the device 47.
- the cleaning device 410 is a device that includes an injection nozzle that injects a high-pressure water flow toward the road surface.
- the heating devices 411 and 412 include a burner that radiates a flame, and is a device provided with a flame radiating port so as to face the road surface 53.
- Two heating devices 411 and 412 are provided on the front and rear sides of the arrangement device 43. The first heating device 411 on the front side heats the road surface 53 before the magnetic marker 1 is arranged, and the second heating device 412 on the rear side heats the road surface 53 on which the magnetic marker 1 has been arranged.
- the supply device 42 is a device that supplies the magnetic marker 1 held on the carrier sheet 400 to the placement device 43.
- the supply device 42 handles the above-described roll body 10 and unwinds the carrier sheet 400 so that the magnetic marker 1 can be removed.
- the supply device 42 includes a winding shaft 421 for setting the roll body 10 and a winding shaft 422 for winding the carrier sheet 400 unwound from the roll body 10.
- the carrier sheet 400 that has been unwound from the roll body 10 and unwound on the take-up shaft 422 is wound around the outer periphery of the pressure roller 431 that constitutes the arrangement device 43 with the magnetic marker 1 to be held outside.
- the unwinding shaft 421 constitutes means for holding the roll body 10 so that the carrier sheet 400 can be unwound, and the winding shaft 422 is unwound from the roll body 10 and the magnetic marker 1 is removed.
- the means for winding the carrier sheet 400 is configured.
- the placement device 43 is a device that places the magnetic marker 1 on the road surface 53.
- the arrangement device 43 includes a pressure roller 431 that rolls while pressing the road surface 53 in a state where the carrier sheet 400 is wound.
- the pressure roller 431 transfers the magnetic marker 1 held on the carrier sheet 400 onto the road surface 53 by pressing the carrier sheet 400 against the road surface 53 while rolling on the road surface 53.
- the pressure device 44 includes a pressure roller 441 that presses while rolling the road surface 53, and is a device that levels the road surface 53 by the weight of the pressure roller 441.
- the pressurizing device 44 is arranged behind the second heating device 412 so that the road surface 53 after heating the magnetic marker 1 can be leveled.
- the magnetizing device 45 is a device that applies a magnetic field to the magnetic marker 1 laid on the road surface 53 and magnetizes the magnetic marker 1 so as to have a magnetic pole property.
- the magnetizing device 45 includes a magnetic field generating unit including a combination of a cylindrical coil 451 around which an electric wire is wound and an iron core 452 made of a ferromagnetic material that is inserted inside the coil 451. And a power supply unit (not shown) for controlling the power.
- This magnetizing device 45 is arranged further rearward than the second heating device 412 and the pressure roller 441 on the rear side, and performs magnetization on the magnetic marker 1 after being heated and pressed. . It is also effective to provide a blower for cooling the magnetic marker 1 after pressurization and before magnetization. While there is a possibility that the magnetic marker 1 cannot be magnetized efficiently when the temperature of the magnetic marker 1 is high and close to the Curie temperature, if the magnetic marker 1 is cooled in advance, efficient magnetization can be achieved.
- the construction method (FIG. 11) of the magnetic marker 1 using the work vehicle 4 configured as described above includes a cleaning step P101 for cleaning the road surface 53 corresponding to the position where the magnetic marker 1 is laid, and a first method for heating the road surface 53 in advance.
- a pressure process P105, a magnetizing process P106 that magnetizes the magnetic marker 1 disposed on the road surface 53 by applying a magnetic field, and a detection process P107 that detects the magnetism generated by the magnetic marker 1 are performed in this order. Is the method.
- the cleaning position by the cleaning device 410 the heating position by the first heating device 411 on the front side, the arrangement position of the magnetic marker 1 by the arrangement device 43, and the second position on the rear side.
- the heating position of the heating device 412, the pressing position of the pressing device 44, the magnetizing position of the magnetizing device 45, and the detection position of the detecting device 47 pass through the laying position of the magnetic marker 1 in this order.
- the device is arranged.
- the cleaning step P101 cleans the position where the magnetic marker 1 is laid by removing dust and dirt on the road surface 53 by injecting a high-pressure water stream from an injection nozzle of the cleaning device 410 attached so as to face the road surface 53. It is a process to do.
- the first heating process P102 is a preheating process in which the road surface 53 corresponding to the position where the magnetic marker 1 is laid is preheated by the burner of the heating device 411. This process is performed when the position where the magnetic marker 1 is laid is included in the heating range of the first heating device 411 on the front side of the work vehicle 4 moving along the lane.
- the position where the magnetic marker 1 is laid may be a position marked in advance with an X mark or the like, or may be a predetermined position measured by DGPS (Differental Global Positioning System).
- DGPS Differental Global Positioning System
- Arrangement step P103 is a step in which the magnetic marker 1 held on the carrier sheet 400 unwound from the roll body 10 is transferred and arranged on the road surface 53.
- the unwinding of the carrier sheet 400 from the roll body 10 by the supply device 42 is performed by following the rotation of the drive wheels of the work vehicle 4 via a speed reduction mechanism (not shown).
- the degree of deceleration by the deceleration mechanism is adjusted so that the magnetic marker 1 held by the carrier sheet 400 is positioned in the gap between the pressure roller 431 and the road surface 53 every time it reaches the position where the magnetic marker 1 is laid. .
- the magnetic marker 1 positioned in the gap between the pressure roller 431 and the road surface 53 is pressed against the road surface 53 by the pressure roller 431 and is pressure-bonded.
- the magnetic marker 1 is held with the anti-slip layer 15 inside (sheet side), and the bonding layer 16 is outside. If pressure is applied from the back side of the carrier sheet 400, the magnetic marker 1 can be disposed in a state where the bonding layer 16 is pressed against the road surface 53. When the magnetic marker 1 is disposed, the road surface 53 is heated and is in a high temperature state, so that the asphalt forming the bonding layer 16 is warmed and softened and integrated with the asphalt on the road surface 53 side. Thereby, asphalt functions as an adhesive and the magnetic marker 1 can be bonded.
- the second heating process P104 is a post-heating process in which the magnetic marker 1 disposed on the road surface 53 is heated together with the surrounding road surface 53. According to this heating process P104, the asphalt of the anti-slip layer 15 forming the surface of the magnetic marker 1 can be heated and softened together with the asphalt of the surrounding road surface 53.
- the pressurization process P105 is a process of pressurizing the magnetic marker 1 and the surroundings after heating them. If this step similar to the step of paving the road surface 53 of the road is performed, the road surface 53 on which the magnetic marker 1 is laid can be leveled with high uniformity, and the asphalt of the anti-slip layer 15 on the surface side of the magnetic marker 1 The surrounding asphalt can be brought close to the unity to eliminate the boundary.
- the magnetizing step P106 is a step of magnetizing the laid magnetic marker 1 by applying a magnetic field.
- the detection step P107 is a step of inspecting whether or not a desired magnetic characteristic is realized by magnetization by detecting magnetism generated by the magnetic marker 1. If the inspection by the detection step P107 is passed, the installation of the magnetic marker 1 is completed.
- the magnetic marker 1 of this example is a magnetic marker 1 in which protective layers 12 including glass cloth 12G are laminated on both front and back surfaces of a magnetic layer 11 in which magnetic powder 111 is dispersed in asphalt as a base material. is there.
- This protective layer 12 is formed of a composite material in which glass cloth 12G is impregnated with asphalt. According to the protective layer 12 made of a composite material whose characteristics such as material strength and wear resistance of asphalt are improved by glass fiber, the inner magnetic layer 11 can be protected, and the durability of the magnetic marker 1 can be improved.
- a bonding layer 16 made of asphalt is formed outside the protective layer 12 on the side facing the road surface 53 when laid. Further, an anti-slip layer 15 in which aggregate is mixed with asphalt is formed outside the protective layer 12 on the surface side of the magnetic marker 1 at the time of laying.
- the bonding layer 16 is useful as a layer that functions as an adhesive during construction.
- the anti-slip layer 15 is useful as a layer that is integrated with the road surface 53 after laying and contributes to preventing slipping of the vehicle tire.
- the magnetic marker 1 is a product with excellent characteristics that achieves low cost and downsizing by realizing high durability with a simple structure.
- asphalt which is a polymer material is illustrated as a base material forming the magnetic layer 11 constituting the magnetic marker 1.
- a polymer material such as rubber or plastic may be used as the base material. If rubber is used as a base material, it becomes a rubber magnet, and if plastic is used as a base material, it becomes a plastic magnet.
- a magnet in which the magnetic powder 111 is dispersed using a polymer material such as asphalt, rubber, or resin material as a base material has flexibility, and has an advantage that cracking is less likely to occur compared to a magnet such as a sintered magnet.
- the highly flexible magnetic marker 1 since it can respond to the unevenness
- the base material forming the magnetic layer 11 is a resin material
- the base material of the protective layer 12 may be a different material, such as asphalt.
- the glass cloth 12G is exemplified as the fiber forming the protective layer 12, a non-woven fabric or a single fiber may be used.
- the composite material which impregnated asphalt was illustrated as a material which makes the protective layer 12, the layer which consists only of carbon cloth or glass cloth may be sufficient. Covering the magnetic layer 11 with glass cloth or the like is effective for enhancing durability.
- the anti-slip layer 15 may be, for example, a coating layer of a powder paint in which a hard aggregate is mixed in a polyamide resin material.
- the magnetic material forming the magnetic powder 111 is not limited to the iron oxide of this example, and various materials such as neodymium and samarium cobalt can be employed. As for the material forming the base material and the magnetic material forming the magnetic powder 111, it is preferable to selectively determine an appropriate magnetic material according to the magnetic specifications and environmental specifications required for the magnetic marker 1. Iron oxide in which the metal has already been oxidized has the advantage that the initial performance can be maintained for a long time with little performance deterioration due to rust and the like.
- the magnetic marker 1 has a structure in which both surfaces of the magnetic layer 11 are covered with a protective layer 12 or the like formed of asphalt having a certain degree of moisture permeability, and the magnetic layer 11 cannot be completely sealed. If magnetic powder of iron oxide is employed, there is little risk of performance deterioration due to oxidation or the like even in an incompletely sealed state, so that the initial performance of the magnetic marker 1 is less likely to be impaired.
- the magnetic marker 1 employs asphalt as a base material for the magnetic layer 11, while an anti-slip layer 15 and a bonding layer 16 mainly composed of asphalt are laminated on the outside.
- the magnetic powder 111 contained in the magnetic layer 11 may flow out to the bonding layer 16 and the anti-slip layer 15.
- the glass cloth 12G constituting the protective layer 12 the magnetic powder 111 can be prevented from flowing out, and the magnetic characteristics of the magnetic marker 1 can be prevented from deteriorating.
- the magnetic markers can replace with the method of producing a magnetic marker by stamping, and can also produce a magnetic marker piece by sheet. Further, the magnetic markers can be handled one by one without being a laminated body or a roll body.
- a magnetic marker provided with a bonding layer and a protective layer in advance is illustrated, but a magnetic marker having a three-layer structure including a magnetic layer and protective layers on both sides, or a magnetic marker having a two-layer structure including a magnetic layer and a protective layer. Also good.
- an adhesive layer may be provided and adhered to the road surface, and a pavement material or the like may be disposed on the surface side.
- the protective layer containing fibers is not essential, and may be a magnetic marker in which the outer periphery of the magnetic layer is coated with a resin mold or the like.
- the protective layers on both sides of the magnetic layer are not essential components, and may be a magnetic marker only of the magnetic layer. In this case, when laying, it is good to construct so that the outer periphery of the magnetic marker is covered with a protective material.
- the magnetic marker 1 is efficiently produced by punching from the intermediate sheet 104B in which the layer to be the magnetic layer 11 and the layer to be the protective layer 12 are laminated in advance. If a large intermediate sheet 104B is prepared and a plurality of magnetic markers 1 are punched through, the production efficiency can be improved and the product cost can be suppressed. For example, when realizing a lane departure warning, automatic driving, or the like, it is necessary to continuously lay the magnetic markers 1 at relatively short intervals along the lane, and a huge number of magnetic markers 1 are required. Therefore, the suppression of the product cost of the magnetic marker 1 directly leads to a reduction in the construction cost of the magnetic marker 1.
- the magnetic layer 11 of the magnetic marker 1 is a layer in which iron oxide is dispersed as the magnetic powder 111.
- the iron oxide magnetic powder 111 is suitable for a method of manufacturing the magnetic marker 1 by punching. This is because the magnetic marker 1 that employs iron oxide as a magnetic material is unlikely to deteriorate in performance due to oxidation, so that the need for a coating process or the like on the punched section is low, and labor can be reduced.
- the laminated body 100 of the magnetic marker 1 is formed using the punching die 3 that can stack the punched magnetic marker 1 in the die. Then, the magnetic marker 1 is transferred to the carrier sheet 400 one by one so as to push the stamp by using the holder 34 that can accommodate the stacked body 100 and eject the stacked body one by one.
- the outer periphery may be chipped or cracked.
- the magnetic marker 1 is not handled alone.
- the magnetic marker 1 in the manufacturing process according to the manufacturing method of this example is in a state of forming a part of the intermediate sheet 104B, a state of forming the laminate 100, or a state of being held by the carrier sheet 400. Since the magnetic marker 1 is rarely handled as a single unit, troubles such as chipping and cracking of the outer periphery can be avoided in advance.
- the punching die 3 can be used like the holder 34. If the bottom dead center height of the Thomson holder 32 is adjusted so as not to punch the carrier sheet 400, and if the adsorption unit 33 is operated so as to push out the laminate 100 each time the magnetic marker 1 is transferred, the punching die 3 The function of the holder 34 can be realized using this configuration. When the punching die 3 is used like the holder 34, it is preferable to punch the intermediate sheet 104B turned upside down so that the layer to be the bonding layer 16 faces the upper surface. Thus, when the magnetic marker 1 is transferred to the carrier sheet 400, the anti-slip layer 15 can be positioned on the carrier sheet 400 side.
- the roll body 10 in which the magnetic markers 1 are arranged one by one in the longitudinal direction of the carrier sheet 400 is illustrated, for example, when two or three magnetic markers 1 are arranged in parallel along the lane, It is also possible to employ a wide carrier sheet 400 that holds the plurality in parallel. At this time, the parallel width of the magnetic markers 1 in the carrier sheet 400 may be matched with the parallel width when laying in the lane. In this case, the plurality of magnetic markers 1 held in parallel with the carrier sheet 400 can be transferred so as to be transferred to the road surface 53 as they are.
- the road surface 53 corresponding to the position where the magnetic marker 1 is laid is heated in advance, and the magnetic marker 1 on which the bonding layer 16 made of asphalt is formed is pressed against the installation surface.
- the asphalt forming the bonding layer 16 can be brought close to the molten state by the heat of the road surface 53 and integrated with the asphalt on the road surface 53 side, thereby strengthening the magnetic marker 1 firmly. Can be glued.
- An anti-slip layer 15 mainly composed of asphalt is also formed on the surface side of the magnetic marker 1 in the laid state.
- the range including the surface of the magnetic marker 1 is heated and pressurized again. If the surface side of the magnetic marker 1 is heated together with the surrounding road surface 53, the anti-slip layer 15 and the surrounding asphalt can be brought close to a molten state, and if pressurized in this state, the asphalt of the anti-slip layer 15 and the surrounding asphalt The surface can be leveled while approaching the unity. If the boundary and level difference between the magnetic marker 1 and the surroundings can be eliminated, an external force that may act on the magnetic marker 1 when the vehicle tire passes can be suppressed, and the possibility of trouble occurring in the magnetic marker 1 can be suppressed.
- the magnetic marker 1 is magnetized by applying a magnetic field from the work vehicle 4 side to achieve desired magnetic characteristics. Yes. If magnetization is performed after the heating step in this way, there is no concern about troubles caused by demagnetization or demagnetization that may occur when the temperature of the magnetic powder 111 heated in the heating step reaches the Curie temperature.
- a configuration in which the magnetic marker 1 is pressure-bonded to the road surface 53 by pressing from the back side of the carrier sheet 400 by the pressure roller 431 is illustrated.
- a pick-and-place mechanism that attracts and removes the magnetic marker 1 from the unwound carrier sheet 400 and transfers it to the road surface 53 can be used.
- the pick-and-place mechanism can be configured by an arrangement device that is capable of moving back and forth in the left-right direction and the vertical direction, for example, and that includes a suction head that can suck the magnetic marker 1 with negative pressure.
- a sheet-shaped magnetic marker 1 is illustrated as a magnetic marker.
- the shape of the magnetic marker may be a columnar shape such as a circular cross section or a polygonal cross section.
- the combination of the columnar magnetic marker height and outer diameter may be a long and narrow columnar shape whose height dimension is larger than the outer diameter, but it is a short columnar shape whose outer diameter dimension is larger than the height. There may be.
- it may be a cylindrical shape having a height of 10 mm and a diameter of 30 mm.
- the carrier sheet holding the magnetic marker may be wound in a roll shape and stored and transported as a roll body as in this example. good.
- this magnetic marker may be arranged in multiple rows on a wide carrier sheet and wound in a roll shape.
- a holding member such as a tray or a plate in which a plurality of magnetic markers are two-dimensionally arranged
- the magnetic marker may be stored or transported while being held by the holding member.
- a pick-and-place mechanism that is capable of moving back and forth in the left-right direction and the vertical direction and having a suction head that can suck the magnetic marker by negative pressure is effective. is there. It is preferable to adopt a configuration in which the suction head sucks the magnetic markers one by one, receives them from the holding member, and sequentially arranges them on the road.
- the pick-and-place mechanism is also effective for carrier sheets in which magnetic markers are arranged in multiple rows.
- accommodation spaces such as depressions or holes for accommodating the magnetic markers in the road.
- a device for forming the accommodation space is provided instead of the front heating device 411 or at an intermediate position between the heating device 411 and the cleaning device 410.
- the accommodation space may be formed by pressing a tool such as a punch to dent the road surface.
- the accommodation space may be formed by drilling a road surface with a tool such as a drill.
- the upper end surface of the magnetic marker disposed in the accommodation space is lower than the road surface.
- the magnetic marker may be sealed by filling with a methacrylic resin filler to improve uniformity with the surrounding road surface.
- asphalt may be adopted as the filler.
- a woven or non-woven fabric such as glass fiber, carbon fiber, or cellulose nanofiber may be disposed on the upper end surface side of the magnetic marker.
- the characteristics of the filler can be enhanced by impregnating the woven or non-woven fabric with the filler.
- the size of the woven or non-woven fabric may be smaller than the cross-sectional shape of the storage space, but may be slightly larger than the cross-sectional shape of the storage space. If it is a woven cloth etc. larger than the cross-sectional shape of a storage space, a magnetic marker can be integrally covered with the road surface around a storage space. In this case, the opening portion of the accommodation space can be protected integrally with the surrounding road surface. For example, the dent of the opening part of an accommodation space can be suppressed, and the favorable laying state of a magnetic marker can be maintained long in the operation over a long period of time on a road.
- positions the magnetic marker 1 continuously along a lane is illustrated, for example, in order to alert
- an anti-slip layer 15 containing asphalt is provided in advance on the surface side of the magnetic marker 1.
- a step of forming an asphalt layer on the surface side of the magnetic marker 1 is performed after the step of arranging the magnetic marker 1 and before the second heating step (post-heating step). You can also
- the work vehicle 4 equipped with the magnetizing device 45 is also used for re-magnetization for changing the magnetic pole property of a magnetized magnetic marker, re-magnetization of a magnetic marker that has been demagnetized due to long-term use, and the like. Applicable. If the detection device 47 is provided, confirmation of the magnetic pole property of the re-magnetized magnetic marker, confirmation of magnetic characteristics, and the like can be performed together.
- the work vehicle 4 is illustrated as an example of a work device that unwinds the carrier sheet 400 from the roll body 10.
- the working device may be a device that can be mounted on a vehicle, or may be a device that can be pulled and moved by a vehicle or the like.
- an MI sensor is illustrated as the magnetic sensor 2 that detects the magnetic marker 1.
- a high-sensitivity sensor that employs another principle such as a fluxgate sensor or a TMR sensor may be combined.
- the fluxgate sensor is a high-sensitivity magnetic sensor that measures the magnetic intensity from the saturation timing by utilizing the fact that the saturation timing of the core magnetic flux changes according to the external magnetic field when a periodic current is passed through the soft magnetic core. .
- a number of applications have been filed for the fluxgate sensor. For example, there are detailed descriptions in WO2011 / 155527 and JP2012-154786.
- a TMR (Tunneling Magneto Resistive) type sensor is a high-sensitivity sensor having a structure in which an insulator layer having a thickness of about 1 nm is sandwiched between ferromagnetic layers.
- the TMR sensor uses the tunnel magnetoresistance (TMR) effect, in which when a voltage is applied perpendicular to the film surface, a current flows through the insulator layer due to the tunnel effect, and the electrical resistance at that time varies greatly according to the external magnetic field And achieves high sensitivity.
- TMR tunnel magnetoresistance
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Abstract
Description
道路に配置された磁気マーカに磁界を作用して着磁する着磁工程を含む磁気マーカの施工方法にある。
路面に向けて磁界を作用する着磁装置と、
前記磁気マーカが発生する磁気を検出する検出装置と、を備える作業車両システムにある。
本発明に係る施工方法に含まれる着磁工程は、着磁済みの前記磁気マーカを再着磁する工程であっても良い。
この場合には、前記磁気マーカの磁極性を変更するための着磁や、敷設後の時間経過や外部磁界の作用等により減磁した前記磁気マーカの着磁が可能になる。このように着磁済みの磁気マーカを、敷設状態で再着磁できれば、敷設後のメンテナンスを含めた施工コストの低減が可能になる。
本例は、車両の運転操作の支援や自動運転や情報提供等を目的として道路に敷設される磁気マーカ1に関する例である。この内容について、図1~図11を参照して説明する。
保護層12は、母材(マトリクス)としてのアスファルトをガラスクロス12Gに含浸させた複合材料(繊維強化複合材料)の層である。
保護層12の外側の層のうち、敷設時に路面53に面することになる層は、アスファルトよりなる接合層16である。この接合層16をなすアスファルトは、路面53に接合する際に接着材として機能する。
保護層12の外側の層のうち、接合層16とは反対側の層は、砂等の骨材をアスファルトに混ぜた防滑層15である。
マグネトインピーダンス(MI:Magneto Impedance)センサは、外部磁界に応じてインピーダンスが変化する感磁体を含むマグネトインピーダンス素子を利用した磁気センサである。マグネトインピーダンス素子(MI素子)は、パルス電流あるいは高周波電流等が感磁体を流れるときに表皮層の電流密度が高くなる表皮効果に起因し、外部磁界によって表皮層の深さ(厚さ)が変動して感磁体のインピーダンスが敏感に変化するというマグネトインピーダンス効果(MI効果)を利用して磁気を検出する素子である。このようなMI効果を利用するMI素子によれば、高感度な磁気計測が可能である。MI素子を利用すれば、例えば0.5~10μT程度の微弱な磁気を検出できる低コストかつ小型の磁気センサを実現できる。なお、MI素子を利用したMIセンサについては多数の出願がなされており、例えば、WO2005/19851号公報、WO2009/119081号公報、特許4655247号公報などに詳細な記載がある。
(1)磁気マーカの作製
本例では、磁性層11をなす磁性シート104Aを形成した後、その表裏両面に保護層12等をなす層を積層した打抜き用の中間シート104Bを中間加工品として得る。そして、この中間シート104Bを対象とした打抜き加工により着磁前の磁気マーカ1を作製している。
保管や施工現場への運搬等の利便性を考慮し、磁気マーカ1を保持するロール体10を利用している。本例では、長い帯状のポリエチレン製のキャリアシート400がロール状に巻かれたシートロール40を元にしてこのロール体10を作製している(図9参照。)。なお、本例では、磁気マーカ1の直径100mmに対応して、キャリアシート400の幅を150mmとしている。
まず、ロール体10に保持された磁気マーカ1の施工に適用する作業装置あるいは作業車両システムの一例である作業車両4の構成を説明し、続けてこの作業車両4による施工の手順について説明する。
図10に示すこの作業車両4は、磁気マーカ1を敷設する路面53を洗浄する洗浄装置410、路面53等を加熱する2基の加熱装置411・412、磁気マーカ1を供給する供給装置42、供給装置42から供給された磁気マーカ1を路面53に配置する配置装置43、路面53を加圧する加圧装置44、敷設された磁気マーカ1を着磁する着磁装置45、磁気を検出する検出装置47を装備する特殊車両である。
加熱装置411・412は、火炎を放射するバーナーを含み、路面53に対面するように火炎放射口を設けた装置である。加熱装置411・412は、配置装置43を挟んで前後に2基設けられている。前側の第1の加熱装置411が磁気マーカ1を配置する前の路面53を加熱し、後ろ側の第2の加熱装置412が磁気マーカ1を配置済みの路面53を加熱する。
加圧工程P105は、磁気マーカ1及び周囲を加熱した後で加圧する工程である。道路の路面53を舗装する工程に似通ったこの工程を実施すれば、磁気マーカ1を敷設した路面53を均一性高く均すことができると共に、磁気マーカ1の表面側の防滑層15のアスファルトと周囲のアスファルトとを渾然一体に近づけて境界をなくすことができる。
検出工程P107は、磁気マーカ1が発生する磁気を検出することで、着磁により所望の磁気特性が実現されているかどうかの検査を行う工程である。この検出工程P107による検査に合格すれば、磁気マーカ1の敷設が完了する。
(1)磁気マーカについて
本例の磁気マーカ1は、基材であるアスファルトに磁粉111を分散させた磁性層11の表裏両面に、ガラスクロス12Gを含む保護層12が積層された磁気マーカ1である。この保護層12は、ガラスクロス12Gにアスファルトを含浸させた複合材料により形成されている。ガラス繊維によってアスファルトの材料的な強度や対磨耗性等の特性が改善された複合材料による保護層12によれば、内側の磁性層11を保護でき、磁気マーカ1の耐久性を向上できる。
磁気マーカ1を構成する磁性層11をなす基材として本例では高分子材料であるアスファルトを例示している。これに代えて、高分子材料であるゴムやプラスチック等の樹脂材料を基材として採用しても良い。ゴムを基材にすればラバーマグネットとなり、プラスチックを基材とすればプラスチックマグネットとなる。アスファルトやゴムや樹脂材料などの高分子材料を基材として磁粉111を分散させたマグネットは柔軟性を備え、例えば焼結磁石等のマグネットに比べて割れが生じにくいという利点がある。柔軟性の高い磁気マーカ1であれば、施工時の路面53の凹凸に対応できるので施工不良を抑制できる。また、運用中の路面53の変形等にも対応できるので、長期に渡る使用期間における不良の発生を抑制できる。さらに、アスファルト等の高分子材料を基材とした磁性シート104Aは比較的低コストで高精度に成形可能であるため、生産コストを抑制しながら高品質の磁気マーカ1を提供できる。
保護層12をなす繊維としてガラスクロス12Gを例示したが、不織布や単繊維であっても良い。また保護層12をなす材料として、アスファルトを含浸させた複合材料を例示したが、カーボンクロスやガラスクロスのみよりなる層であっても良い。ガラスクロス等により磁性層11を覆うことは、耐久性を高めるために有効である。
防滑層15は、例えばポリアミド樹脂材料の中に硬質骨材を混ぜ込んだ粉体塗料の塗膜層であっても良い。
本例では、磁性層11となる層、保護層12となる層などを予め積層した中間シート104Bから打ち抜いて磁気マーカ1を効率良く作製している。大判の中間シート104Bを準備し、複数の磁気マーカ1を打ち抜けば、作製効率を向上でき製品コストを抑制できる。例えば車線逸脱警報や自動運転等を実現する場合、車線に沿わせて比較的短い間隔で磁気マーカ1を連続的に敷設する必要があり膨大な数の磁気マーカ1が必要になる。それ故、磁気マーカ1の製品コストの抑制は、磁気マーカ1の施工コストの削減に直結する。
磁気マーカ1を保持するキャリアシート400を巻き取ったロール体10を利用すれば、施工場所への運搬等が非常に容易であり、さらに、キャリアシート400を巻き出しながら磁気マーカ1を1つずつ敷設できる。ロール体10において、磁気マーカ1はキャリアシート400に巻き込まれた状態で保護されるため、保管や運搬中に割れや欠け等のトラブルを未然に回避できる。
磁気マーカ1を1枚ずつキャリアシート400の長手方向に配置したロール体10を例示したが、例えば、車線に沿って磁気マーカ1を2個、3個など複数個ずつ並列配置する場合には、その複数個を並列して保持する幅広のキャリアシート400を採用することもできる。このときキャリアシート400における磁気マーカ1の並列幅を、車線に敷設する際の並列幅と一致させることも良い。この場合には、キャリアシート400に並列して保持する複数の磁気マーカ1をそのまま路面53に転写するように移載できる。
本例の施工では、磁気マーカ1を敷設する位置に当たる路面53を予め加熱しておき、設置面にアスファルトよりなる接合層16が形成された磁気マーカ1を押し付けている。例えば予め加熱した路面53に磁気マーカ1を配置すれば、路面53の熱により接合層16をなすアスファルトを溶融状態に近づけて路面53側のアスファルトと一体化でき、これにより磁気マーカ1を強固に接着できる。
例えば高さ10mm、直径30mmの円柱状の磁気マーカの場合であれば、本例の場合と同様、この磁気マーカを保持するキャリアシートをロール状に巻回してロール体として保管、運搬することも良い。さらに、この磁気マーカを幅広のキャリアシートに多列配置し、ロール状に巻回しても良い。
本例では、予め磁気マーカ1の表面側にアスファルトを含む防滑層15を設けた例である。これに代えて、あるいは加えて、磁気マーカ1を配置する工程の後、前記第2の加熱工程(後加熱工程)の前に、アスファルトの層を磁気マーカ1の表面側に形成する工程を実施することもできる。
フラックスゲートセンサは、軟磁性コアに周期電流を流したときのコア磁束の飽和タイミングが外部磁界に応じて変化することを利用し、飽和のタイミングから磁気強度を計測する高感度な磁気センサである。なお、フラックスゲートセンサについては多数の出願がなされており、例えば、WO2011/155527号公報、特開2012-154786号公報などに詳細な記載がある。
TMR(Tunneling Magneto Resistive)型センサは、強磁性層の間に膜厚1nm程度の絶縁体層を挟み込む構造を備える高感度センサである。TMR型センサは、膜面に対して垂直に電圧を印加するとトンネル効果によって絶縁体層に電流が流れ、その際の電気抵抗が外部磁界に応じて大きく変化するトンネル磁気抵抗(TMR)効果を利用して高感度を実現している。なお、TMR型センサについては多数の出願がなされており、例えば、WO2009/078296号公報、特開2013-242299号公報などに詳細な記載がある。
10 ロール体
100 積層体
104A 磁性シート
104B 中間シート
11 磁性層
12 保護層
15 防滑層
16 接合層
2 磁気センサ
3 打抜き型
34 ホルダー
4 作業車両(作業装置、作業車両システム)
40 シートロール
400 キャリアシート
411、412 加熱装置
42 供給装置
43 配置装置
45 着磁装置
47 検出装置
5 車両
53 路面
Claims (3)
- 車両に取り付けられた磁気センサで検出できるように道路に敷設され、運転者による車両の運転操作の支援、あるいは運転者の操作に依らない自動運転を実現するための車両側の制御を実現するための磁気マーカの施工方法であって、
道路に配置された磁気マーカに磁界を作用して着磁する着磁工程を含む磁気マーカの施工方法。 - 請求項1において、前記着磁工程は、着磁済みの前記磁気マーカを再着磁する工程である磁気マーカの施工方法。
- 車両に取り付けられた磁気センサで検出できるように道路に敷設され、運転者による車両の運転操作の支援、あるいは運転者の操作に依らない自動運転を実現するための車両側の制御を実現するための磁気マーカを敷設するための作業車両システムであって、
路面に向けて磁界を作用する着磁装置と、
前記磁気マーカが発生する磁気を検出する検出装置と、を備える作業車両システム。
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EP20167710.1A EP3715531A1 (en) | 2016-02-10 | 2017-02-08 | Magnetic marker installing method and work vehicle system |
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EP17750275.4A EP3415691A4 (en) | 2016-02-10 | 2017-02-08 | METHOD FOR INSTALLING A MAGNETIC MARKER AND WORKING VEHICLE SYSTEM |
CN201780010523.6A CN108603348B (zh) | 2016-02-10 | 2017-02-08 | 磁性标记、磁性标记的保持方法、磁性标记用的作业装置以及磁性标记的施工方法 |
US16/077,012 US10632892B2 (en) | 2016-02-10 | 2017-02-08 | Magnetic marker, magnetic marker retaining method, work apparatus for magnetic markers, and magnetic marker installation method |
JP2017566973A JP6519667B2 (ja) | 2016-02-10 | 2017-02-08 | 磁気マーカ、磁気マーカの保持方法、磁気マーカ用の作業装置、及び磁気マーカの施工方法 |
US16/840,458 US11220201B2 (en) | 2016-02-10 | 2020-04-06 | Magnetic marker, magnetic marker retaining method, work apparatus for magnetic markers, and magnetic marker installation method |
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US16/840,458 Continuation US11220201B2 (en) | 2016-02-10 | 2020-04-06 | Magnetic marker, magnetic marker retaining method, work apparatus for magnetic markers, and magnetic marker installation method |
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EP3415691A1 (en) | 2018-12-19 |
JPWO2017138554A1 (ja) | 2018-12-06 |
EP3415691A4 (en) | 2019-10-09 |
US20200247300A1 (en) | 2020-08-06 |
CN108603348B (zh) | 2020-12-18 |
US11220201B2 (en) | 2022-01-11 |
CN108603348A (zh) | 2018-09-28 |
CN112609605A (zh) | 2021-04-06 |
EP3715531A1 (en) | 2020-09-30 |
SG11201806763UA (en) | 2018-09-27 |
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