WO2022065675A1 - Équipement de construction routière pour la réalisation d'équipement de sécurité routière et procédé de construction routière et de réalisation d'équipement de sécurité de chaussée l'utilisant - Google Patents

Équipement de construction routière pour la réalisation d'équipement de sécurité routière et procédé de construction routière et de réalisation d'équipement de sécurité de chaussée l'utilisant Download PDF

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Publication number
WO2022065675A1
WO2022065675A1 PCT/KR2021/010380 KR2021010380W WO2022065675A1 WO 2022065675 A1 WO2022065675 A1 WO 2022065675A1 KR 2021010380 W KR2021010380 W KR 2021010380W WO 2022065675 A1 WO2022065675 A1 WO 2022065675A1
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WO
WIPO (PCT)
Prior art keywords
road
screw bolt
lane
hole
driving
Prior art date
Application number
PCT/KR2021/010380
Other languages
English (en)
Korean (ko)
Inventor
최민진
Original Assignee
주식회사 충청
최민진
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020200125219A external-priority patent/KR102222352B1/ko
Priority claimed from KR1020210088540A external-priority patent/KR102407720B1/ko
Application filed by 주식회사 충청, 최민진 filed Critical 주식회사 충청
Publication of WO2022065675A1 publication Critical patent/WO2022065675A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B41/00—Boring or drilling machines or devices specially adapted for particular work; Accessories specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
    • B28D1/14—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by boring or drilling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
    • B28D7/02—Accessories specially adapted for use with machines or devices of the preceding groups for removing or laying dust, e.g. by spraying liquids; for cooling work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • 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
    • E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
    • E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
    • E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
    • E01C23/088—Rotary tools, e.g. milling drums
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to road construction equipment for installing road safety facilities such as a median divider, line-of-sight guide rod, and road signage, and more particularly, to a road safety that can adjust the interval between perforations formed on the road surface. It relates to road construction equipment for installation of facilities, road surface construction using the same, and a method for installing road safety facilities.
  • road safety facilities such as a median divider, line-of-sight guide rod, and road signage
  • the present invention provides a road construction equipment for installing a road safety facility capable of autonomously driving while recognizing a lane marked on the road and unmanned for a series of road construction operations (hole drilling, cutting, etc.), and road surface construction and road safety facilities using the same about how to install it.
  • various road safety facilities are installed on the road, which are used for the purpose of marking the center of the road, marking a curved road, separating the sidewalk from the road, and prohibiting vehicles from entering.
  • the lane divider is to separate traffic flows in the same direction on a multi-lane road and to prevent pedestrians from crossing the road and illegal U-turns of vehicles, and is usually installed along the painted center line in the center of the road.
  • the line of sight guide rod (lane control rod) is used for the purpose of spatially separating traffic flows in the same and opposite directions on a road where the driver's attention is significantly required due to the high risk of traffic accidents or for the purpose of foretelling a dangerous section.
  • lane control rod As a facility to induce the eyes of people, it is installed along the center line of the road or along the painted lane at the edge of the road, like a lane divider.
  • road signage helps the driver to accurately recognize road markings such as the center line, lane boundary line, exclusive lane, road obstacle and safety zone in situations where it is difficult to secure the driver's view, such as at night or in rainy weather. It is a facility that provides a safety feature and is usually installed along the lane.
  • the above-mentioned road safety facilities such as lane dividers, line-of-sight guide rods and road signs are drilling holes in the road surface of the road, inserting and fixing anchor bolts in the holes, and fixing the road safety facilities to the anchor bolts. installed through
  • Korean Patent Registration No. 10-1054645 is a plate-shaped base equipped with a wheel at each lower corner, on both sides of the upper side, a column-shaped vertical post is formed on the corner side, A drill moving ball is formed through the inner surface of each vertical post of the base, and a front and rear guide rail in the form of a rail formed parallel to each other inside each vertical post on both sides of the drill moving ball between each vertical post, and a circular bar
  • the front and rear guide bars are provided in parallel on the same line as the upper part of each of the front and rear guide rails, and the ends of the front and rear guide bars are respectively connected and fixed to the side of the vertical post.
  • the conventional drilling technique has the following problems.
  • the above-described conventional drilling method has a problem in that it is difficult to keep the depth of the drilling and the interval between the drillings constant due to the nature of the manual work, and it takes a lot of work time and requires a large number of manpower.
  • the drilling operation is a manual operation in which the operator visually checks the lane through the positioning bar and determines the drilling position while holding the handle while moving, the operator is exposed to danger even if the drilling operation is performed after safety signs are marked on the road.
  • the drilling operation is a manual operation in which the operator visually checks the lane through the positioning bar and determines the drilling position while holding the handle while moving.
  • the present invention is to solve the problems as described above, the road for installing a road safety facility that can adjust the interval between the perforations formed in the road with at least two or more in order to fix the posts of the road safety facilities installed on the road
  • the purpose of the present invention is to provide construction equipment, road surface construction using the same, and a method for installing road safety facilities.
  • the present invention detects the lane marked on the road surface of the road, drives and unmanned a series of operations (including various operations such as cutting the road surface for installation of the signage) of drilling a hole for the installation of road safety facilities.
  • the purpose of the present invention is to provide road construction equipment for the installation of road safety facilities, road surface construction using the same, and a method for installing road safety facilities.
  • a road construction equipment for installing a road safety facility includes: a lane recognition unit for recognizing a lane marked on a road surface of a road; a driving unit that travels along the road; Comprising one or more drilling drills for drilling holes in the road surface of the road, driving through the driving unit and using the drilling drill to drill one or more holes for the installation of road safety facilities on the road surface of the road.
  • a construction unit comprising a cutting unit to be cut; and a controller for drilling or cutting a hole in the road surface of a road by controlling the construction part while controlling the driving part to drive the driving part along the lane on the basis of the recognition result of the lane recognition part, wherein the controller is the road safety Based on the construction information for the installation of facilities, the construction control of the construction part, the running control of the driving part, and the stopping control of the driving part are alternately repeated to drill or cut holes at regular intervals while following the lane. do.
  • the road construction equipment for the installation of road safety facilities according to the present invention and the method of installing road surface construction and road safety facilities using the same, at least two or more for fixing the posts of the road safety facilities to install the road safety facilities on the road. Since the gap between the perforations formed on the road surface can be easily adjusted, various types of road safety facilities can be shared, so there is an effect of obtaining high income at the cost of one piece of equipment.
  • the lane recognition unit recognizes the lane of the road and the controller controls the driving of the road construction equipment, as well as road safety facilities (lane separators, gaze guide rods, signs, etc.) ) for the installation of holes (including various operations such as cutting the road surface for the installation of markers) is also performed under the control of the controller, so there is no human intervention and the operator follows the road where other vehicles are traveling. It does not move and only monitors the drilling work in the safety zone, so it is effective in preventing personnel accidents caused by vehicle collisions in advance.
  • road safety facilities lane separators, gaze guide rods, signs, etc.
  • FIG. 1 is a cross-sectional view showing a drilling device applied to a road construction equipment for installing a road safety facility according to a first embodiment of the present invention
  • Figure 2 is a plan view showing the operating state of the drilling device applied to the road construction equipment for the installation of road safety facilities according to the first embodiment of the present invention
  • Figure 3 is a perspective view showing another drilling device applied to the road construction equipment for the installation of road safety facilities according to the first embodiment of the present invention
  • Figure 4 is a plan view showing the operating state of another drilling device applied to the road construction equipment for the installation of road safety facilities according to the first embodiment of the present invention
  • Figure 5 is a perspective view showing the operating state of another drilling device applied to the road construction equipment for the installation of road safety facilities according to the first embodiment of the present invention
  • Figure 6 is a perspective view showing an operating state of another drilling device applied to the road construction equipment for the installation of road safety facilities according to the first embodiment of the present invention
  • FIG. 7 is a plan view showing the operating state of another drilling device applied to the road construction equipment for the installation of road safety facilities according to the first embodiment of the present invention.
  • FIGS. 8 and 9 are perspective views showing road construction equipment for installing road safety facilities according to the first embodiment of the present invention.
  • 10 to 12 are cross-sectional views showing modified examples of road construction equipment for installing road safety facilities according to the first embodiment of the present invention
  • FIG. 13 is a cross-sectional view showing another modified example of road construction equipment for installing a road safety facility according to the first embodiment of the present invention
  • FIG. 14 is a block diagram showing the configuration of the camera device of FIG. 13;
  • 15 is a block diagram showing the configuration of the lane detection means of FIG. 13;
  • 16 is a flowchart illustrating a construction method of a road safety facility using road construction equipment for installing a road safety facility according to the first embodiment of the present invention.
  • 17 is a block diagram showing the configuration of road construction equipment for installing road safety facilities according to a second embodiment of the present invention.
  • FIG. 18 is a schematic view showing a vehicle body of a road construction equipment for installing a road safety facility according to a second embodiment of the present invention.
  • 19 is an exemplary view showing a state of perforation of a hole using a road construction equipment for installing a road safety facility according to a second embodiment of the present invention.
  • 20 is a drilling process diagram of a hole using a road construction equipment for installing a road safety facility according to a second embodiment of the present invention.
  • 21 to 23 are views each showing an example of drilling a hole in the safety zone through the road construction equipment for the installation of the road safety facility according to the second embodiment of the present invention.
  • 24 is a view showing an example of drilling a hole in a driving line using the road construction equipment for installing a road safety facility according to the second embodiment of the present invention.
  • 41a, 42a first helix
  • 41b, 42b second helix
  • 225, 236 memory module
  • 230 lane detection means
  • the drilling device according to the first preferred embodiment of the present invention, the vertical bar 10, the lifting jig 20, the lifting guide member 30, the screw bolt (40) ), the drill chuck 50, the driving means 60, the drill holder 70 and consisting of components including the rotating means 80, which will be described in detail as follows.
  • road safety facilities In order to install road safety facilities (herein, road safety facilities refer to lane dividers, line-of-sight guide rods (lane control rods), and road signs installed on the road) on the road, the road safety facilities must be firmly fixed to the road.
  • a fixing hole is formed at the bottom of the post, and a perforation (hole) corresponding to the fixing hole must be formed on the road surface (refer to FIG. 19).
  • the present embodiment is an invention for adjusting the interval between the perforations formed on the road surface.
  • the vertical bar 10 as a reference bar serving as a standard of the drilling drilling device, is mounted on a lifting jig 20 to be described later and is erected vertically in a state in which the lower end does not contact the ground.
  • the lifting jig 20, the upper portion of the vertical rod 10 is mounted so that the lower end of the vertical rod 10 is non-contact with the ground.
  • the upper end of the vertical rod 10 passes through the center of the lifting jig 20, but the vertical rod 10 is placed on the lifting jig 20 in a state where the upper surface of the vertical rod 10 is upwardly exposed from the lifting jig 20. ) is fixed.
  • the elevating guide member 30 is provided as a pair corresponding to each other spaced apart from each other in a vertically standing state, and both ends of the elevating jig 20 are slidably coupled to the pair of elevating guide members 30 .
  • the lifting jig 20 slides and ascends in the longitudinal direction of the lifting guide member 30 .
  • the lifting jig 20 is lowered by the weight of the vertical bar 10 mounted on the lifting jig 20, and the end of the drill bit 51 is seated on the ground.
  • the weight of the vertical bar 10 is the vertical bar 10, the lifting jig 20, the screw bolt 40, the drill bit 51, the drill chuck 50, the driving means 60, the drill Includes both the weight of the holder 70 and the rotating means (80).
  • a pin hole 22 that is perpendicular to the slide hole 21 and communicates with the slide hole 21 is formed on the outer surface of both ends of the lifting jig 20, a pin hole 22 that is perpendicular to the slide hole 21 and communicates with the slide hole 21 is formed. And, on the outer surface of the elevating guide member 30 is formed with a recessed engaging groove 31 concave inwardly corresponding to the pinhole (22).
  • the end of the drill bit 51 can be made non-contact with the ground.
  • the screw bolts 40 are provided in at least two or more, and are rotatably and horizontally coupled to the vertical rod 10 orthogonal to the vertical rod 10 . That is, one end of the screw bolt 40 is rotatably coupled to the vertical rod 10 while being inserted to a predetermined depth on the outer diameter surface of the vertical rod 10 .
  • the drill chuck 50, the drill bit 51 is detachably mounted, it is preferable that the lower end of the drill chuck 50 is provided with a jaw (jaw) for tightening the drill bit 51 integrally.
  • the drill bit 51 serves to drill the road surface to a certain depth in order to form a hole in the road surface into which the anchor bolt for fixing and installing the road safety facility on the road is inserted.
  • the driving means 600 is preferably an electric motor electrically connected to the drill chuck 50 to provide rotational force to the drill chuck 50 .
  • the driving means 60 is mounted on the drill holder 70 .
  • a through hole 71 is formed in the drill holder 70 , and a spiral is formed in the inner diameter of the through hole 71 .
  • the screw bolt 40 horizontally penetrates the through hole 71 so that the drill holder 70 is spirally coupled to the outer diameter of the screw bolt 40 .
  • the rotating means 80 is provided at the end of the screw bolt 40 , that is, the other end of the screw bolt 40 , and serves to rotate the screw bolt 40 forward and reverse.
  • the rotating means 80 may be a handle 81 mounted on the end of the screw bolt 40 to manually rotate the screw bolt 40 .
  • the handle 81 may have a gripping protrusion 82 integrally formed with the handle 81 so that a user can easily rotate the handle 81 .
  • the rotating means 80 may be a stepping motor 83 that is shaft-coupled to the end of the screw bolt 40 to rotate the screw bolt 40 .
  • 3 and 4 are a perspective view showing another example of the drilling drill apparatus applied to the present embodiment and a plan view showing the operating state.
  • a first through hole 10a and a second through hole 10b passing through the vertical rod 10 horizontally are formed above and below the vertical rod 10 , respectively. do.
  • the first screw bolt 41 horizontally penetrates the first through hole 10a
  • the second screw bolt 42 horizontally penetrates the second through hole 10b.
  • the outer diameter of the first screw bolt 41 toward the vertical rod 10 from the end of the first screw bolt 41 on the outer diameter surface of one side of the first screw bolt 41 with the vertical rod 10 as the center Accordingly, a first spiral portion 41a in which a spiral that is circumvented in a clockwise direction is formed is formed.
  • a second spiral portion 41b in which a spiral is formed is formed.
  • a second spiral portion 42b in which a spiral is formed is formed.
  • the first screw bolt 41 by the rotation means 80 such as the handle 81 or the stepping motor 83 provided at the ends of the first screw bolt 41 and the second screw bolt 42, respectively.
  • the second screw bolt 42 is rotated forward and reverse, the first screw bolt 41 and the second drill holder 70 screwed to the outer diameter of the first screw bolt 41 and the second screw bolt 42 are It is linearly reciprocated in the longitudinal direction of the screw bolt (42). Accordingly, the interval between the four perforations formed on the road surface is controlled.
  • Figure 5 is a perspective view showing an operating state of another drilling drill device.
  • a rotation shaft 10c that protrudes upward from the upper surface of the vertical rod 10 is further formed.
  • the vertical rod 10 is supported in a vertical state, the rotation shaft 10c is vertically penetrated, and a through hole 23a that is rotatably coupled to the lifting jig 20 is formed in a fixed block ( 23) is integrally provided on the upper surface of the lifting jig (20).
  • the drill holder 70 screwed to the outer diameter of the first screw bolt 41 and the second screw bolt 42 is the first screw bolt 41 and the second
  • 6 and 7 are a perspective view showing an operating state of another drilling drilling device and a plan view showing an operating state.
  • the vertical rod 10 includes a first vertical rod 11 and a second vertical rod 12 rotatably coupled to the lower end of the first vertical rod 11 . can be configured.
  • a connecting shaft connecting the first vertical rod 11 and the second vertical rod 12 is provided, and a bearing is used as a medium.
  • the second vertical rod 12 is rotatably coupled to the first vertical rod 11 .
  • first vertical rod 11 a first through hole 11a horizontally penetrating the first vertical rod 11 is formed.
  • the first screw bolt 41 horizontally penetrates the first through hole 11a formed in the first vertical rod 11 .
  • the first screw bolt 41 by the rotating means 80 such as the handle 81 or the stepping motor 83 provided at the ends of the first screw bolt 41 and the second screw bolt 42, respectively.
  • the second screw bolt 42 is rotated forward and reverse, the first screw bolt 41 and the second drill holder 70 screwed to the outer diameter of the first screw bolt 41 and the second screw bolt 42 are It is linearly reciprocated in the longitudinal direction of the screw bolt (42). Accordingly, the interval between the four perforations formed on the road surface is controlled.
  • the first vertical rod 11, the first vertical rod 11, a rotation shaft (10c) extending upwardly protruding from the upper surface is further formed.
  • the lifting jig 20 has a through hole 23a rotatably coupled to the lifting jig 20 through a rotation shaft 10c vertically penetrating so that the first vertical rod 11 is supported in a vertical state is fixed.
  • the block 23 is integrally provided on the upper surface of the lifting jig 20 .
  • a rotation means (H2) for rotating the rotating shaft so that the first vertical rod 11 is rotated is provided. do.
  • the first screw bolt 41 by the rotating means 80 such as the handle 81 or the stepping motor 83 provided at the ends of the first screw bolt 41 and the second screw bolt 42, respectively. And when the second screw bolt 42 is rotated forward and reverse, the first screw bolt 41 and the second drill holder 70 screwed to the outer diameter of the first screw bolt 41 and the second screw bolt 42 are In addition to being able to adjust the spacing between the four perforations formed on the road surface by linear reciprocating movement in the longitudinal direction of the screw bolt 42,
  • a rotation means such as a handle or a stepping motor, it is possible to adjust the positions of the four perforations formed on the road surface.
  • the road construction equipment for the installation of road safety facilities is a perforator and a component including a lower frame 100 , an upper cover 200 and a dust removal means 300 . can be made with
  • the lower frame 100 has a rectangular frame shape, and the lifting guide member 30 is vertically fixed to the upper surface of the rim.
  • driving wheels W are mounted on both edges of the lower frame 100 so that the lower frame 100 can travel.
  • the driving wheels W may be driven by rotational power provided by a generator 410 and a battery 420 provided in a trailer 400 to be described later.
  • the upper cover 200 covers the upper side of the lower frame 100 , and an opening having an open outer surface (front, rear, left and right surfaces) is formed.
  • the dust removal means 300 serves to remove the dust on the road surface generated when the road is drilled by the rotation of the drill bit 51 .
  • the dust removal means 300 may be configured to include a roll brush 310 , a suction pipe 320 and a suction duct 330 .
  • the roll brush 310 is provided on the front side of the lower frame 100 and serves to remove dust from the road surface while rotating while in contact with the road surface.
  • the rotational power of the roll brush 310 may be provided by the generator 410 and the battery 420 provided in the trailer 400 to be described later.
  • the suction pipe 320 is provided on one side of the drill bit 51 , and serves to forcibly suck dust generated during road drilling by the rotation of the drill bit 51 .
  • the dust sucked by the suction pipe 320 is transferred through a pipe and collected in a dust collecting unit 430 provided in a trailer 400 to be described later, and the suction power of the dust collecting unit 430 is a generator provided in the trailer 400 .
  • Suction power may be provided by the 410 and the battery 420 .
  • the suction duct 330 is provided on the front side and the rear side of the lower frame 100, respectively, and serves to forcibly suck dust on the road surface.
  • the dust sucked by the suction duct 330 is transferred through a pipe and collected in a dust collecting unit 430 provided in a trailer 400 to be described later.
  • the road construction equipment for installing the road safety facility of this embodiment may further include a trailer 400 .
  • the trailer 400 is connected to the lower frame 100 , and the trailer 400 has a generator 410 for providing power to the drilling device, and a battery 420 that is charged with power generated from the generator 410 . ) and a dust collecting unit 430 for collecting dust sucked through the dust removing means 300 is provided.
  • the dust collecting unit 430 is provided with an inlet through which air containing dust is introduced, a filter for filtering dust contained in air introduced through the inlet, and an outlet through which the air filtered by the filter is discharged to the outside.
  • the trailer 400 may be configured to further include a control unit 440 for controlling the operation of the driving means 60 so that the drilling device automatically forms a hole at the installation point of the road safety facility.
  • the drill bit 51 is installed so that the drill bit 51 is automatically operated for a certain period of time at the point where the hole is formed by a drilling drill device mounted on a road drilling machine that operates manually or wirelessly controlled or autonomously along the lane painted on the road surface.
  • the operation of the driving means 60 for providing the rotational force to the drill chuck 50 is controlled by the controller 440 .
  • the upper cover 200 may be provided with a steering device 211 for controlling the driving direction of the driving wheels W, and a driving unit 210 for steering the lower frame 100 may be provided. That is, the road drilling machine is manually operated by the operator seated in the driver 210 to drive the road along the lane painted on the road surface.
  • it may be configured to further include a wired or wireless remote controller 500 for controlling the steering device 211 provided in the driving unit 210 of the upper cover 200 by wire or wirelessly.
  • a wired or wireless remote controller 500 for controlling the steering device 211 provided in the driving unit 210 of the upper cover 200 by wire or wirelessly.
  • the operator controls the remote controller 500 to remotely manually drive the road drilling machine so that the road drilling machine runs along the lane painted on the road surface.
  • the camera device 220 for automatically driving the road perforator along the lane painted on the road surface is the top cover 200 It may be further provided on the front part of the.
  • the camera device 220 may include a photographing module 221 , a recognition module 222 , a driving module 223 , a control module 224 , and a memory module 225 .
  • the photographing module 221 serves to photograph the road surface in a state in which the road drilling machine travels on the road.
  • the recognition module 222 serves to recognize the lanes painted on the road surface photographed by the photographing module 221 .
  • the driving module 223 is recognized by the recognition module 222 in the steering direction and driving wheel W of the driving wheel W mounted on the lower frame 100 so as to travel along the lane photographed through the photographing module 221 . ) to control the rotational speed.
  • the memory module 225 stores the distance value so that the road drilling machine is stopped at each position for forming a hole at the installation point of the road safety facility.
  • the control module 224 serves to stop the driving wheels W so that the road drilling machine driven by the driving module 223 is stopped at predetermined distances pre-stored in the memory module 225 .
  • the lane detecting means 230 for automatically driving the road perforator along the lane painted on the road surface is the lower frame 100 of the lower frame 100 . It may be provided on the front part.
  • the lane detecting means 230 includes a light transmitting module 231 , a light receiving module 232 , a lane detecting module 233 , a driving module 234 , a control module 235 and a memory module 236 . can be configured.
  • the light transmitting module 231 serves to irradiate light toward the road surface in a state in which the road drilling machine travels on the road.
  • the light irradiated from the light transmitting module 231 means infrared rays, visible rays, ultraviolet rays, or lasers.
  • the light receiving module 232 serves to receive light irradiated by the light transmitting module 231 and reflected on the road surface.
  • the lane detection module 233 serves to determine whether the light received by the light receiving module 232 is a lane.
  • the paint painted to form a lane on the road surface usually includes a reflector that reflects light
  • the light reflected by the reflector is received by the light receiving module 232 to determine whether a lane is in the lane.
  • whether the lane is in a lane is determined through a method of recognizing a difference between light and dark.
  • the driving module 234 lowers the road construction equipment (road drilling machine) for installing road safety facilities to run along the lane. It serves to control the steering direction of the driving wheel (W) mounted on the frame 100 and the rotational speed of the driving wheel (W).
  • the memory module 236 stores the distance value so that the road drilling machine is stopped at each position for forming a hole at the installation point of the road safety facility.
  • the control module 235 serves to stop the driving wheels W so that the road drilling machine driven by the driving module 234 is stopped every predetermined distance pre-stored in the memory module 236 .
  • 16 is a flowchart illustrating a construction method of a road safety facility using road construction equipment for installing a road safety facility according to the present embodiment.
  • the screw bolt 40 is rotated forward and reverse through a rotation means 80 such as a handle or a stepping motor so that the drill holder 70 is formed with the screw bolt ( 40) to adjust the distance between the drill holder 70 and the vertical rod 10 and the distance between the drill holder 70 so as to reciprocate linearly in the longitudinal direction (step S100).
  • a rotation means 80 such as a handle or a stepping motor
  • step S200 when the fixing member B is released so that the lifting jig 20 mounted on the lifting guide member 30 is lowered, the lifting jig 20 is moved by the weight of the vertical bar 10 by its own weight.
  • the lower end of the drill bit 51 slid down along the 30 and mounted on the drill chuck 50 is vertically seated on the road surface (step S200).
  • the driving means 60 that provides rotational force to the drill chuck 50 is operated to rotate the drill chuck 50 so that a hole is formed in the road surface to a certain depth by the drill bit 51 (step S300).
  • the road construction equipment 1000 for installing a road safety facility is a lane recognition unit 1100 for recognizing the lanes 1 and 2 displayed on the road surface of the road. , a driving part 1200 running along the road, a perforation part 1300 for drilling a hole (a groove for installing a road safety facility and open upward to insert an anchor bolt) in the road surface of the road, a lane recognition part
  • a controller 1400 that controls the driving operation of the driving unit 1200 and the drilling operation of the drilling unit 1300, and their configuration is shown in Fig. 18 , it is installed through the body frame 1500 .
  • This embodiment can be used as a technology independent of the above embodiment (autonomous driving road construction without adjusting the gap of the perforation part), or a technology dependent on the above-described embodiment (the gap adjustment of the drilling part and autonomous driving road construction) can also be used as
  • the lane recognition unit 1100 is preferably an image sensor, and converts light obtained by photographing a road surface with a camera into a digital signal and provides it as an image.
  • the lanes (1) and (2) of the road on which the road safety facilities are installed have a single lane (1) and a double lane (2)
  • the present invention is a road on which the single lane (1) is marked
  • the single-line lane (1) and the double-track lane (2) are distinguished and recognized so that a hole for the installation of road safety facilities can be drilled on the road marked with the double-track lane (2).
  • the hole 3 (the perforation described in Example 1) is formed in the center (above) of the lane 1, and in the case of the double lane 2, the hole 3 is two lanes (2) is formed in the middle between.
  • reference numeral 4 denotes a lane divider
  • 5 denotes a gaze guide rod
  • 6 denotes a beacon.
  • the driving unit 1200 receives power from the driving power supply unit, the driving power supply unit, and a driving motor 1210 that generates rotational force (forward rotation for forward/reverse rotation for backward rotation), and the rotational force of the driving motor 1210 is received. and three or more driving wheels 1220 that rotate and run along the road surface of the road.
  • the driving motor 1210 of the driving unit 1200 is an electric motor, and is connected to the rotating shaft connecting the left and right wheels, respectively, installed on each driving wheel 1220 .
  • a wheel-in-motor method is possible, and the vehicle is driven or stopped under the control of the controller 1400 .
  • the traveling motor 1210 is operated (rotated) or stopped under the control of the controller 1400 ⁇ .
  • the driving wheel 1220 receives the rotational force of the driving motor 1210 and travels along the road surface, and a steering means controlled by the controller 1400 is applied to drive it along the curved lanes 1 and 2 together. do.
  • the driving power supply is preferably a secondary battery used for charging.
  • the perforation unit 1300 is a perforating power unit, a perforating motor 1310 that generates a rotational force by receiving power from the perforating power source, one or more perforating drills 1320 for perforating a hole with the rotational force of the perforating motor 1310, perforation of the hole Includes a lifting means (1330) for elevating the drilling drill (1320) for this.
  • the perforation unit 1300 includes the drilling device of the above-described embodiment 1, that is, the technology capable of adjusting the spacing of the drill is also included.
  • the punched power supply is preferably a secondary battery used for charging, and the driving power supply and the punched power supply may be a single product.
  • the drilling motor 1310 generates a rotational force through the control of the controller 1400 and provides it to the drilling drill 1320 and supplies it to one or more drilling drills 1320, and to two or more drilling drills 1320. everything is possible
  • the perforation drill 1320 is a known portable perforation drill, a dedicated perforation drill manufactured for the present invention is possible, and in the former case, the portable perforation drill is detachably configured to the elevating means and can be operated through the supply of power. Thus, if necessary, it is separated from the elevating means so that the drilling operation can be performed.
  • the elevating means 1330 descends or rises under the control of the controller 40, and can be configured with actuators of various types such as hydraulic cylinders, racks/pinions, orbits, and elevating jigs connecting the actuator and the drilling drill 1320. Do.
  • the perforation part 1300 perforates one or more holes, for example, a marker perforates one hole, a gaze guide rod perforates three holes, and a lane divider perforates four holes, and thus, the perforation drill 1320 perforates a hole Depending on the quantity, they are replaced (1 to 4) and used.
  • the controller 1400 controls the driving motor 1210 and the steering means of the driving unit 1200 based on the lane recognized through the lane recognition unit 1100, and also a perforation unit 1300 to drill a hole. Controls the drilling motor 1301 and the lifting means 1330 of the.
  • the present invention perforates a hole for the installation of a road safety facility for a road on which the lane is painted, and the controller 1400 is based on the lane information recognized by the lane recognition unit 1100.
  • the autonomous driving road construction equipment 1000 is controlled to run along the lane, and the hole is drilled by controlling the drilling part 1300 in a state in which the road construction equipment 1000 is stopped by controlling the stop at the position where the hole is to be drilled.
  • the driving control speed of the driving motor 1210 is a driving motor for drilling work, a low speed is possible without a high speed, for example, it is less than 20 km/h, and the driving speed may be determined or set by an administrator, and the controller ( 1400 controls the driving motor 1210 at a predetermined speed or a set speed. Since the low speed of the driving motor 1210 is slower than the speed of the vehicle traveling in the surrounding lane, the driver of the vehicle traveling in the surrounding lane does not feel any danger.
  • the controller 1400 for autonomous driving by the controller 1400, it is necessary to check the information of the puncturing interval and the mileage as the puncturing position information of the hole, for example, the input unit 1600 of the puncture information and the mileage sensor ( 1700) is included.
  • the perforation information input unit 1600 uses the perforation interval (distance), perforation depth, perforation quantity, etc. as perforation information, and both digital and analog types are available. It is managed by the controller 1400 .
  • the puncturing information input unit 1600 may include a number key to input a number, a selection button to which distance information is preset, and the like.
  • the road safety facility may have a variety of drilling patterns for holes depending on the type, and the control of the input unit 1600 and the controller 1400 of the drilling information is configured to satisfy various patterns.
  • the mileage sensor 1700 may use, for example, a method of calculating a mileage based on the number of revolutions of the driving wheel 1220 , a method of calculating a mileage using a separate mileage detection wheel, and the like.
  • This embodiment may include a main power switch, a start switch, an end switch, an emergency switch, a manual control switch of a traveling motor, a manual control switch of a drilling motor, etc. in addition to the above-described drilling information as an input unit.
  • the input unit is installed on at least one side of the body frame 1500 and the terminal carried by the manager.
  • a warning light that turns on or flickers when receiving power from the driving power supply unit for example, a warning light that turns on or flickers when receiving power from the driving power supply unit, a lighting device for illuminating a lane, a work display screen installed at the rear of the vehicle body frame 1500, etc. may be included.
  • a sensor (such as a proximity sensor) that checks an obstacle and transmits an obstacle signal to the controller 1400 may be included.
  • a terminal may be included so that an administrator can input and confirm drilling work information, and check a drilling image (taken by a separate camera) of the road construction equipment 1000 .
  • the body frame 1500 provides a space for installing the aforementioned components 1100, 1200, 1300, 1400, 1600, and 1700, and a buffer pad for absorbing shock and preventing damage in the event of a collision with another vehicle is installed. and includes a handle for carrying by an administrator when needed.
  • all data (input information, drilling area, drilling plan value, etc.) generated in the work of the road construction equipment according to the present embodiment may be stored and managed as a work log.
  • a method of drilling a hole for installing a road safety facility using road construction equipment for installing a road safety facility is as follows (see FIG. 20 ).
  • Step 1 Mounting of autonomous driving road construction equipment and setting of drilling work.
  • the autonomous driving road construction equipment 1000 is loaded on a transport vehicle and transported to the road where road safety facilities are to be installed, the autonomous driving road construction equipment 1000 is mounted at the starting position, and the drilling operation is set (piercing information input).
  • Drilling operation setting values include drilling interval (travel distance), drilling depth, and drilling quantity.
  • Perforation interval This is the distance between holes, and the controller 1400 controls the operation of the driving motor 1210 to travel the input mileage and controls stopping when the mileage is reached.
  • the mileage is a reference mileage.
  • Drilling depth The depth of the hole to be drilled by the drilling drill 1320, the descending distance of the elevating means 1330 may be used.
  • Drilling Quantity The number of holes to be drilled, for example, it can be calculated from the drilling working distance and driving distance.
  • the description will be made starting with the autonomous driving road construction equipment 1000 drilling a hole, and the description will be made on the assumption that the drilling drill 1320 is mounted in the center of the lane.
  • the controller 1400 controls the drilling motor 1310 and the elevating means 1330 to rotate the drilling drill 1320 while descending by the drilling depth to drill the hole.
  • the controller 1400 lowers the lifting means 1330 by the depth of the drilling and then controls the return to the initial position through the ascending control.
  • the controller 1400 controls the driving motor 1210 to run so that the autonomous driving road construction equipment 1000 runs.
  • the lane recognition unit 1100 recognizes the lane marked on the road surface and provides it to the controller 1400, and the controller 1400 drills the drill 1320 based on the lane value recognized by the lane recognition unit 1100 to the center of the lane. Control the steering means to drive along the Therefore, even when there is a change in the linearity of the lane (change from a straight line to a curved line), the drilling drill 1320 is maintained in the center of the lane through the control of the steering means.
  • the mileage sensor 1700 calculates the mileage and provides it to the controller 1400 .
  • the controller 1400 compares the mileage calculated by the mileage sensor 1700 with the reference mileage and stops the driving motor 1210 when the two values match.
  • the autonomous driving road construction equipment 1000 stops the hole of the next position at the drilling position, and drills the hole in the road surface through the same method as the hole drilling described above.
  • the present invention drills multiple groups of holes through repetition of hole drilling-running-stop-hole drilling.
  • the controller 1400 counts the hole drilling operation, and when the initially set number of drilling and the drilling operation match, the drilling operation is terminated through stop control of the road construction equipment 1000 .
  • the operator may select the forced end switch to stop the autonomous driving road construction equipment 1000 to end the drilling operation.
  • This embodiment includes the installation of road safety facilities by drilling and continuous operation of the aforementioned holes, and installation of anchor bolts in the holes (step 10) - Connection of road safety facilities and the anchor bolts (step 20) - It consists of the process of tightening the nut (step 30) or installing the anchor bolt in the hole and the anchor hole of the road safety facility (the anchor bolt is fixed in the hole by hitting the anchor bolt).
  • Step 10 Insert the anchor bolt into the hole and install it.
  • the anchor bolt is fixed by inserting the anchor bolt into the hole drilled in the road surface with the autonomous driving road construction equipment 1000 and injecting a filling material (mortar, etc.).
  • Step 20 Connection of road safety facilities and anchor bolts.
  • Step 30 Nut tightening.
  • This embodiment is also configured to be possible to install road safety facilities in the safety zone of the road (widely formed through a change in the alignment of one or more of the double lane lanes).
  • 21 and 22 show examples of safety zones formed through the first lane 2-1 and the first lane 2-1 maintaining a straight line and the second lane 2-2 whose distance is changed (protrusion to the right) and left protrusion are both possible).
  • road safety facilities are installed in various ways depending on the road site, and as shown in FIG. 21, an example installed along the first lane 2-1 maintaining a straight line, as shown in FIG. 22, the second lane having a linear change There is an example installed according to (2-2).
  • FIG. 23 shows an example in which road safety facilities are installed along the center between the first and second lanes 2-1,2-2, and the first and second lanes 2-1,2-2 ) is applicable to the safety zone of the right and left protrusion types shown in FIGS. 21 and 22, or the first and second lanes (2-1, 2-2) move away from each other while maintaining the same distance and then gather again. It can also be applied to form.
  • the first mode of drilling a hole along the first lane 2-1 maintaining a straight line, the second mode of drilling the hole along the second lane 2-2 having a linear change, the second mode A third mode of drilling a hole along the center of the first and second lanes (2-1,2-2) is included.
  • the above mode is possible through selection of a mode selection switch and control of the controller.
  • the second mode is selected, and the first lane 2-1 (or the second lane 2-2) maintains a straight line through the lane recognition unit 1100 while maintaining the second lane 2 -2) (or when it is determined that the linearity of the first lane 2-1) has changed, the controller 1400 sends a hole along the second lane 2-2 (or the first lane 2-1) Driving and drilling are controlled so as to drill the
  • the controller 1400 controls driving and drilling to drill a hole along the center between the first and second lanes 2-1,2-2.
  • this embodiment is configured to be able to drill a hole for the installation of road safety facilities in the running line.
  • the driving line 4 is in the form of a dotted line so that the vehicle can freely change lanes, and accordingly, a section in which the lane recognition unit 1100 does not recognize a lane occurs periodically, and driving and drilling are possible even in this situation.
  • the controller 1400 forms a virtual lane based on the lane recognized by the lane recognition unit 1100 to control the driving unit 1200 and the perforation unit 1300 to do so.
  • the virtual lane is formed by maintaining the linearity of the lane recognized through the lane recognition unit 1100 .
  • this embodiment is not limited to drilling a hole for installation of road safety facilities, and as another example, cutting the road surface for installation of road safety facilities (for example, cutting for installation of signs in lanes) Also included, such a cutting process is also made through repetition of travel control, cutting control, and stop control.
  • the perforated part 1300 is replaced with a cutting part (including a cutting edge). That is, in the present embodiment, as a construction part, a perforating part for drilling a hole in the road surface and a cutting part for cutting the road surface are included.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Mining & Mineral Resources (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Road Signs Or Road Markings (AREA)

Abstract

La présente invention concerne un équipement de construction routière pour la réalisation d'un équipement de sécurité routière et un procédé de construction d'une chaussée et de fourniture d'un équipement de sécurité routière l'utilisant, l'équipement étant apte à ajuster facilement l'espace entre au moins deux trous percés, formés dans une surface de route, pour fixer des piliers de l'équipement de sécurité routière pendant la construction routière pour la réalisation de l'équipement de sécurité routière tel qu'une bande médiane, un marqueur tubulaire et un marqueur de route, effectuer une conduite autonome tout en reconnaissant des voies marquées sur une route et permettre une série d'activités de construction routière sans pilote (forage de trou, découpe et similaire).
PCT/KR2021/010380 2020-09-25 2021-08-06 Équipement de construction routière pour la réalisation d'équipement de sécurité routière et procédé de construction routière et de réalisation d'équipement de sécurité de chaussée l'utilisant WO2022065675A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2020-0125219 2020-09-25
KR1020200125219A KR102222352B1 (ko) 2020-09-25 2020-09-25 간격 조절이 가능한 도로안전시설물 설치용 천공 드릴장치와 이를 포함하는 도로 천공기 및 도로안전시설물의 시공방법
KR1020210088540A KR102407720B1 (ko) 2021-07-06 2021-07-06 도로안전시설물 설치를 위한 자율주행 도로공사 장비 및 이를 이용한 노면 공사와 도로안전시설물의 설치 방법
KR10-2021-0088540 2021-07-06

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04244307A (ja) * 1991-01-29 1992-09-01 Miyagawa Kogyo Kk 穿孔機
JPH05269731A (ja) * 1992-03-30 1993-10-19 Daifuku Koei Kk 床面穿孔装置
JPH081657A (ja) * 1994-06-24 1996-01-09 Nakayama Tekko Kk コンクリート等の切断装置における走行操作機構
JP2009191492A (ja) * 2008-02-13 2009-08-27 Hirano Sangyo Kk 路面穿孔装置及び路面の穿孔方法
KR102078908B1 (ko) * 2018-01-19 2020-02-18 한국해양대학교 산학협력단 무인 차량을 이용한 자동화 차선 도색 시스템
KR102222352B1 (ko) * 2020-09-25 2021-03-04 주식회사 충청 간격 조절이 가능한 도로안전시설물 설치용 천공 드릴장치와 이를 포함하는 도로 천공기 및 도로안전시설물의 시공방법

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04244307A (ja) * 1991-01-29 1992-09-01 Miyagawa Kogyo Kk 穿孔機
JPH05269731A (ja) * 1992-03-30 1993-10-19 Daifuku Koei Kk 床面穿孔装置
JPH081657A (ja) * 1994-06-24 1996-01-09 Nakayama Tekko Kk コンクリート等の切断装置における走行操作機構
JP2009191492A (ja) * 2008-02-13 2009-08-27 Hirano Sangyo Kk 路面穿孔装置及び路面の穿孔方法
KR102078908B1 (ko) * 2018-01-19 2020-02-18 한국해양대학교 산학협력단 무인 차량을 이용한 자동화 차선 도색 시스템
KR102222352B1 (ko) * 2020-09-25 2021-03-04 주식회사 충청 간격 조절이 가능한 도로안전시설물 설치용 천공 드릴장치와 이를 포함하는 도로 천공기 및 도로안전시설물의 시공방법

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