KR20180115073A - A device for painting of robot type road markings - Google Patents

Abstract

More particularly, the present invention relates to an apparatus for painting a robot-type road marking, more specifically, a robot-type road marking apparatus comprising a plurality of wheels at a lower portion of a main body of the apparatus, A traveling drive unit for transmitting a driving force for movement to a plurality of wheels; A painting paint unit provided on the main body of the apparatus and performing painting by spraying paint corresponding to a predetermined pattern of road markings; A GPS receiving unit installed in the apparatus main body and collecting real-time position information of the apparatus main body according to driving driving of the driving driving unit; A vision camera device for recognizing and extracting a specific position for a painting operation through a specific location image photographed through the camera, the camera being installed in the apparatus main body; And a control unit for controlling and managing the driving driving unit, the paint painting unit, the GPS receiving unit and the vision camera unit as a whole, storing and managing shape pattern information for painting geographic map information and road markings, And performing a painting operation control so that a painting operation of a road mark can be performed in the painting coloring apparatus unit using the apparatus main body driven in accordance with the running driving of the driving driving apparatus based on the real time position information As a feature of the configuration.
According to the robot-type road marking painting apparatus proposed by the present invention, the road marking painting operation schedule is set in correspondence with the input and execution of the road marking operation information to be applied through painting on the road surface of the road, The road marking painting operation can be performed automatically while moving to the autonomous driving method of the set route according to the painting operation schedule.
Further, according to the present invention, the painting operation of the road markings on the road surface can be automatically performed, thereby reducing labor and cost required for the conventional manual lane painting apparatus, So that it is possible to perform efficient painting work without receiving the paint.
In addition, according to the present invention, it is possible to minimize the existing lane control by configuring the device to perform the road marking painting operation while the device is operated under the self-driving manner under the supervision and supervision of the operator, It is possible to greatly reduce the work of obstructing the flow, thereby making it possible to smooth traffic flow without traffic jam while painting the road markings.

Description

Field of the Invention < RTI ID = 0.0 > [0001] < / RTI > A device for painting robot-

The present invention relates to an apparatus for painting a robot type road marking, and more particularly, to a road marking painting work schedule corresponding to input and execution of road marking operation information to be applied through painting on a road surface of a road, The present invention relates to an apparatus for painting a road marking of a robot type that enables a road marking painting operation to be automatically performed while being moved to an autonomous travel mode of a path set according to a road marking painting operation schedule.

Generally, on the road where the vehicle is traveling, there are a central separation line painted in the center of the road to separate the driving direction, a lane capable of traveling the vehicle separately, an arrow indicating the traveling speed, The marking is painted. At this time, according to some rules (refer to road construction specifications), the center line is painted in yellow, and the lane is represented by one or two lines of solid white and dotted lines, respectively.

Along with these lanes, arrows used to indicate the direction of progress and rhombus shapes to indicate that there is a pedestrian crossing are displayed on the road. In addition, various characters and symbols such as one-way traffic, front of school, and slowly are displayed on the road. Numerals are used to limit the travel speed. In addition, a lane marked on a road including a parking mark of a rest area parking lot or an apartment complex, various letters and symbols, a certain amount of paint is sprayed on the road, and glass beads are sprayed thereon so as to be reflected from the light of a vehicle moving at night have.

In other words, various road markings installed on the road side and indicating the state and kind of the road inform the driver of the road condition ahead, thereby allowing the driver to take proper care in accordance with the road conditions ahead do. These road markings are peeled off by the driving vehicle when they are used for a long period of time, and therefore, periodic management is required.

FIG. 1 is a perspective view of a conventional manual lane painting apparatus, and FIG. 2 is a view showing painted road signs on a general road. As shown in FIG. 1, a conventional manual lane painting apparatus includes a carriage provided with a handle, a wheel, a paint storage tank, a reflector tank, and a fuel tank, and a paint disposed on a front lower portion of the carriage, A heating unit for raising the temperature of the paint storage tank, and a reflector spray unit for spraying the reflector stored in the reflector tank, which is installed behind the paint spray unit. Such a conventional manual lane painting apparatus requires a high-strength work force by painting a road mark on the road surface by operating the operation lever while manually pushing the work line in accordance with the road mark, There is a problem that it is difficult to perform a certain quality operation. Korean Utility Model Registration No. 20-0288099 is disclosed in the prior art document.

The present invention has been proposed in order to solve the above-mentioned problems of the previously proposed methods, and a road mark painting work schedule is set corresponding to the input and execution of the road mark work information to be applied through the painting on the road surface of the road It is another object of the present invention to provide a device for painting a robot-type road marking so that the road marking painting operation can be automatically carried out while being moved to an autonomous running mode of a route set according to a road marking painting operation schedule.

In addition, the present invention is configured such that the painting operation of road markings on the road surface can be automatically performed, thereby reducing the labor and cost required for the conventional manual lane painting apparatus, Another object of the present invention is to provide a device for painting a robot-type road marking, which enables an efficient painting operation without being affected.

In addition, according to the present invention, it is possible to minimize the existing lane control by configuring the device to perform the road marking painting operation while the device is operated under the self-driving manner under the supervision and supervision of the operator, It is another object of the present invention to provide a device for painting a robot-type road marking that greatly reduces the work of obstructing the flow, thereby enabling a smooth traffic flow without traffic jam during the road marking painting operation.

According to an aspect of the present invention, there is provided an apparatus for painting a robot-type road marking,

An apparatus for painting robot-type road markings,

A driving drive unit for driving a plurality of wheels provided at a lower portion of the main body of the apparatus and for transmitting driving force to a plurality of wheels provided at a lower portion of the main body of the apparatus;

A painting paint unit provided on the main body of the apparatus and performing painting by spraying paint corresponding to a predetermined pattern of road markings;

A GPS receiving unit installed in the apparatus main body and collecting real-time position information of the apparatus main body according to driving driving of the driving driving unit;

A vision camera device for recognizing and extracting a specific position for a painting operation through a specific location image photographed through the camera, the camera being installed in the apparatus main body; And

The control unit manages and controls the travel driving unit, the paint painting unit, the GPS receiving unit, and the vision camera unit as a whole, stores shape map information for painting geographic map information and road markings, And a control unit for performing a painting operation control so that the painting operation of the road mark can be performed in the painting coloring unit using the apparatus main body driven according to the running driving of the driving driving unit based on the real time position information And the like.

Preferably, the travel driving device unit includes:

A drive shaft which is axially coupled to a plurality of wheels provided at a lower portion of the apparatus main body, a gear box rotatably engaged with the drive shaft, and a power generator for transmitting a rotational force to the gear box.

Preferably, the painting paint unit includes:

A storage container for storing paint for painting paint of the road marking; and a spraying portion for spraying paint painted on the road marking paint for painting the road marking.

Preferably, the GPS receiver unit comprises:

Real time position information is collected every predetermined period, and real time position information during movement can be composed of RTK (Real Time Kinematic) GPS having an error range within a few centimeters.

Preferably,

An operation input unit for allowing the user to directly set and input road marking operation information for performing the painting operation of the road marking; And

And may further include at least one or both of a communication unit for performing wired or wireless communication with an external user operation terminal so as to receive the road marking operation information for performing the painting operation of the road marking.

More preferably, the control device unit,

Real-time position information collected through the GPS receiver unit is mapped to preset geographical map information corresponding to a road marking operation position included in the road marking operation information and shape pattern information for painting a road marking, It is possible to specify the position of the device unit on the geographical map information and perform drive control so that the pattern of road markings to be drawn at a specific position of the road marking operation position is painted at the corresponding position by the painting paint unit.

Still more preferably,

A traveling drive control unit for controlling traveling of the traveling driving unit;

A painting operation control unit for controlling the painting operation of the painting unit;

A geographic information mapping control unit for mapping the real-time location information collected from the GPS receiver unit to geographic map information to specify and process the location of the apparatus main body on the geographic information map;

A geographical information management control unit for processing the geographical map information on the specific position of the apparatus body, the shape pattern position for painting a road mark, and the geographical information for calculating a specific position on the shape pattern; And

And a shape pattern management controller for generating a painting shape pattern path so that a road marking painting operation can be performed corresponding to shape pattern information for painting a road marking at a road marking work position included in the road marking operation information, can do.

Even more preferably, the apparatus for painting the road markings comprises:

A road mark painting work schedule is set under the control of the control unit in correspondence with the input and execution of the road mark work information and the road marker painting operation is moved to the autonomous travel system of the path set according to the road mark painting work schedule, .

According to the robot-type road marking painting apparatus proposed by the present invention, the road marking painting operation schedule is set in correspondence with the input and execution of the road marking operation information to be applied through painting on the road surface of the road, The road marking painting operation can be performed automatically while moving to the autonomous driving method of the set route according to the painting operation schedule.

Further, according to the present invention, the painting operation of the road markings on the road surface can be automatically performed, thereby reducing labor and cost required for the conventional manual lane painting apparatus, So that it is possible to perform efficient painting work without receiving the paint.

In addition, according to the present invention, it is possible to minimize the existing lane control by configuring the device to perform the road marking painting operation while the device is operated under the self-driving manner under the supervision and supervision of the operator, It is possible to greatly reduce the work of obstructing the flow, thereby making it possible to smooth traffic flow without traffic jam while painting the road markings.

1 is a perspective view of a conventional passive lane painting apparatus.
Fig. 2 shows painted road markings on a general road; Fig.
3 is a functional block diagram illustrating a configuration of an apparatus for painting a robot-type road marking according to an embodiment of the present invention.
4 is a functional block diagram showing a configuration of a driving unit of a robot-type road marking apparatus according to an embodiment of the present invention;
FIG. 5 is a functional block diagram showing a configuration of a painting paint unit of an apparatus for painting a robot-type road mark according to an embodiment of the present invention; FIG.
6 is a view showing a detailed configuration of a control unit of an apparatus for painting a robot-type road marking according to an embodiment of the present invention;

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, in order that those skilled in the art can easily carry out the present invention. In the following detailed description of the preferred embodiments of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. In the drawings, like reference numerals are used throughout the drawings.

In addition, in the entire specification, when a part is referred to as being 'connected' to another part, it may be referred to as 'indirectly connected' not only with 'directly connected' . Also, to "include" an element means that it may include other elements, rather than excluding other elements, unless specifically stated otherwise.

FIG. 3 is a functional block diagram illustrating a configuration of a device for painting a robot-type road marking according to an embodiment of the present invention. FIG. 4 is a view for explaining a method of painting a road mark of a robot type according to an exemplary embodiment of the present invention FIG. 5 is a functional block diagram showing a configuration of a paint painting apparatus of an apparatus for painting a robot-type road mark according to an embodiment of the present invention, and FIG. And FIG. 6 is a view showing a detailed configuration of a control unit of a robot-type road marking apparatus according to an embodiment of the present invention. 3 to 6, an apparatus 100 for painting a robot type road marking according to an embodiment of the present invention includes a driving driving unit 110, a painting paint unit 120, A GPS receiver unit 130, a vision camera device unit 140 and a control unit 150. The control unit 150 may further include an operation input unit 160 and a communication unit 170 .

The driving drive unit 110 includes a plurality of wheels 111 at a lower portion of the apparatus main body 101 and transmits a driving force for movement to a plurality of wheels 111 provided at a lower portion of the apparatus main body 101 . 4, the driving driving unit 110 includes a driving shaft 112 which is axially coupled to a plurality of wheels 111 provided at a lower portion of the apparatus body 101 and a driving shaft 112 which is engaged with the driving shaft 112 A rotating gear box 113 and a power generating portion 114 for transmitting a rotational force to the gear box 113. [ At this time, the power generating unit 114 may be configured as a driving motor. Here, the traveling driving unit 110 is configured to be able to move the apparatus main body 101 through traveling, and can be applied in various ways in general, so that unnecessary explanation will be omitted.

The painting paint unit 120 is provided on the apparatus body 101 and performs painting by spraying paint corresponding to a predetermined pattern of road markings. As shown in FIG. 5, the painting paint unit 120 includes a storage container 121 in which paint for paint painting of a road mark is stored, and a storage container 121 in which paint stored in the storage container 121 is painted And a sprayer 122 that is operated to spray the sprayer 122 for spraying. Here, it is understood that the jetting part 122 includes nozzles in a configuration in which paint painting of a road mark can be painted, and a nozzle shape corresponding to the width of various road markings to be displayed on the road surface of the road is used. In addition, the sprayer 122 can be used by fastening the nozzles to the width of various road markings in a detachable manner. Here, the road marking is a line displayed through painting on the road surface, and may include various road markings including the road marking shown in FIG. Examples may include a central separation line, a lane, a crosswalk sign, a safety zone sign, a speed sign, a stop sign, characters and graphics. That is, the painting coloring device unit 120 displays the lane indicated on the road, the speed limit, the arrow indicating the progress direction, the speed limit display, the pedestrian crossing, the one way passage, the front of the school, the bicycle road display, It is possible to paint various road markings including a parking lot mark, a pregnant woman exclusive mark, a disabled person mark, and a woman exclusive mark, and the object of the marking herein can be understood to mean not only the road but also all the floors in which markings exist. In addition, although only the structure of the storage container 121 and the spraying unit 122 in which the paint is stored is described as a simple example, the painting paint unit 120 is not limited thereto, It is to be understood that the usual detailed configuration necessary for the present invention is applied. That is, it is a matter of course that the construction of a conventional painting paint unit is applied, and it is understood that the reflector of the glass bead is applied together with the road marking if necessary. This means that it is printed with a painting and a lamination with a glass bead on top.

The GPS receiving device unit 130 is installed in the apparatus main body 101 and is a configuration of GPS for collecting real time positional information of the apparatus main body 101 in accordance with driving driving of the driving driving device 110. [ The GPS receiver unit 130 may be configured with an RTK (Real Time Kinematic) GPS that collects real-time position information at regular intervals, and real-time position information during movement has an error range within several centimeters. Here, RTK GPS is a GPS device for collecting position information at regular intervals, and enables accurate position information to be collected every several tens of times per second. The precise position information measured through the GPS receiver unit 130 allows the user to specify the position of the moving vehicle on the geographic information, that is, the painting coloring device unit 120 mounted on the apparatus body 101.

The vision camera apparatus 140 includes a camera 141 installed in the apparatus main body 101 and configured to recognize and extract a specific position for a painting operation through a specific position image photographed through the camera 141 to be. The vision camera device 140 can photograph an image on which a road marking operation is performed through the camera 141 and provide the image to a terminal of a task manager. The road marking operation is performed through image processing So that the user can recognize and extract the specific location.

The control unit 150 controls and manages the driving driving unit 110, the painting coloring unit 120, the GPS receiving unit 130 and the vision camera unit 140 as a whole, And the road marking of various road markings and stores the shape pattern information for painting the markers and various markings of road markings on the basis of the collected real time position information of the GPS receiver unit 130, And performs a painting operation control so that a painting operation of a road mark can be performed in the painting coloring device unit 120 by using the coloring device 101. The controller unit 150 may be configured to set the real-time position information collected through the GPS receiver unit 130 in correspondence with the road marking operation position included in the road marking operation information and the shape pattern information for painting the road marking, The position of the painting paint unit 120 is specified on the geographical map information and the pattern of the road markings to be drawn at the specific position of the road marking work position is mapped to the painting paint unit 120 It is possible to perform drive control so as to paint at the corresponding position. Here, the shape pattern information and various road marking markings for painting road markings can be displayed on a map including a central division line, a lane, a speed limit, a progress direction arrow, a speed limit display, a crosswalk, a one- Slowly, it may include all the markings on the road surface of various road markings, including bicycle road markings, rest area parking area markings, apartment complex parking markings, mothers' exclusive marks, disability marks, and women's exclusive marks.

6, the control unit 150 includes a travel drive control unit 151 for controlling the travel drive of the travel drive unit 110, and a drive control unit 151 for controlling the drive of the paint coloring unit 120 And a geographic information processing unit for mapping the real-time location information collected from the GPS receiver unit 130 to geographic map information to specify and process the location of the apparatus main body 101 on the geographic information map, An information mapping control unit 153 for mapping the geographical map information on the geographical map information, geographical information for processing geographical information for calculating a specific position of the apparatus main body 101, a shape pattern position for painting a road mark, And the road marking operation information included in the road marking operation information, so that the road marking painting operation can be performed corresponding to the shape pattern information for painting the road marking at the road marking operation position included in the road marking operation information, And a shape pattern management control unit 155 for generating a shape pattern.

The operation input unit 160 is an input structure that allows a user to directly set and input road marking operation information for performing a road marking painting operation. The operation input unit 160 may include a monitor and a keypad for allowing an operator to set and input work information.

The communication unit 170 is a communication structure for performing wired or wireless communication with an external user operation terminal 10 so that the road marking operation information can be input for performing a painting operation of a road mark. The communication unit 170 is connected to the user operation terminal 10 used by a worker through a wired or wireless connection so that work information inputted by an operator can be received.

That is, the apparatus 100 for painting a robot-type road marking according to an embodiment of the present invention is capable of displaying a road marking painting job schedule under the control of the control unit 150 in response to input and execution of road marking operation information And the road marking painting operation can be carried out while moving to the autonomous driving method of the path set according to the road mark painting work schedule.

As described above, an apparatus for painting a robot-type road marking according to an embodiment of the present invention includes a road marking painting work schedule corresponding to input and execution of road marking work information to be applied through painting on a road surface of a road, The road marking painting operation can be automatically performed while moving to the autonomous driving method of the path set according to the road marking painting operation schedule and the painting operation of the road marking on the road surface can be automatically performed So that the labor and cost required for the conventional manual lane painting apparatus can be reduced and an efficient painting operation can be performed without being restricted by the work by the expert. In addition, it is possible to minimize the existing lane control by configuring the device to perform the road marking painting operation while the device is operated under the supervision and supervision of the operator, thereby preventing traffic flow to the existing lane control The work can be greatly reduced and traffic flow without traffic jamming can be made possible during the painting work of the road marking.

The present invention may be embodied in many other specific forms without departing from the spirit or essential characteristics and scope of the invention.

100: a device for painting road markers according to an embodiment of the present invention
101:
110: Driving drive unit
111: Wheels
112: drive shaft
113: Gearbox
114:
120: Painting Paint unit
121: Storage container
122:
130: GPS receiver unit
140: vision camera unit
141: Camera
150:
151:
152:
153: Geographic information mapping control section
154: Geographic information management control unit
155: shape pattern management control unit
160: Operation input section
170:

Claims (8)

An apparatus (100) for painting a robot type road marking,
A plurality of wheels 111 are provided below the apparatus body 101 and a driving driving unit 110 for transmitting a driving force to the plurality of wheels 111 provided below the apparatus body 101, ;
A painting paint unit 120 provided on the apparatus main body 101 for spraying paint in accordance with a preset pattern of road markings to perform a paint operation;
A GPS receiving unit 130 installed in the apparatus main body 101 for collecting real time positional information of the apparatus main body 101 according to driving driving of the driving driving unit 110;
A vision camera device 140 having a camera 141 installed in the apparatus main body 101 and recognizing and extracting a specific position for a painting operation through a specific position image photographed through the camera 141; And
The driving control unit 110 controls the painting paint unit 120, the GPS receiving unit 130 and the vision camera unit 140 as a whole to control the shape of the shape pattern And the vehicle body driving system according to the present invention is characterized in that the apparatus main body 101 is driven based on the collected real time position information of the GPS receiver device 130, And a control unit (150) for performing a painting operation control so that a painting operation of a road mark can be performed in the apparatus unit (120).
The driving force control apparatus according to claim 1,
A drive shaft 112 which is axially coupled to a plurality of wheels 111 provided at a lower portion of the apparatus main body 101, a gear box 113 which rotates in engagement with the drive shaft 112, And a power generating unit (114) for transmitting a rotational force to the robot.
The apparatus according to claim 1, wherein the painting paint unit (120)
A storage container 121 in which paint for painting paint of the road marking is stored; and a spraying part 122 which is operated so that the paint stored in the storage container 121 is sprayed for paint painting of the road marking Wherein the road marking device is configured to paint a robot-type road marking.
The apparatus of claim 1, wherein the GPS receiver unit (130)
Wherein real time position information is collected every predetermined period and RTK (Real Time Kinematic) GPS having an error range within a few centimeters of real time position information during movement.
5. The method according to any one of claims 1 to 4,
An operation input unit (160) for allowing the user to directly set and input road marking operation information to perform the painting operation of the road marking; And
And at least one or both of a communication unit 170 for performing wired or wireless communication with an external user operation terminal 10 so as to receive the road marking operation information for performing the painting operation of the road marking Wherein the road marking device is configured to paint a robot-type road marking.
6. The apparatus according to claim 5, wherein the control unit (150)
The real-time position information collected through the GPS receiver unit 130 is mapped to preset geographical map information corresponding to the road marking operation position included in the road marking operation information and the shape pattern information for painting the road markings, The position of the painting paint unit 120 is specified on the geographical map information and the pattern of the road markings to be drawn at a specific position of the road marking operation position is painted at the corresponding position by the painting paint unit 120 Wherein the drive control unit performs drive control so as to perform the drive control.
7. The apparatus according to claim 6, wherein the control unit (150)
A travel drive control unit 151 for controlling the travel drive of the travel drive unit 110;
A painting drive control unit 152 for controlling the painting operation of the painting unit 120;
A geographic information mapping control unit 153 for mapping the real-time location information collected from the GPS receiver unit 130 to geographic map information to specify and process the location of the apparatus main body 101 on the geographic information map;
A geographical information management control unit (154) for processing the geographical map information on the specific position of the apparatus body (101), the shape pattern position for painting a road mark, and the geographical information for calculating a specific position on the shape pattern; And
A shape pattern management control unit 155 for generating a painting shape pattern path so that a road marking painting operation can be performed corresponding to shape pattern information for painting a road marking at a road marking work position included in the road marking operation information Wherein the road marking device is configured to paint a robot-type road marking.
8. The apparatus of claim 7, wherein the device (100)
A road marking painting operation schedule is set under the control of the control unit 150 in response to the input and execution of the road marking operation information and the road marking painting operation schedule is set in accordance with the road marking painting operation schedule, Characterized in that a marking painting operation is carried out.

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