Working method and working system

Abstract

Provided is a work system (1) that includes a work vehicle (11) for detecting magnetic markers (10) while moving on a road (1R) on which the magnetic markers (10) are laid and that carries out work for preparation, maintenance, or management of the road (1R). The work system (1) has a control unit (13) that identifies relative positions of the work vehicle (11) with respect to the magnetic markers (10) and that identifies places where the work vehicle (11) performs the work on the basis of the relative positions. The work vehicle (11) carries out the work at the places identified by the control unit (13), thereby making it possible to efficiently carry out the work related to a path on which the magnetic markers are laid.

Description

[Technical field]

[0001] The present invention relates to a work method and a work system for carrying out work such as track maintenance. [Background technology]

[0002] On roads and other routes on which vehicles travel, guardrails, curbs, and plants are provided beside the lanes on which the vehicles travel. The road surface on which vehicles travel is provided with printed lane markings (white lines, dividing lines) to divide the lanes and printed road signs. There are also intersections where studs that reflect the light of vehicle headlights are driven into the road surface.

[0003] In order to ensure sufficient safety when vehicles pass along the roads, it is necessary to keep the roads in good condition. Therefore, it is necessary to periodically clean the roads and check their condition, and when repairs become necessary, the repairs must be carried out promptly. For this reason, a road cleaning device for cleaning the roads has been proposed (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2009-7823 A Summary of the Invention [Problem to be solved by the invention]

[0005] Some work related to roads, such as road construction, maintenance, and management, requires restricting vehicle traffic, and there is a demand for methods and systems for efficiently carrying out work related to roads.

[0006] The present invention provides a method and system for efficiently carrying out work related to a runway on which magnetic markers are installed. [Means for solving the problem]

[0007] One aspect of the present invention is a method for carrying out work to develop, maintain or manage a track on which magnetic markers are laid, using a device that detects the magnetic markers while moving along the track, the method comprising the steps of: Determining a relative position of the device with respect to the magnetic marker; Identifying a location where the device will work based on the relative position; The method includes the device performing an operation at the specified location.

[0008] One aspect of the present invention is a work system including a device that detects magnetic markers while moving along a track on which magnetic markers are laid, the device performing work to develop, maintain, or manage the track, a position determining unit for determining a relative position of the device with respect to the magnetic marker; a work location specification unit that specifies a location where the device will work based on the relative position, The device is in a work system configured to perform work at a location identified by the work location identifying unit. Effect of the Invention

[0009] In the present invention, the location where the device will perform its work is specified based on the relative position of the device with respect to the magnetic marker. Then, the device performs its work in the location thus specified.

[0010] The magnetic markers are fixed to the track and are unlikely to fluctuate in position. By using the magnetic markers, which are unlikely to fluctuate in position, the location to be worked on can be specified with high accuracy, and the device can perform the work efficiently.

[0011] In this manner, the work method and work system according to the present invention are a method and a system that can efficiently carry out work related to roads. [Brief description of the drawings]

[0012] [Figure 1] FIG. 2 is an explanatory diagram showing an overhead view of a work vehicle on a lane in the first embodiment. [Diagram 2] FIG. 4 is an explanatory diagram showing a work vehicle on a lane as seen from the side in the first embodiment. [Diagram 3] FIG. 2 is a block diagram showing the configuration of a work vehicle in the first embodiment. [Figure 4] 4 is an explanatory diagram illustrating a change over time in magnetic measurement values ​​in the traveling direction when passing a magnetic marker in the first embodiment. FIG. [Diagram 5] 4 is an explanatory diagram illustrating a distribution of magnetic measurement values ​​in the vehicle width direction by the magnetic sensors Cn arranged in the vehicle width direction in the first embodiment. FIG. [Figure 6] FIG. 4 is a flow diagram of automatic driving control in the first embodiment. [Figure 7] FIG. 4 is a flow diagram of a marker inspection in the first embodiment. [Figure 8] 4 is an explanatory diagram illustrating a distribution of magnetic measurement values ​​in the vertical direction by the magnetic sensors Cn arranged in the vehicle width direction when a magnetic marker is detected in the first embodiment. FIG. [Figure 9] FIG. 11 is an explanatory diagram of the inspection (second inspection) of the installation state of the magnetic marker in the first embodiment. [Figure 10] FIG. 4 is an explanatory diagram of the relative position of the work vehicle after detecting the magnetic marker in the first embodiment. [Figure 11] FIG. 11 is an explanatory diagram showing an overhead view of a work vehicle on a lane in a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] The embodiment of the present invention will be specifically described with reference to the following examples. Example 1 This example relates to an operation method and operation system 1 for inspecting magnetic markers 10 on a road (an example of a road) 1R on which the magnetic markers 10 are laid. The contents of this example will be described with reference to Figs. 1 to 10.

[0014] The magnetic markers 10 are road markers laid on a road surface 100S as shown in Fig. 1. The magnetic markers 10 are magnetically detectable because they form a magnetic field around them. The magnetic markers 10 are placed, for example, at intervals of 2 m along the center of a lane 100 divided by left and right lane marks. The magnetic markers 10 are an example of ancillary objects that make up a road (accessories to a road 1R).

[0015] The magnetic marker 10 is made of a flat circular magnetic sheet with a diameter of 100 mm and a thickness of 2 mm. The magnetic sheet is an isotropic ferrite rubber magnet with a maximum energy product (BHmax) of approximately 6.4 kJ / m3. The surface magnetic flux density Gs of the magnetic marker 10 is approximately 45 mT or less. The magnetic marker 10 can be adhesively bonded to the road surface 100S, for example. As an adhesive, for example, asphalt in a molten or softened state can be used.

[0016] The work system 1 is configured to include a work vehicle 11 which is an example of an apparatus. The work vehicle 11 (FIG. 2) is equipped with steering wheels 111 and drive wheels 118, and is a vehicle capable of executing automatic driving control including control of the steering angle which is the direction of the steering wheels 111. The work vehicle 11 is equipped with a sensor array 2 which detects magnetism, a control unit 13, a steering actuator 141, a throttle actuator 143, an inspection unit 15, etc.

[0017] The steering actuator 141 is an actuator that steers the steering wheels 111. By controlling the steering actuator 141, the course of the work vehicle 11 can be changed in accordance with the steering of the steering wheels 111. The throttle actuator 143 is an actuator for opening and closing (controlling) the engine throttle. By controlling the throttle actuator 143, the engine output can be changed, making it possible to adjust the speed of the work vehicle 11. The steering actuator 141 and the throttle actuator 143 can be controlled by the control unit 13.

[0018] The sensor array 2 is a magnetic measurement unit in which a plurality of magnetic sensors Cn are arranged in a straight line, as shown in Fig. 3. The sensor array 2 comprises 15 magnetic sensors Cn (n is an integer between 1 and 15) arranged at intervals of 0.1 m along the longitudinal direction, and a detection processing circuit 212 that executes magnetic measurement processing and the like. The sensor array 2 is attached to the work vehicle 11 (Fig. 1) so that the arrangement direction of the 15 magnetic sensors Cn (n = 1 to 15) is along the vehicle width direction, and the central magnetic sensor C8 is positioned on the center line of the vehicle (center in the vehicle width direction).

[0019] The magnetic sensor Cn utilizes the well-known MI effect (Magnet Impedance Effect) in which the impedance of a magnetic sensitive body such as an amorphous wire (not shown) changes sensitively in response to an external magnetic field. This is a sensor that detects magnetism by using magnetism. In the magnetic sensor Cn, magnetosensitive bodies are arranged along three orthogonal axial directions, making it possible to detect magnetism acting in these three axial directions. When attached to the work vehicle 11, the sensor array 2 of this example detects magnetic components in the front-rear direction (travel direction), the vehicle width direction, and the vertical direction.

[0020] The detection processing circuit 212 is a circuit that executes a marker detection process, which will be described later, for detecting the magnetic marker 10. The detection processing circuit 212 is configured using a CPU (central processing unit) that executes various calculations, as well as memory elements such as a ROM (read only memory) and a RAM (random access memory). In addition to the detection results of 10, one-dimensional magnetic distribution data, which is a distribution of magnetic measurement values ​​of each magnetic sensor Cn, is output. The one-dimensional magnetic distribution data includes distribution data of magnetic strength acting in the front-rear direction, distribution data of magnetic strength acting in the vehicle width direction, and distribution data of magnetic strength acting in the vertical direction.

[0021] The control unit 13 is a unit that controls the travel of the work vehicle 11 and inspects the magnetic marker 10. The control unit 13 is composed of an electronic board on which electronic components such as a CPU, ROM, and RAM are mounted, a storage device such as an HDD (hard disk drive) device or an SSD (solid state drive) device, etc. The control unit 13 realizes predetermined functions by processing a control program read from the ROM, etc., with the CPU.

[0022] The control unit 13 controls the steering actuator 141 and the throttle actuator 143, thereby causing the work vehicle 11 to travel automatically. The control unit 13 also inspects the magnetic marker 10 using the inspection unit 15 and the sensor array 2. The control unit 13 acquires the above three types of one-dimensional magnetic distribution data output by the sensor array 2, and stores the data for a predetermined period of time in the past.

[0023] The inspection unit 15 is a unit that inspects the installation state of the magnetic marker 10. The inspection unit 15 outputs detachment information indicating whether or not the magnetic marker 10 has been detached from the road surface 100S. The inspection unit 15 is disposed 5 m behind the sensor array 2 in the work vehicle 11.

[0024] The inspection unit 15 includes an air nozzle 151 (see FIG. 9) that sprays compressed air onto the road surface 100S, an imaging camera (not shown) that images the magnetic markers 10, a sound collecting microphone (not shown), and a processing unit. A plurality of air nozzles 151 are provided in the vehicle width direction so that compressed air can be sprayed at each position in the vehicle width direction. One or a plurality of imaging cameras and sound collecting microphones are provided corresponding to almost the entire area of ​​the work vehicle 11 in the vehicle width direction.

[0025] The processing unit is a circuit that determines whether or not the magnetic marker 10 has peeled off (an example of an installation state). The processing unit detects peeling by detecting fluttering at the peeled off portion that may occur when compressed air is blown onto the peeled off magnetic marker 10. The processing unit processes the photographic data (video) and sound data when the compressed air is blown onto the magnetic marker 10, and detects the fluttering at the peeled off portion and the sound of the fluttering hitting the road surface 100S. If peeling has occurred on the magnetic marker 10, fluttering occurs at the edge of the magnetic marker 10 in response to the blowing of compressed air, and in the image data captured by the image capturing camera during this, the edge of the magnetic marker 10 is blurred in an image-like manner. The processing unit detects this image-like blurring to determine whether or not the magnetic marker 10 has peeled off. If peeling has occurred on the magnetic marker 10, fluttering occurs at the edge of the magnetic marker 10 in response to the blowing of compressed air, and in the sound data captured by the sound collecting microphone during this, the sound of the edge of the magnetic marker 10 hitting the road surface is included. The processing unit detects the sound of the edge of the magnetic marker 10 hitting the road surface to determine whether the magnetic marker 10 has peeled off. One method for detecting the sound is to detect the frequency component of the magnetic marker 10 hitting the road surface.

[0026] In the work system 1 of this example configured as described above, the work vehicle 11 automatically travels along the lane 100 while detecting the magnetic markers 10, and inspects each magnetic marker 10 while traveling. Below, (A) marker detection processing, (B) automatic travel control, and (C) marker inspection will be described in this order.

[0027] (A) Marker detection process The marker detection process is a process executed by the sensor array 2. The sensor array 2 executes the marker detection process at a frequency of 3 kHz using the magnetic sensors Cn. The detection processing circuit 212 of the sensor array 2 acquires magnetic measurement values ​​measured simultaneously by the 15 magnetic sensors Cn and executes the marker detection process. When the sensor array 2 detects a magnetic marker 10, it inputs to the control unit 13 a notification of the detection and the amount of lateral deviation (relative position) with respect to the magnetic marker 10 as the result of the marker detection process. The amount of lateral deviation is the deviation in the vehicle width direction of the magnetic sensor C8 located at the center of the sensor array 2 with respect to the magnetic marker 10, as described below.

[0028] As described above, the magnetic sensor Cn can measure magnetic components in the longitudinal direction and the vehicle width direction of the work vehicle 11. For example, when the magnetic sensor Cn moves in the longitudinal direction and passes directly above the magnetic marker 10, the magnetic measurement value in the longitudinal direction changes over time so that the positive and negative values ​​are inverted in front of and behind the magnetic marker 10 as shown in FIG. 4 and crosses zero at a position directly above the magnetic marker 10. When the work vehicle 11 is traveling, it can be determined that the sensor array 2 is located directly above the magnetic marker 10 when a zero cross Zc occurs, in which the positive and negative values ​​of the magnetic measurement value in the longitudinal direction detected by any of the magnetic sensors Cn are inverted. The detection processing circuit 212 determines that the magnetic marker 10 has been detected when the sensor array 2 is located directly above the magnetic marker 10 in this manner and a zero cross occurs in the magnetic measurement value in the longitudinal direction.

[0029] Also, for example, assume that a magnetic sensor with the same specifications as the magnetic sensor Cn moves along an imaginary line in the vehicle width direction that passes directly above the magnetic marker 10. In this case, the magnetic measurement value in the vehicle width direction changes in sign to positive or negative on both sides of the magnetic marker 10 and crosses zero at a position directly above the magnetic marker 10. Therefore, in the sensor array 2 in which 15 magnetic sensors Cn are arranged in the vehicle width direction, the positive and negative magnetic measurement values ​​in the vehicle width direction detected by the magnetic sensor Cn differ depending on which side the sensor is located with respect to the magnetic marker 10.

[0030] 5, which illustrates the magnetic measurement values ​​of each magnetic sensor Cn in the vehicle width direction, a zero cross Zc where the positive and negative magnetic measurement values ​​in the vehicle width direction are inverted appears corresponding to the magnetic marker 10. The position of the zero cross Zc in the figure coincides with the position of the magnetic marker 10 in the vehicle width direction. The position of the magnetic marker 10 in the vehicle width direction can be identified as, for example, the midpoint between two adjacent magnetic sensors Cn sandwiching the zero cross Zc, or the position directly below the magnetic sensor Cn where the magnetic measurement value in the vehicle width direction is zero and the positive and negative values ​​of the magnetic sensors Cn on both outer sides are inverted.

[0031] The detection processing circuit 212 measures the deviation of the representative point of the work vehicle 11 relative to the magnetic marker 10 in the vehicle width direction as the lateral deviation. In this example, the position of the magnetic sensor C8 at the center of the sensor array 2, that is, the center of the work vehicle 11 in the vehicle width direction, is set as the representative point. For example, in the case of FIG. 5, the position of the zero cross Zc corresponding to the magnetic marker 10 is a position equivalent to C9.5, which is about halfway between C9 and C10. As described above, the distance between the magnetic sensors C9 and C10 is 10 cm, so the lateral deviation of the representative point (magnetic sensor C8) of the work vehicle 11 relative to the magnetic marker 10 is (9.5-8)×10=15 cm. The example in the figure is an example of a case where the work vehicle 11 is shifted to the left in the lane 100. The positive and negative lateral deviations are defined as positive when the representative point of the work vehicle 11 shifts to the left relative to the magnetic marker 10, and negative when the representative point shifts to the right.

[0032] (B) Automatic Driving Control 6, when a magnetic marker is detected (S101: YES), the control unit 13 acquires the amount of lateral deviation (relative position with respect to the magnetic marker 10) output by the sensor array 2 (S102). The control unit 13 executes vehicle control so as to bring the amount of lateral deviation closer to a predetermined value such as zero (S103). The control unit 13, which is an example of a control unit, uses this control to automatically drive the work vehicle 11 along the lane 100 (FIG. 1).

[0033] In the vehicle control of step S103 in Fig. 6, when the lateral deviation amount is positive, i.e., when the work vehicle 11 is deviated to the left relative to the magnetic marker 10, the control unit 13 controls the steering actuator 141 so that the steering wheels 111 are steered to the right. The control unit 13 also controls the throttle actuator 143, for example, in accordance with the steering amount. For example, when the steering amount is large, the control unit 13 controls the throttle actuator 143 so that the vehicle speed is suppressed. Through the above control by the control unit 13, the work vehicle 11 can automatically travel along the lane 100 while adjusting its speed.

[0034] (C) Marker inspection The control unit 13 performs three types of inspections, which are examples of work. The first and second inspections are inspections of the magnetic markers 10 detected by the sensor array 2. The third inspection is an inspection of the magnetic markers 10 that are expected to be detected by the sensor array 2. The control unit 13 judges that the magnetic markers 10 that have passed all of the first to third inspections are in good condition. The inspection results by the control unit 13 are recorded in a memory area of ​​the memory device (control unit 13) as needed. Note that the work vehicle 11, which is an example of a device, may also be equipped with a positioning circuit that measures the position, and a circuit that records the results of the work of inspecting the magnetic markers 10, which are an example of an accessory, by linking the position acquired by the positioning circuit. By linking the positioning information obtained by a positioning means (an example of a positioning circuit) such as a Global Positioning System (not shown), the results of the work performed may be recorded. It is preferable to record in the circuit the inspection result indicating the quality of the magnetic marker 10. As this circuit, a storage device such as an HDD (hard disk drive) device or an SSD (solid state drive) device can be used.

[0035] When the magnetic marker 10 is detected by the sensor array 2 (S201: YES in FIG. 7), the control unit 13 identifies the relative position (positional deviation) of the work vehicle 11, which is an example of an apparatus, with respect to the magnetic marker 10 (position identification unit). Then, the control unit 13 identifies first and second inspection target locations using the detected relative position with respect to the magnetic marker 10 (S202, work location identification unit). The first inspection target location is the target location of the above-mentioned first and second inspections, and is the location where the magnetic marker 10 detected in step S201 is laid. The second inspection target location is the target location of the above-mentioned third inspection. The second inspection target location is the location where an undetected magnetic marker 10 adjacent to the magnetic marker 10 detected in step S201 is laid ahead in the traveling direction. Hereinafter, the first to third inspections will be described in order with reference to the flow diagram of FIG. 7.

[0036] (First Inspection) When the magnetic marker 10 is detected (S201: YES), the control unit 13 specifies the relative position of the work vehicle 11 in the longitudinal direction and the vehicle width direction with respect to the magnetic marker 10 (position specifying unit), using the center of the sensor array 2 (position of the magnetic sensor C8) as the representative point of the work vehicle 11. When the magnetic marker 10 is detected, the longitudinal positional deviation (relative position) of the work vehicle 11 with respect to the magnetic marker 10 is specified as zero. In addition, the lateral deviation amount obtained from the sensor array 2 is specified as the positional deviation (relative position) of the work vehicle 11 with respect to the magnetic marker 10 in the vehicle width direction.

[0037] The control unit 13 identifies the location of the detected magnetic marker 10, which is directly below the sensor array 2 in the fore-and-aft direction and shifted from the center of the sensor array 2 in the vehicle width direction by the amount of lateral shift, as the first inspection target location (S202), and performs the first inspection (S204).

[0038] The control unit 13 that performs the first inspection reads out from the storage area the one-dimensional magnetic distribution data output by the sensor array 2 while facing the installation location of the magnetic marker 10, which is the first inspection target location. The one-dimensional magnetic distribution data to be read out is preferably distribution data of magnetic strength in the vertical direction. The control unit 13 performs threshold processing on this one-dimensional magnetic distribution data (see FIG. 8). The threshold processing is a process for determining whether or not the magnitude of the magnetic measurement value (absolute value) at a position (first inspection target location) directly above the magnetic marker 10 in the one-dimensional magnetic distribution data exceeds a predetermined magnetic strength (threshold Th). If the magnitude of the magnetic measurement value (absolute value) at a position directly above the magnetic marker 10 exceeds the threshold Th, the control unit 13 determines that the magnetic characteristics of the magnetic marker 10 are good. On the other hand, if the magnitude does not meet the threshold Th, the control unit 13 determines that the magnetic characteristics of the magnetic marker 10 are not good. Note that the one-dimensional magnetic distribution illustrated in FIG. 8 is an example that is determined to be good.

[0039] (Second Inspection) The second inspection is an inspection of the installation state of the magnetic marker 10, such as peeling off from the road surface 100S (see FIG. 2). The control unit 13 predicts (S203) the time when the inspection unit 15 will reach the first inspection target location (the installation location of the magnetic marker 10 detected in S201) identified in the above step S202 (FIG. 7). Specifically, the control unit 13 predicts the first time when the inspection unit 15 will reach the installation location of the magnetic marker 10, which is the first inspection target location, and the position of the magnetic marker 10 in the vehicle width direction at the first time, based on the vehicle speed and steering angle.

[0040] In this example, the control unit 13 determines that the predicted first time point has been reached by utilizing the travel distance of the work vehicle 11. Specifically, when the travel distance of the work vehicle 11 after detecting the magnetic marker 10 in step S201 reaches a predetermined amount (5 m, which is the distance between the sensor array 2 and the inspection unit 15), it determines that the first time point has been reached, at which the inspection unit 15 reaches the first inspection location in step S202 (S205: first time point).

[0041] When the inspection unit 15 faces the first inspection location (the location where the magnetic marker 10 is laid, detected in S201) (S205: first time point), the control unit 13 outputs a control signal for operating the inspection unit 15. This control signal includes information on the position of the magnetic marker 10 in the vehicle width direction predicted as described above.

[0042] The inspection unit 15 performs a second inspection in response to the control signal from the control unit 13 (S206). The inspection unit 15 first selects one or more air nozzles 151 that correspond to the position in the vehicle width direction of the magnetic marker 10 represented by the control signal. Then, compressed air is sprayed from the selected air nozzles 151 toward the road surface 100S.

[0043] The inspection unit 15 processes the photographed data and sound data of the magnetic marker 10 when compressed air is sprayed, and determines whether or not the magnetic marker 10 has peeled off. For example, the inspection unit 15 determines whether or not the magnetic marker 10 has peeled off by visually detecting the fluttering of the peeled off portion or by detecting the fluttering sound. If peeling has occurred in the magnetic marker 10, the inspection unit 15 outputs an inspection result indicating that the installation state is poor, and if peeling has not occurred, the inspection unit 15 outputs an inspection result indicating that the installation state is good.

[0044] (Third Inspection) The third inspection is an inspection regarding the arrangement of the magnetic markers 10. As described above, the third inspection is not performed on the magnetic markers 10 that have already been detected, but on the magnetic markers 10 that are predicted to be detected in the future. When the magnetic marker 10 is detected by the sensor array 2 (S201 in FIG. 7: YES), the control unit 13 specifies the installation location of the magnetic marker 10 adjacent to the magnetic marker 10 in front of the magnetic marker 10 as the second inspection target location (S202). This installation location is an example of the installation location of a new magnetic marker 10 that is predicted to be detected in the future. As described above, in the configuration of this example, the magnetic markers 10 are arranged every 2 m. When any magnetic marker 10 is detected, the control unit 13 specifies that the sensor array 2 is located directly above the magnetic marker 10 (an example of a relative position), and specifies a position 2 m ahead as the second inspection target location. This inspection target location is an example of a location where work will be done in the future.

[0045] The control unit 13 predicts a second time point when the sensor array 2 will reach the location (second inspection location) of the next magnetic marker 10 based on the steering angle and vehicle speed (S203). Specifically, the control unit 13 predicts a second time point when the sensor array 2 will reach the location (second inspection location) of the next magnetic marker 10 2 m ahead based on the steering angle and vehicle speed, using the time point when the magnetic marker 10 is detected in S201 of Fig. 7 as a reference.

[0046] In this example, similarly to the second inspection described above, the control unit 13 uses the travel distance of the work vehicle 11 to determine that the predicted second time point has been reached (S205). Specifically, when the travel distance of the work vehicle 11 after detecting the magnetic marker 10 in step S201 reaches a predetermined amount (2 m, which is the interval between the magnetic markers 10), the control unit 13 determines that the second time point at which the sensor array 2 reaches the second inspection location has been reached (S205: second time point).

[0047] When the second time point is reached (S205: second time point), the control unit 13 performs a third test (S216). The third test is a test to see whether the sensor array 2 has detected the magnetic marker 10. If the control unit 13 obtains a result from the sensor array 2 at the second time point indicating that the magnetic marker 10 has been detected, it determines that the magnetic marker 10 is correctly positioned at a predetermined interval.

[0048] Here, the distance traveled by the work vehicle 11 after the first inspection is performed until the second and third inspections are performed is 5 m and 2 m, respectively. Therefore, based on the point in time when any of the magnetic markers 10 is detected in step S201 (the point in time when the first inspection is performed), the third inspection in step S216 is performed before the second inspection in step S206.

[0049] When a new magnetic marker 10 is detected by the third inspection, the control unit 13 identifies new first and second inspection target locations based on the magnetic marker 10. That is, after a first inspection is performed by first detecting any magnetic marker 10, new first and second inspection target locations are identified in response to the performance of the third inspection before the second inspection is performed. The control unit 13 stores and manages data such as the first and second inspection target locations and the first and second time points for each magnetic marker 10.

[0050] When the control unit 13 determines that a magnetic marker 10 is good in all of the tests, namely the first test performed in step S204 in Figure 7, the second test performed in step S206, and the third test performed in step S216, the control unit 13 determines that the magnetic marker 10 is good.

[0051] As described above, the work system 1 of this example is a system in which the work vehicle 11 automatically travels along the magnetic markers 10 and inspects the magnetic markers 10 during this automatic travel. In a work method using this work system 1, the work vehicle 11, which is an example of a device, inspects the magnetic markers 10 while automatically traveling along the magnetic markers 10.

[0052] In this example, the magnetic characteristics (first inspection), installation state (second inspection), and arrangement (third inspection) are exemplified as inspections of the magnetic marker 10, which is an example of a task. As an inspection of the magnetic marker 10, a shape inspection such as for chipping may also be performed. The shape inspection of the magnetic marker 10 can be performed, for example, by processing a captured image of the magnetic marker 10.

[0053] As a method for inspecting the peeling of the magnetic marker 10, various methods can be considered in place of the exemplified method of injecting compressed air. For example, peeling of the magnetic marker 10 can be inspected using a stamp-shaped member with multiple fine air suction holes. When the stamp-shaped member in the air suction state is pulled up from the state where it is pressed against the magnetic marker 10, all the suction holes open almost simultaneously if peeling does not occur. On the other hand, if peeling occurs in the magnetic marker 10, the peeled part is attracted and turned up when the stamp-shaped member is pulled up. At this time, the timing at which the suction hole corresponding to the peeled part opens is delayed compared to the other suction holes. By detecting such a delay, peeling of the magnetic marker 10 can be detected.

[0054] In this example, an automatically-driving work vehicle 11 is shown as an example of the device. The device may be a vehicle that does not have drive wheels and is towed by human power or another vehicle. The vehicle speed can be detected by the rotation speed of the wheels, etc., and the course can be detected by the rotation difference between the left and right wheels or the steering angle of the steering wheels, etc. As long as the vehicle is equipped with a sensor array 2, an inspection unit 15, etc., the above (A) marker detection process and (C) marker inspection can be performed regardless of whether the vehicle is self-driving or automatically driving, etc.

[0055] The work performed by the work vehicle 11, which is the device, may be the work of setting up new magnetic markers 10, which are an example of ancillary objects that make up the track 1R. For example, after laying magnetic markers 10 at 4m intervals, a magnetic marker 10 may be laid in the middle of adjacent magnetic markers 10, thereby forming a track on which the magnetic markers 10 are arranged at 2m intervals. By using the work system 1 of this example, the work of laying magnetic markers 10 in the middle of adjacent magnetic markers 10 can be efficiently performed.

[0056] For the magnetic markers 10 that are determined to have insufficient magnetic force in the first inspection of this example, a magnetizing operation may be carried out, thereby improving the condition of the magnetic markers 10, which are an example of an accessory. To enable this operation, a magnetizing unit that applies a magnetic field to the magnetic markers 10 to magnetize them may be provided in the work vehicle 11. Also, for example, during the first inspection, the magnetic polarity of the magnetic markers 10 that can be detected on the vehicle side may be identified and sequentially recorded in a storage device. In this case, a database of the magnetic polarities of the magnetic markers 10 laid along the lane 100 may be constructed.

[0057] In addition to or instead of the first to third inspections of this example, a task of identifying the installation position of the magnetic marker 10 may be added. For example, if the work vehicle 11 is equipped with a positioning device, it is possible to identify the absolute position of the magnetic sensor C8 when the magnetic marker 10 is detected. Based on the absolute position of the magnetic sensor C8, the position shifted by the amount of lateral deviation when the magnetic marker 10 is detected can be identified as the absolute position of the magnetic marker 10. By sequentially recording the absolute positions of the magnetic markers 10 identified in this way in a storage device, it is possible to build a database of the absolute positions of the magnetic markers 10 installed along the lane 100.

[0058] The work system 1 can perform work to develop, maintain, or manage the road 1R that forms the running path. For example, the work of inspecting the magnetic markers 10 corresponds to maintenance and management work. Also, for example, the work of laying magnetic markers corresponds to the development of the road 1R. Work to maintain the road in relation to the magnetic markers includes, for example, the work of magnetizing a magnetic marker whose magnetic force has decreased. Also, work to manage the road includes, for example, the work of measuring the magnetic force of the magnetic markers and the work of locating the position where the magnetic markers are laid.

[0059] Work to develop Road 1R includes various tasks to form Road 1R, such as laying new lane markings, setting up curbs, setting up guardrails, planting trees in medians, setting up signs along Road 1R, and paving the road surface. Work to maintain Road 1R includes tasks to take appropriate measures when repairs or cleaning are required, such as repairing the pavement surface, repainting lane markings with reduced visibility, removing (cleaning) litter from the roadside, and pruning plants. Work to manage Road 1R includes tasks to check whether the road is in good condition, such as inspecting the pavement surface for defects such as cracks and dents, inspecting the visibility of lane markings, and checking for foreign objects on the road.

[0060] In this example, when the magnetic marker 10 is detected, the amount of lateral deviation in the vehicle width direction is measured as the relative position of the representative point of the work vehicle 11 with respect to the magnetic marker 10. When the magnetic marker 10 is detected, the magnetic marker 10 is located directly under the sensor array 2, so the position deviation (relative position) in the front-rear direction is zero. Instead of this, when the front-rear direction is not zero, that is, when the relative position of the work vehicle 11 after passing the magnetic marker 10, may be specified. As shown in FIG. 10, the movement vector V1 of the work vehicle 11 after passing the magnetic marker 10 can be specified based on the elapsed time, vehicle speed, steering angle, etc. The relative position of the work vehicle 11 with respect to the magnetic marker 10 after passing the magnetic marker 10 can be specified as the sum vector V3 of the vector V2 corresponding to the amount of lateral deviation when the magnetic marker 10 is detected and the movement vector V1. It is also possible to specify the place to work based on the sum vector V3, which is the relative position with respect to the magnetic marker 10.

[0061] Example 2 This example is an example in which the work content is changed based on the work system of the first embodiment. The work content of the first embodiment is inspection of the magnetic markers 10. In contrast, the work content of this example is cleaning to improve the visibility of the lane marks (white lines, dividing lines) 100L that divide the lanes. This content will be described with reference to FIG. 11.

[0062] As in the first embodiment, the lane 100 on which the work system 1 of this embodiment operates is an area divided by left and right lane marks 100L. The magnetic markers 10 are placed, for example, at intervals of 2 m along the center of the lane 100. As in the first embodiment, the work vehicle 11 automatically travels along the lane 100 while detecting the magnetic markers 10.

[0063] The work vehicle 11 of this example is equipped with a pair of left and right rotating brushes 17 for cleaning the lane markings 100L. The rotating brushes 17 are provided at the ends of arms 171 attached to the front side of the work vehicle 11. The arms 171 are attached to the vehicle body in a state in which they can rotate along the road surface 100S. The rotation range of the arms 171 is a range of about 90 degrees between a rotation position where the arms 171 rotate along the forward direction and a rotation position where the arms 171 rotate along the vehicle width direction (outside), as shown in FIG. 11. By rotating the arms 171, the position of the rotating brushes 17 in the vehicle width direction can be changed relative to the work vehicle 11. This allows the lane markings 100L to be cleaned by the rotating brushes 17 regardless of the position of the work vehicle 11 in the lane 100 in the vehicle width direction.

[0064] In addition to the electrical configuration of the first embodiment, the work vehicle 11 is equipped with a motor 173 that rotates the arm 171, and a motor control unit 170 that controls the motor 173. The motor control unit 170 controls the motor 173 in response to control information input from the control unit 13. The control information from the control unit 13 includes at least information on the amount of lateral deviation output by the sensor array 2. The motor control unit 170 rotates the arm 171 in response to the control information, such as the amount of lateral deviation, input from the control unit 13, so that the rotating brush 17 is positioned directly above the lane mark 100L.

[0065] When the work vehicle 11 is located between adjacent magnetic markers 10, it is also possible to identify the relative position of the work vehicle 11 with respect to the detected magnetic markers 10, as described with reference to Fig. 10. By identifying the work location based on this relative position, the work location can be identified with high accuracy even if the distance between the magnetic markers 10 becomes long.

[0066] In this example, cleaning of lane markings 100L is exemplified as the work. Various types of work are conceivable, such as cleaning of roadsides such as curbs, cleaning of guardrails, management such as pruning and watering of plants, and tapping inspection of RC structures such as the inner walls of tunnels. Work related to accessories (attachments) of the road 1R provided along the lane 100 is suitable for the work system of the present invention. Alternatively, if the work environment is one in which work objects are arranged, magnetic markers may be arranged along the direction of the arrangement. In this case, the work can be performed by the exemplified work system 1 regardless of whether the work environment is a road or inside a facility such as a factory. Other configurations and effects are the same as those of the first embodiment.

[0067] Although specific examples of the present invention have been described in detail as examples, these specific examples merely disclose examples of the technology encompassed by the claims. Needless to say, the claims should not be interpreted as being limited by the configurations, numerical values, etc. of the specific examples. The claims encompass technologies that are obtained by variously modifying, changing, or appropriately combining the specific examples by utilizing publicly known technologies and the knowledge of those skilled in the art. [Explanation of symbols]

[0068] 1. Working System 1R road (runway) 10 Magnetic markers (attachments, accessories) 100 lanes 100L Lane Mark 100S road surface 11 Work vehicles (equipment) 111 Steering wheel 13 Control unit (position identification unit, work location identification unit, control unit) 15 Inspection Unit 17 Rotating Brush 171 Arm 2 Sensor array (magnetic measurement unit) 212 Detection processing circuit Cn magnetic sensor

Claims

1. A method for carrying out work to prepare, maintain or manage ancillary objects constituting a track, comprising the steps of: a device for detecting magnetic markers while moving along the track on which the magnetic markers are laid, the device comprising: An accessory of a work object is an accessory having a position different from that of the magnetic marker, while a relative position of the accessory of the work object with respect to the magnetic marker is known; Determining a relative position of the device with respect to the magnetic marker; Identifying a location where the device will work based on a relative position of the accessory of the work target with respect to the magnetic marker and a relative position of the device with respect to the magnetic marker; A work method in which, at the identified location, the device performs at least one of the following tasks: installing new accessories at a position different from the magnetic marker, inspecting existing accessories other than the magnetic marker, and improving the condition of existing accessories other than the magnetic marker.

2. 2. The method according to claim 1, wherein the accessory is at least one of a lane marking dividing lanes on a road, a curb, a guard rail, a median strip, a sign provided on a road, and a paved surface.

3. A work system including a device for detecting magnetic markers while moving along a track on which magnetic markers are laid, the device carrying out work of preparing, maintaining or managing accessories constituting the track, An accessory of a work object is an accessory having a position different from that of the magnetic marker, while a relative position of the accessory of the work object with respect to the magnetic marker is known; The operating system includes: a magnetic measurement unit that magnetically detects the magnetic marker; a position identification unit that identifies a relative position of the device with respect to the magnetic marker detected by the magnetic measurement unit; a work location specification unit that specifies a location where the device will perform work based on a relative position of the work target with respect to the magnetic marker and the relative position of the work target with respect to the magnetic marker specified by the position specification unit, A work system in which, at the location identified by the work location identification unit, the device is configured to perform at least one of the following tasks: installing a new accessory at a position different from the magnetic marker, inspecting existing accessories other than the magnetic marker, and improving the condition of existing accessories other than the magnetic marker.

4. 4. The work system according to claim 3, wherein the accessory is at least one of a lane marking that divides lanes on a road, a curbstone on a road, a guard rail, a median strip, a sign provided on a road, and a paved surface.

5. In claim 3 or 4, the device is capable of performing work to inspect existing accessories, and is equipped with a positioning circuit that measures a position, and a circuit that records the results of performing the work to inspect the accessories by linking it to the position obtained by the positioning circuit.

6. A method for carrying out work to prepare, maintain or manage a track, comprising the steps of: a device for detecting magnetic markers while moving along the track on which the magnetic markers are laid, the device carrying out work to prepare, maintain or manage the track, the method comprising the steps of: Upon detecting the magnetic marker, determining a relative position of the device with respect to the magnetic marker; Based on the relative positions, a position of the detected magnetic marker is identified as a location where the device is to work; At the identified location, the device blows air at the magnetic marker, while capturing an image of the magnetic marker while the air is being blown to obtain image data, and applies processing to the image data to visually detect any flapping of the detached portion that may occur when part of the magnetic marker detaches, thereby performing an operation method to determine whether or not the magnetic marker has detached from the road surface.

7. A method for carrying out work to prepare, maintain or manage a track, comprising the steps of: a device for detecting magnetic markers while moving along the track on which the magnetic markers are laid, the device carrying out work to prepare, maintain or manage the track, the method comprising the steps of: Upon detecting the magnetic marker, determining a relative position of the device with respect to the magnetic marker; Based on the relative positions, a position of the detected magnetic marker is identified as a location where the device is to work; At the identified location, the device blows air onto the magnetic marker, collects sounds produced from the magnetic marker while the air is being blown to obtain sound data, and applies processing to the sound data to detect flapping sounds that may be generated when the detached part of the magnetic marker flutters due to the action of the air, thereby performing an operation method to determine whether or not the magnetic marker has detached from the road surface.

8. A work system including a device that detects magnetic markers while moving along a track on which magnetic markers are laid, the device carrying out work to prepare, maintain or manage the track, a magnetic measurement unit that magnetically detects the magnetic marker; a position identification unit that identifies a relative position of the device with respect to the magnetic marker detected by the magnetic measurement unit; a work location specification unit that specifies a location where the magnetic marker detected by the magnetic measurement unit is to be installed as a location where the device will work based on the relative position; and A processing unit that determines whether or not the detected magnetic marker has been detached from the road surface, The apparatus comprises: an air nozzle that blows air onto the magnetic marker; A camera for capturing an image of the magnetic marker, The processing unit is a work system configured to determine whether or not the magnetic marker has detached from the road surface by applying processing to the image data acquired by the camera while air is being blown from the air nozzle toward the magnetic marker, in order to visually detect the fluttering of the detached portion that may occur when part of the magnetic marker detaches.

9. A work system including a device that detects magnetic markers while moving along a track on which magnetic markers are laid, the device carrying out work to prepare, maintain or manage the track, a magnetic measurement unit that magnetically detects the magnetic marker; a position identification unit that identifies a relative position of the device with respect to the magnetic marker detected by the magnetic measurement unit; a work location specification unit that specifies a location where the magnetic marker detected by the magnetic measurement unit is to be installed as a location where the device will work based on the relative position; and A processing unit that determines whether or not the detected magnetic marker has been detached from the road surface, The device includes an air nozzle that blows air onto the magnetic marker; a microphone for collecting sounds generated from the magnetic marker; The processing unit is a work system configured to determine whether or not the magnetic marker has detached from the road surface by applying processing to sound data acquired by the microphone while air is being blown from the air nozzle toward the magnetic marker, in order to detect the flapping sound generated when part of the magnetic marker detaches and the detached part flutters due to the action of the air.

10. A work system including a device that detects magnetic markers while moving along a track on which magnetic markers are laid, the device carrying out work to prepare, maintain or manage the track, a magnetic measurement unit that magnetically detects the magnetic marker; a position identification unit that identifies a relative position of the device with respect to the magnetic marker detected by the magnetic measurement unit; a work location specification unit that specifies a location where the magnetic marker detected by the magnetic measurement unit is to be installed as a location where the device will work based on the relative position; and A processing unit that determines whether or not the detected magnetic marker has been detached from the road surface, The device has a stamp-like member having a plurality of air suction holes drilled therein, The processing unit is a work system configured to determine whether or not the magnetic marker has peeled off by detecting whether, when a stamp-shaped member with the multiple air suction holes in an air suction state is lifted from a state pressed against the magnetic marker, all of the multiple air suction holes leave the surface of the magnetic marker and become released at the same time, or whether there is a delay in the timing at which some of the air suction holes become released.

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