KR-102964607-B1 - Device And Method for Constructing Groove With Improved High Precision Control

KR102964607B1KR 102964607 B1KR102964607 B1KR 102964607B1KR-102964607-B1

Abstract

The present invention relates to a high-precision grooving construction method and apparatus with an improved blade height control method, and more specifically, to a high-precision grooving construction method and apparatus with an improved blade height control method that improves the quality and efficiency of grooving construction by preemptively adjusting the blade height based on road surface information and continuously correcting the blade height according to the movement of the equipment.

Inventors

이종환

Assignees

주식회사 덕양
주식회사 제이에이치

Dates

Publication Date: 20260513
Application Date: 20250723

Claims (6)

As a grooving construction method using a grooving construction device, The above grooving construction device is, A plurality of blades forming a plurality of grooving grooves on a road surface; a rotating shaft equipped with the plurality of blades; a proximity scanner unit equipped in the case of the grooving construction device and including one or more proximity scanners that scan the road surface at a point immediately below the blades; one or more forward scanner units equipped in the case of the grooving construction device and scanning the road surface between a point immediately below the blades and a point spaced apart by a preset distance; a control unit that receives scan results from the proximity scanner unit including the one or more proximity scanners and the one or more forward scanner units and calculates, determines, and controls the height of the rotating shaft; and a height adjustment unit that physically adjusts the height of the rotating shaft according to the calculation, determination, and control results of the control unit. The above proximity scanner unit acquires initial road surface information including information that can be verified in two dimensions, and The above-described front scanner unit includes a lidar for acquiring three-dimensional information including curvature information of a road surface, and a camera module for acquiring three-dimensional information including visual information regarding one or more of the texture, color, cracks, contamination, and material properties of the road surface, and acquires first continuous road surface information and second continuous road surface information including information that can be verified in three dimensions, and An initial road surface information acquisition step of scanning the road surface of a first section, which is a point immediately below the blade, by means of the proximity scanner unit to acquire initial road surface information, and transmitting the acquired initial road surface information to the control unit; An initial height calculation step in which, by means of the control unit, the initial height of the rotation axis is calculated through the initial road surface information and the target groove depth entered by the user, and the calculated initial height is transmitted to the height adjustment unit; An initial height adjustment step in which the height of the rotation axis in the first section is adjusted to the initial height received from the control unit by means of the height adjustment unit; A first continuous road surface information acquisition step in which, by means of the aforementioned front scanner unit, the initial road surface information acquisition step is performed, and at the same time, the road surface of the first section is scanned to acquire first continuous road surface information, the road surface of the second section, which is between a preset distance from immediately below the blade, is scanned to acquire second continuous road surface information, and the acquired first continuous road surface information and second continuous road surface information are transmitted to the control unit; A first continuous height calculation step in which, by means of the control unit, a delta value for the road surface height in the second section is calculated through the first continuous road surface information and the second continuous road surface information, a first continuous height is calculated by applying the delta value and a weighting factor to the initial height according to a preset formula, and the calculated first continuous height is transmitted to the height adjustment unit; and A first continuous height adjustment step, wherein, by means of the height adjustment unit, at the time when the blade attempts to enter the second section after passing the first section, the height of the rotation axis is preemptively adjusted and corrected to the first continuous height received from the control unit; The above first continuous road surface information acquisition step, first continuous height calculation step, and first continuous height adjustment step are continuously performed while the work is being performed by the grooving construction device, and the initial height is continuously corrected according to the performance of the work, and The above second section is, When the working speed of the above grooving construction device is the first speed, it corresponds to the distance between the point immediately below the blade and the first distance, and A grooving construction method in which, when the working speed of the above grooving construction device is a second speed faster than the first speed, the distance between the point immediately below the blade and the second distance longer than the first distance.
In claim 1, The above proximity scanner unit includes a laser distance measuring device, in a grooving construction method.
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In claim 1, The above grooving construction method is, A second continuous road surface information acquisition step, wherein, by means of the aforementioned front scanner unit, the first continuous road surface information acquisition step is performed simultaneously, the road surface in the third section corresponding to the subsequent section of the first section is scanned to acquire third continuous road surface information, the road surface in the fourth section corresponding to the subsequent section of the second section is scanned to acquire fourth continuous road surface information, and the acquired third continuous road surface information and fourth continuous road surface information are transmitted to the control unit; A second continuous height calculation step in which, by means of the control unit, a delta value for the road surface height in the fourth section is calculated through the third continuous road surface information and the third continuous road surface information, the delta value and weight are applied to the initial height by a preset formula to calculate the second continuous height, and the calculated second continuous height is transmitted to the height adjustment unit; and A grooving construction method further comprising: a second continuous height adjustment step in which, by means of the height adjustment unit, at the time when the blade is to enter the fourth section after passing the third section, the height of the rotation axis is preemptively adjusted and corrected to the second continuous height received from the control unit.
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As a grooving construction device, A plurality of blades for forming a plurality of grooving grooves on a road surface; a rotating shaft on which the plurality of blades are provided; a plurality of proximity scanner units provided in the case of the grooving construction device for scanning the road surface at a point immediately below the blades; a front scanner unit provided in the case of the grooving construction device for scanning the road surface between a point immediately below the blades and a point spaced apart by a preset distance; a control unit that receives scan results from the proximity scanner units and the front scanner units and calculates, determines, and controls the height of the rotating shaft; and a height adjustment unit that physically adjusts the height of the rotating shaft according to the calculation, determination, and control results of the control unit. The above proximity scanner unit acquires initial road surface information including information that can be verified in two dimensions, and The above-described front scanner unit includes a lidar for acquiring three-dimensional information including curvature information of a road surface, and a camera module for acquiring three-dimensional information including visual information regarding one or more of the texture, color, cracks, contamination, and material properties of the road surface, and acquires first continuous road surface information and second continuous road surface information including information that can be verified in three dimensions, and The above proximity scanner unit performs an initial road surface information acquisition step of scanning the road surface of a first section, which is a point immediately below the blade, to acquire initial road surface information, and transmitting the acquired initial road surface information to the control unit. The control unit performs an initial height calculation step of calculating the initial height of the rotation axis through the initial road surface information and the target groove depth entered by the user, and transmitting the calculated initial height to the height adjustment unit; The height adjustment unit performs an initial height adjustment step of adjusting the height of the rotation axis in the first section to the initial height received from the control unit; and The above-described front scanner unit performs a first continuous road surface information acquisition step, wherein, while the above-described initial road surface information acquisition step is being performed, the front scanner unit scans the road surface of the first section to acquire first continuous road surface information, scans the road surface of the second section between a preset distance from immediately below the blade to acquire second continuous road surface information, and transmits the acquired first continuous road surface information and second continuous road surface information to the control unit. The control unit performs a first continuous height calculation step of calculating a delta value for the road surface height in the second section through the first continuous road surface information and the second continuous road surface information, calculating a first continuous height by applying the delta value and a weight to the initial height according to a preset formula, and transmitting the calculated first continuous height to the height adjustment unit. The height adjustment unit performs a first continuous height adjustment step of preemptively adjusting and correcting the height of the rotation axis to the first continuous height received from the control unit at the time when the blade attempts to enter the second section after passing the first section; The above first continuous road surface information acquisition step, first continuous height calculation step, and first continuous height adjustment step are continuously performed while the work is being performed by the grooving construction device, and the initial height is continuously corrected according to the performance of the work, and The above second section is, When the working speed of the above grooving construction device is the first speed, it corresponds to the distance between the point immediately below the blade and the first distance, and A grooving construction device that, when the working speed of the above grooving construction device is a second speed faster than the first speed, corresponds to a second distance longer than the first distance from a point immediately below the blade.

Description

Device and Method for Constructing Groove With Improved High Precision Control of Blade Height The present invention relates to a high-precision grooving construction method and apparatus with an improved blade height control method, and more specifically, to a high-precision grooving construction method and apparatus with an improved blade height control method that improves the quality and efficiency of grooving construction by preemptively adjusting the blade height based on road surface information and continuously correcting the blade height according to the movement of the equipment. The technology of forming grooves on road surfaces plays an essential role in traffic safety by improving road drainage performance, increasing vehicle skid resistance, and shortening braking distances. Since this grooving construction requires the precise machining of fine patterns on the road surface, accuracy and efficiency are considered critical. In particular, because it is directly related to the safety of vehicles traveling at high speeds, maintaining uniform depth and spacing of the grooves is a key quality standard. Conventional grooving construction devices have primarily operated by using sensors to measure the curvature of the road surface near the blade (cutting edge) and adjusting the blade height based on these measurements. This method features a structure that controls reactively to changes in the road surface. In other words, a time delay (latency) inevitably occurs in the series of processes where the control system issues a height adjustment command to the blade only after the sensor detects the curvature, and the blade physically moves to complete the adjustment. Such time delays lead to critical problems when equipment moves at high speeds or when road surface curvature changes abruptly. Because the blade reacts to changes in the road surface 'one beat late,' sections already passed cannot be corrected, and errors are inevitable even at the point currently being adjusted. Consequently, the uniformity of grooving depth deteriorates, resulting in poor construction quality. This necessitates rework or places unnecessary stress on the equipment and blades, causing a shortened lifespan and increased maintenance costs. Furthermore, existing technologies suffered from the inconvenience of requiring operators to manually set grooving precision standards (e.g., tolerances) based on various site conditions, such as road surface material, severity of curvature, and construction purpose (e.g., drainage, anti-slip). This poses a risk of missetting due to reliance on operator experience and judgment, and undermines the consistency of construction quality. Therefore, there is an urgent need to develop a new grooving construction technology that can simultaneously ensure both quality and efficiency by proactively responding to changes in the road surface, performing continuous and precise blade height adjustments, and intelligently setting construction standards. FIG. 1 schematically illustrates a grooving construction device according to one embodiment of the present invention. FIG. 2 schematically illustrates a grooving construction method according to one embodiment of the present invention. FIG. 3 schematically illustrates a grooving construction method according to another embodiment of the present invention. FIG. 4 schematically illustrates the detailed configuration of a control unit according to one embodiment of the present invention. Figure 5 schematically illustrates the adjustment of the rotation axis height when construction is performed using a conventional grooving device. FIG. 6 illustrates an exemplary example of performing an initial road surface information acquisition step and an initial height calculation step according to an embodiment of the present invention. FIG. 7 illustrates an exemplary example of performing a first continuous road surface information acquisition step according to an embodiment of the present invention. FIG. 8 illustrates an exemplary example of performing a first continuous height adjustment step according to an embodiment of the present invention. Hereinafter, various embodiments and/or aspects are disclosed with reference to the drawings. For illustrative purposes, numerous specific details are disclosed in the following description to aid in a general understanding of one or more aspects. However, it will also be recognized by those skilled in the art that these aspects may be practiced without such specific details. The following description and the accompanying drawings describe specific exemplary aspects of one or more aspects in detail. However, these aspects are exemplary, and some of the various methods in the principles of the various aspects may be used, and the description is intended to include all such aspects and their equivalents. In addition, various aspects and features will be presented by a system that may include multiple devices, components and/or