JP2017204089A - Autonomous travel controller and autonomous travel method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide autonomous travel whose travel is smooth while travel precision is maintained.SOLUTION: An autonomous travel controller controls a construction machine 1 that performs autonomous travel. When a distance from a travel reference line to the construction machine is larger than a predetermined first threshold value, a control signal is output that modifies a travel direction of the construction machine so as to approach the travel reference line. When the distance from the travel reference line to the construction machine becomes smaller than a second threshold value that is equal to or smaller than the first threshold value, a control signal is output that makes a travel direction of the construction machine parallel to the travel reference line.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a control device for autonomous traveling of a construction machine and an autonomous traveling method.

  In disaster recovery construction, unmanned construction may be employed for the purpose of ensuring the safety of workers. In unmanned construction, it is common for an operator to remotely operate a construction machine while checking images sent from the site on a plurality of monitor screens. In this method, the operator cannot operate while directly feeling the situation around the work site with the five senses, so the quality of the work may differ depending on the skill of the operator. In addition, a device and a communication environment for acquiring a plurality of images are required.

  In addition, as another unmanned construction method, autonomous control that causes the construction machine to travel along a preset plan line by mounting sensors on the construction machine instead of the human senses and giving a work start command An unmanned construction method has been developed (see, for example, Non-Patent Document 1).

  In the technique described in Non-Patent Document 1, with respect to traveling on the rolling compaction path, a straight line connecting the starting point and the target point is divided into a plurality of parts, and control is performed so that the direction of the construction machine is directed to a nearby division point. Then, after passing through the division point, direction control is performed toward the next nearest division point, and the vehicle travels to the final target point by repeating this.

Satoshi Kurihara, 3 others, “Demonstration of autonomous running of vibrating rollers”, Taisei Construction Technology Center Bulletin, Taisei Corporation Technology Center, December 1, 2014, No. 47, No56

However, in the technique described in Non-Patent Document 1, since control is performed by moving the target to the next division point after passing through one division point, a delay occurs in the steering operation in a construction machine having a structure like a vibrating roller. To do. For this reason, it is difficult to travel on the line that is originally intended to travel, and there is a problem that the vehicle travels meandering within a certain range.
This problem will be described with reference to FIG. For example, as shown in FIG. 7A, it is assumed that the vibrating roller is traveling toward the first first dividing point. When the vibration roller passes the first division point, the target of the vibration roller is changed from the first division point to the second second division point closest to the second division point, and the steering is corrected (FIG. 7 ( b)). At this time, a delay occurs because the steering correction operation is performed while the vehicle is running, and the vehicle meanders without returning to the planned line (see FIG. 7C). Thereby, as shown in FIG.7 (d), a vibration roller repeats meandering driving | running | working.
Note that the meandering of a certain amount occurs to some extent from the viewpoint of running accuracy, but it is desired to control the running smoothly as if operated by a human while maintaining the running accuracy.

  From such a viewpoint, it is an object of the present invention to provide an autonomous traveling control device and an autonomous traveling method that can smoothly travel while maintaining traveling accuracy.

A construction machine having an articulate mechanism such as a vibrating roller is characterized in that a rear wheel travels on a trajectory traveled by a front wheel that is a guide wheel.
Due to the characteristics of the articulate mechanism, the inventor of the present invention is aware of the driver who is driving (including maneuvering by boarding and maneuvering by remote control) on the front wheels, and by maneuvering with reference to the front wheels, We paid attention to the fact that we were able to drive with less meandering. Specifically, the target of the position of the front wheel is a saddle that can be formed between the adjacent lane, and the driver can secure the predetermined lap length between this saddle and the front wheel traveling line. Operate the steering wheel so that it is parallel to the lane. The present invention realizes the traveling of a construction machine by maneuvering by autonomous traveling.

The control device for autonomous traveling according to the present invention that solves the above problem is a control device for autonomous traveling that controls a construction machine that autonomously travels.
The autonomous traveling control device corrects the traveling direction of the construction machine so as to approach the traveling reference line when the distance from the traveling reference line to the construction machine is greater than a predetermined first threshold. Output a signal.
The autonomous travel control device travels when the distance from the travel reference line to the construction machine is smaller than a second threshold value that is the same value as the first threshold value or smaller than the first threshold value. A control signal for making the traveling direction of the construction machine parallel to a reference line is output.

Moreover, the autonomous traveling method according to the present invention is an autonomous traveling method for causing a construction machine to autonomously travel. In this autonomous traveling method, when the distance from the traveling reference line to the construction machine is larger than a predetermined first threshold, the traveling direction of the construction machine is corrected so as to approach the traveling reference line.
In addition, when the distance from the traveling reference line to the construction machine is smaller than a second threshold value that is the same value as the first threshold value or smaller than the first threshold value, the construction is performed with respect to the traveling reference line. Make the machine travel parallel.

  According to the present invention, traveling accuracy is maintained because the vehicle travels at a certain position from the traveling reference line. In addition, since a point (intermediate point) that must pass in the middle of the travel path (travel reference line) is not determined, the amount of meandering is relatively small compared to the conventional case, and travel is smooth.

  According to the present invention, it is possible to smoothly travel while maintaining traveling accuracy.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure for demonstrating the autonomous running method which concerns on embodiment of this invention, (a) is a general view of the unmanned construction system using an autonomous running method, (b) is a rolling compaction area which performs unmanned construction. This is an example. It is an external view of the vibration roller used for the autonomous running method which concerns on embodiment of this invention. It is the schematic of the articulation mechanism of a vibration roller, (a) shows the state at the time of straight advance, (b) shows the state at the time of turning. It is a block diagram for demonstrating the autonomous control system of a vibration roller. It is a figure for demonstrating the autonomous running method which concerns on embodiment of this invention. It is a figure which shows the result of the running experiment of the autonomous running method in a prior art and the autonomous running method in this invention, (a) is the result of the running experiment which controlled by the autonomous running method in a prior art, (b) is It is the result of the driving | running | working experiment which controlled by the autonomous driving | running | working method in this invention. It is a figure for demonstrating the subject of the autonomous running in a prior art, (a)-(d) shows each process.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings as appropriate.
Each figure is only schematically shown so that the invention can be fully understood. Therefore, the present invention is not limited to the illustrated example. Moreover, the dimension of the member in drawing to refer may be exaggerated and expressed for clarification of description. In addition, in each figure, about the same component or the same component, the same code | symbol is attached | subjected and those overlapping description is abbreviate | omitted.

≪Autonomous driving method according to this embodiment≫
The autonomous traveling method refers to mounting sensors on a construction machine and causing the construction machine to travel along a preset plan line. In the present embodiment, since unmanned construction is performed simultaneously with the autonomous running of the construction machine, it may be referred to as “unmanned construction”. An unmanned construction system M using the autonomous traveling method according to the present embodiment is shown in FIG.

  The unmanned construction system M is a system in which construction machines are autonomously run to compact the ground on the construction site. The unmanned construction system M consists of a vibration roller 1 that rolls the ground while autonomously running on the construction site, a total station 2 that is erected on the construction site, and a host PC that is installed in an operation room located away from the construction site. (Personal Computer) 3. The vibration roller 1, the total station 2, and the host PC 3 can communicate using wireless communication. The vibration roller 1 is an example of a construction machine, and the type of the construction machine is not limited to this.

<Total station>
The total station 2 automatically tracks the traveling vibration roller 1 and transmits position information of the vibration roller 1 to the host PC 3 periodically (for example, 300 milliseconds). The total station 2 is, for example, a place that does not interfere with the traveling of the vibration roller 1 and is installed at a position where automatic tracking of the vibration roller 1 is always possible.

<Host PC>
The host PC 3 is operated by a construction manager. The construction manager registers the construction conditions in the host PC 3 in advance, and then inputs a construction start instruction. These pieces of information are transmitted to the vibration roller 1. And when transmission is completed, the unmanned construction by the vibration roller 1 is started.
In addition, during the period when unmanned construction is performed, the host PC 3 transmits the position information of the vibration roller 1 received from the total station 2 to the vibration roller 1.
On the other hand, the host PC 3 periodically receives the body information of the vibration roller 1 from the vibration roller 1 and displays this body information on the display screen. The machine body information may be any information as long as the state of the vibration roller 1 can be confirmed, and may be, for example, the traveling direction, speed, steering angle, etc. of the vibration roller 1. The construction manager can grasp the progress of construction by confirming the machine information of the vibration roller 1 displayed on the host PC 3. The construction manager does not instruct the vibration roller 1 in principle after giving the construction start instruction.

  The construction conditions include, for example, (1) Rolling area information relating to an area where rolling is performed (hereinafter referred to as “rolling area”), and (2) a rolling path relating to a rolling path set in the rolling area. Information, and (3) rolling condition information relating to the rolling condition under which the vibrating roller 1 rolls along the rolling path. Note that the rolling path means a region where rolling is performed by the vibration roller 1 traveling. For this reason, the compaction path has a predetermined width. The reference line of the rolling path is a virtual line along the extending direction (longitudinal direction) of the rolling path, and is a travel route that is a target of autonomous traveling of the vibration roller 1. The reference line can be set at an arbitrary position of the rolling path. In the present embodiment, the center line of the compaction path is adopted as the reference line.

The rolling area information includes the number of rolling areas and coordinates (x, y) for specifying each rolling area. As shown in FIG. 1B, in the case of a rectangular rolling area, coordinates (x, y) of the four corners of the rolling area are given as coordinates for specifying each rolling area.
The compaction path information includes the number of compaction paths, coordinates (x, y) for specifying each compaction path, a lane change width, and the like. As shown in FIG. 1B, in the case of rolling linearly in the vertical direction, coordinates (x, y) at both ends of the center line of each rolling pressure path are used as coordinates for specifying each rolling pressure path. Moreover, the separation distance between the center lines of the adjacent rolling compaction paths is given as the lane change width.

  The rolling condition information includes the number of times of rolling in each rolling path, the coordinates of the entry point to the rolling pressure area, the coordinates of the exit point from the rolling pressure area, and the like. As shown in FIG. 1B, when the rolling is performed sequentially from the rolling path set on the left side of the rectangular rolling area toward the right side, for example, the leftmost rolling point is used as an entry point to the rolling area. The coordinates (x, y) of one end point of the center line of the pressure path are given, and (x, y) of the center line of the rightmost end of the compaction path is given as the exit point from the compaction area.

<Vibrating roller>
With reference to FIG. 2, the configuration of the vibrating roller 1 (may be referred to as “roller” for omission) will be described. The vibration roller 1 includes a vehicle body 10, two iron wheels 11 and 11 attached to the front and rear of the vehicle body 10, an articulate mechanism 12 disposed at the lower part of the vehicle body 10, and an all-round prism installed at the upper part of the vehicle body 10. 13 and the communication antenna 14, the autonomous traveling control device 15, and the body information acquisition means S (see FIG. 4). The vibration roller 1 can move forward and backward by changing the rotation direction of the iron wheels 11 and 11.

The vehicle body 10 is a main body of the vibration roller 1. The vehicle body 10 accommodates driving means (not shown) inside. In the following, “roller azimuth angle G” means the direction of the vehicle body 10.
The iron wheel 11 includes a device that generates vibration (not shown), and rotates while vibrating to roll the ground. Hereinafter, the front iron wheel 11 may be referred to as a front wheel 11a, and the rear iron wheel 11 may be referred to as a rear wheel 11b. The front wheel 11a is a reference for control of autonomous traveling during forward travel, and the rear wheel is a reference for control of autonomous travel during backward travel. Details will be described later.

  The articulate mechanism 12 is a mechanism for turning the vibration roller 1 and is installed in the lower part of the vehicle body 10. The articulate mechanism 12 includes a front wheel holding portion 12a that rotatably holds the front wheel 11a, a rear wheel holding portion 12b that rotatably holds the rear wheel 11b, and a center that connects the front wheel holding portion 12a and the rear wheel holding portion 12b. A pin 12c and a steering cylinder (not shown) interposed between the front wheel holding portion 12a and the rear wheel holding portion 12b are provided. When a control command for correcting the traveling direction (control command using the steering angle θ as a control command angle) is received from the autonomous traveling control device 15, the steering cylinder expands and contracts according to the steering angle θ. When the steering cylinder expands and contracts, the front wheel holding portion 12a is refracted around the center pin 12c, and the direction of the front wheel 11a changes accordingly.

  The all-round prism 13 shown in FIG. 2 is a tracking target of the total station 2. Here, in consideration of the characteristics of the articulation mechanism 12 that the rear wheel 11b follows the front wheel 11a, the center position of the rotating shaft of the iron wheel 11 on the side where the vibration roller 1 is advanced It is preferably provided on a vertical line passing through the center position of the rotation axis. For this reason, in the present embodiment, correction is performed by calculation so that the position of the all-round prism 13 is directly above the center position of the rotating shaft of the iron wheel 11 on the side where the vibration roller 1 is advanced. That is, the vibration roller 1 performs a predetermined number of times of rolling by reciprocating traveling repeatedly moving forward and backward, so that correction is performed so that the front wheel 11a becomes the reference point when moving forward and the rear wheel 11b becomes the reference point when moving backward. The direction (reference direction) that becomes the reference when controlling the vibration roller 1 is the direction θJ of the iron wheel 11 (front wheel 11a or rear wheel 11b) on the side where the reference point is set.

  With reference to FIG. 3, the reference point and the reference direction when performing the independent running control of the vibration roller 1 will be described. The vibration roller 1 can move forward and backward as described above, but here, the description will be made on the assumption that the vibration roller 1 moves forward. Therefore, the position of the prism as the reference point is corrected to the center position of the rotation axis of the front wheel 11a. In addition, although mentioned later for details, the direction (azimuth angle G (deg)) of the vehicle body 10 of the vibration roller 1 is detected by attitude | position detection sensor S1 (refer FIG. 4). Further, the steering angle θ (deg) of the articulate mechanism 12 is detected by a steering angle detection sensor S3 (see FIG. 4).

  As shown in FIG. 3A, when traveling straight (when the steering angle θ is 0 °), the front wheel holding portion 12a and the rear wheel holding portion 12b are linear with respect to the traveling direction. And the rotation axis of the rear wheel 11b becomes parallel. That is, the azimuth angle G (the direction of the vehicle body 10) of the vibration roller 1 and the direction θJ of the front wheel 11a are the same direction.

  On the other hand, as shown in FIG. 3B, when turning right (the steering angle θ is not 0 °), the front wheel holding portion 12a is refracted to the right with respect to the traveling direction around the center pin 12c. Accordingly, the right side of the front wheel 11a is inclined in a direction approaching the rear wheel 11b. Similarly, when turning left, the front wheel holding portion 12a is refracted to the left with respect to the traveling direction around the center pin 12c, and accordingly, the left side of the front wheel 11a is inclined in a direction close to the rear wheel 11b. Thereby, the front wheel 11a and the rear wheel 11b pass the same locus. In this case, the azimuth angle G (the direction of the vehicle body 10) of the vibration roller 1 is different from the direction θJ of the front wheel 11a. The direction θJ of the front wheel 11a of the vibration roller 1 during turning is obtained by adding (or subtracting) the steering angle θ (deg) to the azimuth angle G (deg) of the vibration roller 1 when the friction between the ground and the front wheel 11a is ignored. ).

  Although not shown, the reference point at the time of reverse travel is set on the center position of the rotation axis of the rear wheel 11b or on the vertical line passing through the center position of the rotation axis. That is, during reverse travel, the position of the all-round prism 13 is corrected to a vertical line passing through the center position of the rotation axis of the rear wheel 11b or the center position of the rotation axis. Further, the direction (reference direction) θJ of the rear wheel 11b of the vibration roller 1 during reverse travel is opposite to the azimuth angle G (the direction of the vehicle body 10) of the vibration roller 1 regardless of whether the vehicle is traveling straight or turning.

  In this way, by correcting the position of the all-round prism 13, the coordinates of the reference point acquired via the total station 2 are the center position of the rotation axis of the front wheel 11a when moving forward or the rotation of the rear wheel 11b when moving backward. The center position of the axis. Therefore, it is difficult for the steering operation to be delayed in the autonomous traveling control. This correction may be performed by any of the vibration roller 1, the total station 2, and the host PC 3, and is performed by calculation in any of the apparatuses. The reference point of the vibration roller 1 is not limited to this, and may be provided, for example, on the position of the center pin 12c or on a vertical line passing through the center pin 12c.

  In FIG. 2, the communication antenna 14 communicates with the host PC 3. Specifically, the autonomous running control device 15 of the vibration roller 1 receives construction conditions (rolling area information, rolling path information, rolling condition information), position information, and the like from the host PC 3 via the communication antenna 14. To do. Further, the autonomous traveling control device 15 transmits the machine body information of the vibration roller 1 to the host PC 3 via the communication antenna 14.

With reference to FIG. 4, the structure of the body information acquisition means S is demonstrated. FIG. 4 is a schematic diagram of an autonomous control system M1 that realizes autonomous control of the vibration roller 1. Airframe information acquisition means S is composed of attitude detection sensor S1, speed detection sensor S2, steer angle detection sensor S3, and forward exploration sensor S4.
The posture detection sensor S1 detects the azimuth angle G (deg) of the vibration roller 1. The posture detection sensor S <b> 1 is, for example, a MEMS gyro and is installed inside the vehicle body 10. The azimuth angle G (deg) is transferred to the autonomous traveling control device 15 and used for calculation of the current position using inertial navigation (INS). Note that the position information of the vibrating roller 1 acquired by the total station 2 is used for correcting the drift of the posture detection sensor S1.

  The speed detection sensor S2 detects a speed V (km / h) at which the vibration roller 1 moves forward and backward. The speed detection sensor S2 is, for example, a rotary encoder that detects the rotational speed of the iron wheel 11, and is installed on the rear wheel 11b. The velocity V (km / h) is transferred to the autonomous traveling control device 15 and used for calculation of the current position using inertial navigation (INS).

  The steering angle detection sensor S3 detects the steering angle θ (deg) of the articulate mechanism 12. The steer angle detection sensor S3 is a potentiometer, for example, and is installed on the center pin 12c of the articulation mechanism 12. The steering angle θ (deg) is transferred to the autonomous traveling control device 15 and used for correcting the traveling direction of the vibration roller 1. Note that a sensor that detects the amount of advancement / retraction of the rod of the steering cylinder may be the steer angle detection sensor S3.

  The forward exploration sensor S4 detects object information Q (coordinates) in the forward direction of the vibration roller 1. The forward exploration sensor S4 is, for example, a 2D scanner, and is installed in the upper front part of the vehicle body 10. The forward exploration sensor S4 is delivered to the autonomous traveling control device 15 and used for obstacle avoidance control.

  The autonomous traveling control device 15 shown in FIG. 4 uses the information acquired by the machine body information acquisition means S and the information received from the host PC 3 to autonomously follow a preset plan line (center line of the compaction path). It controls the running. The autonomous running control device 15 is configured by, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. The control by the autonomous traveling control device 15 is realized by a program execution process realized by the CPU developing a program stored in the ROM or the like in the RAM.

  The autonomous traveling control device 15 calculates a steering angle θ necessary for autonomous traveling, creates a control command using the calculated steering angle θ as a control command angle, and periodically outputs the control command (for example, 100 milliseconds). ) To the articulating mechanism 12. The articulate mechanism 12 expands and contracts the steering cylinder by an amount corresponding to the steering angle θ of this control command, and refracts the front wheel holding portion 12a around the center pin 12c. Along with this, the direction of the front wheel 11a changes, and the course of the vibration roller 1 is corrected.

  Control of autonomous traveling by the autonomous traveling control device 15 according to the present embodiment will be described with reference to FIG. Here, a “rolling step” is assumed as a traveling pattern controlled by the autonomous traveling control device 15. In the rolling step, the vibrating roller 1 is reciprocated on the rolling pressure path by the number of times of rolling. The autonomous running control device 15 obtains the center line of the rolling compaction path by calculation in advance for autonomous running in the rolling compaction process. For example, the autonomous traveling control device 15 calculates the center line of the compaction path from the coordinates (x, y) of both ends (start point, target point) of the center line of each compaction path. The direction from the starting point of the center line of the rolling path to the target point is defined as “θT”.

  In addition, the autonomous traveling control device 15 sets a band-like region that spreads evenly on both the left and right sides from the center line of the rolling compaction path as an allowable range of displacement. The width (Xcm) of the permissible range of misregistration only needs to be determined in advance as a threshold value, for example, about 20 cm (about ± 20 cm from the center line of the compaction path).

When the autonomous running control is started in the rolling step, the autonomous running control device 15 is directed to the iron wheel 11 on the traveling direction side (here, the front wheel 11a is assumed) with respect to the direction θT of the center line of the rolling road. The vibrating roller 1 is caused to travel so that θJ is parallel. However, when the position of the reference point of the vibration roller 1 is more than a certain amount with respect to the center line of the compaction path, the direction of the front wheel 11a is changed so that the reference point of the vibration roller 1 returns to the center line of the compaction path. . Then, when the position of the reference point of the vibration roller 1 returns within a certain amount with respect to the center line of the compaction path, the direction of the front wheel 11a is again returned to be parallel to the direction θT of the centerline of the compaction path.
Here, “parallel” does not have to be parallel in a strict sense, and even if there is a predetermined error (for example, ± 5 °), it is included in parallel. The parallel error may be determined in advance by the distance from the start point to the target point, the width of the allowable range of positional deviation, or the like, or the positional deviation amount of the vibrating roller 1 can maintain the allowable range at the target point of the rolling path. An angle of a degree may be sufficient.

For example, it is assumed that the positional deviation amount of the vibration roller 1 with respect to the center line of the rolling path is not within an allowable range at a certain time. In that case, the autonomous traveling control device 15 corrects the steering angle θ of the vibrating roller 1 so as to approach the center line of the rolling pressure path (see time t _{1 in} FIG. 5). In this case, the steering angle θ may be an arbitrary angle, as long as the direction θJ of the front wheel 11a of the vibration roller 1 after correcting the steering angle θ and the direction θT of the center line of the rolling path intersect. That's fine. For example, when the goal is to reach the center line of the compaction path as quickly as possible, the steering angle θ may be the minimum turning radius. As a result, the vibration roller 1 changes its traveling direction while traveling and proceeds toward the center line of the rolling path.

When vibration roller 1 is advanced as it is, the traveling direction side of the iron ring 11 of the vibrating roller 1 within an allowable range of positional displacement enters (front wheel 11a in this case) (see time t ₂ in FIG. 5). In that case, the autonomous traveling control device 15 corrects the steering angle θ of the vibration roller 1 so that the direction θJ of the front wheel 11a is parallel to the direction θT of the center line of the rolling path. Here, as already described, the steering angle θ of the articulate mechanism 12 by the steering angle detection sensor S3 is used to calculate the direction θJ of the front wheel 11a. For example, the autonomous traveling control device 15 calculates a value obtained by adding (or subtracting) the steering angle θ (deg) to the azimuth angle G (deg) of the vibration roller 1 as the front wheel direction θJ. Accordingly, the vibration roller 1 changes the traveling direction while traveling, and directs the direction θJ of the front wheel 11 toward the direction θT of the center line of the rolling path (see time t _{3 in} FIG. 5).

Thereafter, the autonomous traveling control device 15 returns the steering angle θ of the vibration roller 1 to “0 °” and causes the vibration roller 1 to advance straight. Thus, the vibration roller 1 is parallel to the running and the rolling passage of the center line (see time t ₄ in FIG. 5).

  Various methods are conceivable for the control after the vibration roller 1 starts to run in parallel with the center line of the rolling path. For example, the autonomous traveling control device 15 may finely adjust the traveling direction of the vibration roller 1 by appropriately correcting the steering angle θ, or until the positional deviation amount of the vibration roller 1 is out of the allowable range and the front wheel comes off. It is not necessary to correct the steering angle θ. In the former case, it is preferable to reduce the amount of meandering. For example, the control command calculation period (Δt) is set longer than in the case where the vibrating roller 1 does not travel in parallel with the center line of the rolling path. Also good. Further, when the vibration roller 1 is traveling at a predetermined error angle included in parallel to the center line of the rolling pressure path, the steering angle θ may not be corrected.

  As described above, the autonomous traveling control device 15 according to the present embodiment has the direction θT of the center line of the rolling compaction path within the belt-like allowable range extending from the center line (reference line) of the rolling compaction path to the left and right sides. In contrast, the vibration roller 1 is caused to travel such that the direction θJ of the iron wheel 11 on the traveling direction side is in parallel. Therefore, the vibration roller 1 according to the present embodiment travels at a certain position from the center line of the rolling pressure path, so that traveling accuracy is maintained. Further, since the point (intermediate point) that must pass in the middle of the compaction path is not determined, the amount of meandering is relatively small compared to the conventional case, and the running is smooth.

  FIG. 6 shows the results of a running experiment in which the vibrating roller 1 was controlled by the autonomous running method in the prior art and the autonomous running method in the present invention. FIG. 6A shows the result of a running experiment controlled by the autonomous running method in the prior art, and FIG. 6B shows the result of a running experiment controlled by the autonomous running method in the present invention. The horizontal axis of the graph shown in FIG. 6 is the number of data (pieces), and the vertical axis is the amount of displacement (m) from the center line (reference line) of the compaction path.

The running experiment shown in FIG. 6 was performed under the following conditions.
-Number of lanes: 15 lanes (stepped 10m to 44m)
・ Running speed: 1km / h
・ Lap length: 20cm
・ Number of times of construction: 1 round trip without vibration, 1 round trip with vibration ・ Construction range: 832 m ²
Referring to FIG. 6, it can be seen that the amount of misalignment (m) from the center line (reference line) of the compaction path is smaller overall when the control of the present invention is used than the control of the prior art.

[Modification]
As mentioned above, although embodiment of this invention was described, this invention is not limited to this, It can implement in the range which does not change the meaning of a claim. The modification of embodiment is shown below.

In the embodiment, when the displacement amount of the vibration roller 1 with respect to the center line (reference line) of the rolling pressure path is not within the allowable range, the vibration roller 1 is returned to the center line of the rolling pressure path and within the allowable range. When the front wheel 11a entered, the direction of the vibrating roller 1 was parallel to the center line of the rolling path. That is, both the determination to return the vibrating roller 1 to the center line of the rolling pressure path using one threshold value and the determination to make the direction of the vibrating roller 1 parallel to the center line of the rolling pressure path have been performed. Thereby, in the embodiment, the control is simple.
However, these two determinations may be made using different thresholds. For example, it is determined using the first threshold value to return the vibrating roller 1 to the center line of the compaction path, and the second threshold value is used to determine that the direction of the vibrating roller 1 is parallel to the center line of the compaction path. Also good. In this way, the travel position of the vibration roller 1 can be controlled in more detail.

  In the embodiment, the “rolling step” is assumed as the traveling pattern controlled by the autonomous traveling control device 15, but the traveling pattern may be applied to the “entry step” and the “lane changing step”. In the approach step, the vibrating roller 1 located outside the rolling pressure area is caused to enter a rolling pressure path set in the rolling pressure area. In the lane change process, the vibration roller 1 is moved to the next rolling path.

In the embodiment, the vibration roller 1 has been described as an example of a construction machine that autonomously travels along the rolling path. However, the type of construction machine and the type of travel path are not limited to this. A construction machine that performs autonomous traveling only needs to have an articulate mechanism, and the wheels are not limited to iron wheels. Moreover, the driving | running route which performs autonomous driving | running | working should just be preset, and a driving | running | working reference line is not limited to the centerline of a driving | running route.
For example, the construction machine may be a dump truck having an articulate mechanism, and the traveling path in that case may be a tunnel in a tunnel mine where tunnel construction is performed or a transportation road in a quarry. In the former case, for example, the dump truck transports the gap generated by the blasting work to the outside of the tunnel mine, and in the latter case, for example, the dump truck transports the rock mined at the quarry site to the outside of the quarry.
Note that the travel path may include not only a straight line but also a curved line. When a curve is included, for example, the traveling of the part is controlled as a combination of a plurality of straight traveling paths.

  In the embodiment, the steering angle θ necessary for correcting the angle difference has been described as a value with respect to a reference value (for example, 0 °), but may be a value (steering angle Δθ) that is increased or decreased with respect to the current value.

1 Vibration roller (construction machine)
2 Total station 3 Host PC
10 Car body 11a Front wheel (steel wheel)
11b Rear wheel (steel wheel)
12 Articulate mechanism (steering device)
12c Center pin 13 All-round prism 14 Communication antenna 15 Autonomous traveling control device S1 Attitude control sensor S2 Speed detection sensor S3 Steer angle detection sensor S4 Forward search sensor

Claims (2)

An autonomous traveling control device that controls a construction machine that autonomously travels,
When a distance from the travel reference line to the construction machine is greater than a predetermined first threshold, a control signal for correcting the traveling direction of the construction machine to be close to the travel reference line is output,
When the distance from the travel reference line to the construction machine is smaller than a second threshold value that is the same value as the first threshold value or smaller than the first threshold value, the construction machine with respect to the travel reference line Output a control signal to make the traveling direction of
A control device for autonomous driving characterized by the above. An autonomous traveling method for autonomously running a construction machine,
When the distance from the travel reference line to the construction machine is greater than a predetermined first threshold, the traveling direction of the construction machine is corrected so as to approach the travel reference line,
When the distance from the travel reference line to the construction machine is smaller than a second threshold value that is the same value as the first threshold value or smaller than the first threshold value, the construction machine with respect to the travel reference line Make the direction of travel parallel,
An autonomous running method characterized by that.

Images