JPH0547010U - Automatic steering device for asphalt finisher - Google Patents

Abstract

(57) [Summary] (Modified) [Purpose] Conventionally, in the work of road pavement repair machines, for example, in the construction with an asphalt finisher, an operator is required to perform an asphalt finisher operation work and a mix material supply work, and In addition, a screed man was required to operate the screed device of the leveling device to perform paving work, but the present invention reduces the above-mentioned complicated work, reduces operator fatigue, and facilitates the work content. The purpose is to improve work efficiency. According to the present invention, a sensor 17 for detecting a reference 14 such as a road surface, a curbstone, or a mold, a supporting device 18 for fixing the sensor, and a signal from the sensor controls the operation of an actuator of a steering device. It is an automatic steering device for an asphalt finisher consisting of a control device.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to an automatic steering device for an asphalt finisher, and more particularly to an automatic steer ring having a reference object copying type control device for an asphalt finisher to be used in accordance with a curb on the side of the road surface or a formwork used for construction. Regarding the device.

[0002]

[Prior Art]

 In the work of road paving / repairing machine, for example, asphalt finisher construction, as shown in Fig. 1, the mixture 2 put in the hopper 1 is sent by the bar conveyor 4 to the rear part of the asphalt finisher, and by the screw conveyor 5 in the width direction. This is performed by leveling the unwound mixture 3 with a screed device 7 pulled by the vehicle body through the side arm 6. In the asphalt finisher, at least two operators are required to operate the asphalt finisher and to supply mix material and to operate the screed device 7 which is a leveling device to form the pavement surface 8. .. In addition, the operator starts, stops, and operates a steering operation as a mark such as a chain 9 mounted on the side of the vehicle body, and controls the amount of mixture in the hopper 1 and the amount of mixture supplied to the screed device 7. In addition, the screedman adjusts the pavement thickness 10, pavement width 11, crown amount 12, compaction device 13, etc., but both require a lot of work and are complicated. .. Conventionally, when a finisher paves a road, for example, a standard 14 used for construction, for example, in order to perform construction along a formwork, an operator visually operates so that the chain 9 is adjusted to the standard 14. Are doing. In addition, if the width of the road changes, the screedman visually adjusts the width of the screed device 7 that can expand and contract in the width direction. In order to perform these steering operations and pave width adjustment operations that require frequent confirmation and adjustment during many complicated operations, labor and skill are required to make the work easier. ing. As a means for solving these problems, there are some which use an optical sensor and steer the machine along a mold or the like, but a reflector or the like is required. This is because it is difficult to measure the mold and the like using only the optical sensor, and it is necessary to keep the object to be measured in an optically uniform condition with a reflector. Since it is necessary to prepare several types of reflector shapes, it is troublesome and uneconomical. Even if an ultrasonic sensor is used regardless of optical means, if the sensor position cannot be sensed from the horizontal direction with respect to the reference surface 14 or the vertical movement of the traveling machine causes the sensor position to move. It was difficult to use because there was no solution for the case where the measured value fluctuated. None of the ultrasonic sensors were used in the steering direction of the axle with the vertical direction.

[0003]

[Problems to be solved by the device]

 The present invention is intended to solve the above problems.

[0004]

[Means for Solving the Problems]

 The present invention relates to an asphalt finisher including a sensor for detecting a reference such as a road surface or a formwork, a supporting device for fixing the sensor, and a control device for controlling the operation of the actuator of the steering device by a signal from the sensor. It is an automatic steering device.

[0005]

[Action]

 The case where the present invention is applied to an automatic steering device of a finisher will be described below. When the finisher constructs along a standard 14 such as curbs or formwork used for construction on the side of the construction road, the sensor 17 fixed to a support device 18 mounted on the side of the vehicle body The support device 18 is adjusted so that it is located at the reference 14 at the start of construction (FIG. 8). The sensor 17 detects a shift in the steering direction of the vehicle body with respect to the reference at this position (FIGS. 8A, 8C, and 8D) and sends a signal to the control box. In the case of FIG. 8 (A), the steering device is operated so that the sensor 17 is located at the reference 14, and is moved in the direction of the arrow in the figure, and similarly, in the case of FIG. 8 (C), it is also moved in the direction of the arrow. .. In the case of FIG. 8 (D) as well, it is moved in the direction of the arrow, but in the case of (C) it is moved so as to reach the state of (B) without stopping. The state (B) in FIG. 8 is the reference position for control, and the determination distance L for determining the presence or absence of a mold or the like.₀  (The one-dot chain line in the figure) is automatically set, and its value is constantly updated at normal times. For example, in the case of FIG. 8A, the detection distance L of the sensor (i)₁Distance L between sensor and sensor (ii)_TwoAnd the judgment distance L₀Relationship is L₀<L₁, L_Two<L₀At this time, the sensor 17 judges that it is in the proper position, and in other cases, L₁, L_Two, L₀A command signal for the moving direction and the moving amount is output according to the relationship of. Since the running speed of the finisher etc. during construction is low and the formwork etc. usually do not have extreme bending parts, it is possible to steer the machine along the formwork etc. In addition, since the value of the reference judgment distance is updated under normal conditions, it is not easily affected by fluctuations in the height of the sensor 17 from the road surface, and there is no effect of disturbance due to reference dirt or weather conditions. A stable signal can be detected more easily than when an optical sensor is used. There was a problem that it was difficult to identify the detected object only by optical means such as an optical sensor, but this invention solves this problem and it is possible to expand the measurement range for detecting the detected object more than the optical sensor. Is.

[0006]

Example 1 A sensor is an automatic asphalt finisher steerer including a plurality of ultrasonic sensors.

[0007]

[Embodiment 2] Two sensors arranged side by side in the vehicle width direction on the side of the vehicle body detect a distance from a reference such as a road surface, a curbstone, or a formwork to the sensor, and the above-mentioned reference is determined from a difference in detection amount by each sensor. This is an automatic steering device for asphalt finishers that can detect

[0008]

[Third Embodiment] An automatic steering device for an asphalt finisher in which the dead zone can be adjusted by changing the distance between a plurality of aligned sensors.

[0009]

[Embodiment 4] An automatic asphalt finisher in which a support device for fixing a sensor is associated with a component such as a piston rod of a hydraulic cylinder so that the position can be moved and the position of the sensor can be arbitrarily set. It is a steering device.

[0010]

Fifth Embodiment A control device is provided on both left and right sides of a vehicle body, and an asphalt finisher is provided with a switching device that is switchable so that either one of the left and right control devices can be operated. It is an automatic steering device.

[0011]

[Embodiment 6] An automatic steering device for an asphalt finisher, which is provided with a switch device capable of appropriately changing the direction of a sensor.

[0012]

[Embodiment 7] An automatic steering device for an asphalt finisher, which performs a calculation for controlling the operation of an actuator of a steering device in a vehicle body by a signal from a sensor and sends a command signal to a solenoid valve. is there.

[0013]

[Embodiment 8] The operation panel is provided with an on / off switch for control, a control start button, lamps for operating and confirming those switches, instruction lamps for control direction, etc., and controls the operation panel. It is an automatic steering device for an asphalt finisher supported by a box.

[0014]

[Embodiment 9] An automatic steering device for an asphalt finisher in which a mutual interference of a plurality of sensors can be prevented by preventing a malfunction by operating a power supply and alternately turning a sensing state on and off. is there.

[0015]

[Embodiment 10] An automatic steering device for an asphalt finisher that generates a buzzer sound or outputs another signal when the sensor is separated from the reference position and the reference cannot be detected for a predetermined time or longer. Is.

[0016]

Eleventh Embodiment Two sensors arranged in the vehicle width direction shown in FIGS. 4 and 5 detect a distance from a road surface, a formwork or the like to the sensor, and a reference 14 is detected based on a difference in detection amount between the sensors. The relationship between the inner and outer sensors and the movement direction is shown in Table 1 below.

[0017]

[Embodiment 12] Table 2 below shows the relationship between the detection signal states of the upper sensor and the lower sensor based on the vertical surface 27 such as the road shoulder shown in FIG. 7 and the moving direction.

【effect】

 The present invention is necessary when operating an actuator of a steering device or an actuator for expanding and contracting a screed device in a vehicle body in accordance with a standard such as a formwork, and includes a sensor for detecting the standard and a support for fixing the sensor. The automatic steering device for the asphalt finisher, which consists of the device and a control device that controls the operation of the actuator of the steering device based on the signal from the sensor, reduces the conventional complicated work and reduces worker fatigue. This has the effect of facilitating work content and improving work efficiency. Also, when the present invention is applied to a pavement width expansion / contraction device or the like, the width of the screed device or the like can be automatically expanded / contracted, and the same effect as the above case can be obtained. Also, in vehicles such as asphalt finishers that run along curbstones laid on the side of the construction road surface, reference forms such as formwork and road shoulders used for construction, and perform road surface pavement repair work, for example. A plurality of ultrasonic sensors that detect the position of the vehicle based on the above-mentioned reference object, an actuator that activates the steering device of the vehicle, and a control board that activates the actuator in response to the signal sent from the sensor. And a sensor support device that fixes the sensor to the vehicle and can set an arbitrary sensor position, the automatic steering device for the vehicle does not require the work of a large number of people unlike the conventional work. By operating the operator, that is, the switch on the control box, the automatic operation can be easily performed. Furthermore, the reference object scanning type control has a structure in which the sensors have multiple built-in sensors, and the sensing states are alternately turned on and off to prevent interference between the built-in sensors and reduce the occurrence of malfunctions. Since it is a system, it has the effect of having high reliability for the function of the sensor. Further, since the system can be applied even when the object detected by the sensor is perpendicular to the road surface, such as a wall surface, there is an effect that the practical result can be enhanced. In addition, by utilizing the automatic steering device to which the present invention is applied in this way, it is possible to reduce the conventional complicated work by utilizing it for other steering devices, reduce worker fatigue, and facilitate work contents. There is an effect that the work efficiency can be improved.

[Brief description of drawings]

1 is a partially cutaway side view of an asphalt finisher which is an object to which the present invention is applied.

FIG. 2 is a perspective view of FIG.

FIG. 3 is a plan view of FIGS. 1 and 2.

FIG. 4 is a conceptual diagram of an automatic steering device for an asphalt finisher according to the present invention.

FIG. 5 is an enlarged view of a main part of a supporting portion of the sensor.

FIG. 6 is a plan view of an operation panel of the control box of the present invention.

FIG. 7 is a conceptual diagram showing the function of the sensor when the vertical plane is used as a reference.

FIG. 8 is a diagram showing a positional relationship between a sensor and a reference.

[Explanation of symbols]

1 Hopper 16 Actuator 2 Mixing material 17 Sensor 3 Mixing material 18 Support device for fixing sensor 4 Bar conveyor 19 Control box 5 Screw conveyor 20 Solenoid valve 6 Side arm 21 Sensor interval 7 Screed device 22 Changeover switch 8 Pavement surface 23 On-off switch 9 Chain 24 Control start button 10 Pavement thickness 25 Check lamp 11 Pave width 26 Indicator lamp 12 Crown amount 27 Vertical surface such as road shoulder 13 Compaction device 14 Standard 15 Vehicle body

Claims (11)

[Scope of utility model registration request] 1. An asphalt finisher comprising a sensor for detecting a reference such as a road surface or a mold, a support device for fixing the sensor, and a control device for controlling an operation of an actuator of a steering device by a signal from the sensor. Automatic steering device. 2. The automatic steering device for an asphalt finisher according to claim 1, wherein the sensor comprises a plurality of ultrasonic sensors. 3. The two vehicles arranged side by side in the vehicle width direction on the side of the vehicle body.
The asphalt finisher according to claim 1, wherein each of the sensors detects a distance from a reference such as a road surface, a curbstone, or a formwork to the sensor, and the reference can be detected based on a difference in detection amount between the sensors. Automatic steering device. 4. The automatic steering device for an asphalt finisher according to claim 1, wherein a dead zone can be adjusted by changing a distance between a plurality of arranged sensors. 5. A support device for fixing a sensor is associated with a component such as a piston rod of a hydraulic cylinder so that the position can be moved and the position of the sensor can be arbitrarily set. Asphalt finisher automatic steering device. 6. A switching device, wherein the control devices are arranged on both left and right sides of the vehicle body, and a switching device is provided which is switchable so that either one of the left and right control devices can be operated. Asphalt finisher automatic steering device. 7. The automatic steering device for an asphalt finisher according to claim 1, further comprising a switch device configured to appropriately change the direction of the sensor. 8. The automatic asphalt finisher according to claim 1, wherein a calculation for controlling an operation of an actuator of a steering device in a vehicle body is performed by a signal from a sensor, and a command signal is sent to a solenoid valve. Steering device. 9. The operation panel is provided with a control on / off switch, a control start button, a lamp for operating and confirming those switches, an instruction lamp for a control direction, etc., and the operation panel is supported by a control box. The automatic steering device for an asphalt finisher according to claim 1, wherein 10. The asphalt finisher according to claim 1, wherein mutual interference of a plurality of sensors can be prevented by preventing a malfunction by operating a power supply and alternately turning on and off a sensing state. Automatic steering device. 11. The asphalt finisher according to claim 1, wherein when the sensor is separated from the reference position and the reference cannot be detected for a predetermined time or longer, a buzzer sound is generated or another signal can be output. Automatic steering device.