CN117062954A

CN117062954A - Asphalt roller and construction support system for asphalt roller

Info

Publication number: CN117062954A
Application number: CN202280021124.0A
Authority: CN
Inventors: 美浓寿保; 萩原和明
Original assignee: Sumitomo SHI Construction Machinery Co Ltd
Current assignee: Sumitomo SHI Construction Machinery Co Ltd
Priority date: 2021-03-29
Filing date: 2022-03-28
Publication date: 2023-11-14
Also published as: JPWO2022210612A1; EP4317583A1; WO2022210612A1

Abstract

The present invention relates to an asphalt roll-leveling machine and a construction support system for the asphalt roll-leveling machine. The asphalt roll-leveling machine is provided with: a traction machine; the hopper is arranged at the front side of the tractor; a conveyor that conveys paving material in the hopper to a rear side of the tractor; a screw for spreading paving material, which is transported by the conveyor and is spread on a road surface, in a vehicle width direction; and a leveling device for leveling paving material spread by the screw on the rear side of the screw, so that the action of the transport vehicle is correspondingly synchronized with the action of the asphalt roll.

Description

Asphalt roller and construction support system for asphalt roller

Technical Field

The present invention relates to an asphalt roll-leveling machine and a construction support system for the asphalt roll-leveling machine.

Background

Conventionally, there is known an asphalt roll leveling machine including: a traction machine; a hopper disposed at a front side of the traction machine and receiving paving material; a conveyor that supplies paving material in the hopper to a rear side of the tractor; a screw for spreading paving material supplied by the conveyor at the rear side of the tractor; and a leveling machine for leveling paving the paving material spread by the screw on the rear side of the screw.

When the asphalt roll is constructed, there is a transport vehicle (e.g., dump truck) transporting the paving material in front of the asphalt roll. Further, paving material is supplied from the transport vehicle to the asphalt roll. Asphalt screeds require continuous construction. Therefore, after the transport vehicle reaches a position where the asphalt binder can supply the paving material to the asphalt binder, the transport vehicle needs to advance together with the asphalt binder to continue the construction of the asphalt binder.

Prior art literature

Patent literature

Patent document 1: japanese International publication No. 2017/010541

Disclosure of Invention

Problems to be solved by the invention

In general, an operator of the asphalt binder sounds a horn to notify a driver of the transport vehicle of the timing of start or the like of the asphalt binder. The driver of the transport vehicle hears the horn and controls the departure and stop of the transport vehicle while confirming the operation of the asphalt binder.

When the load of the asphalt binder by the transport vehicle (the load applied to the asphalt binder when the transport vehicle in contact with the front end of the asphalt binder is pushed forward) fluctuates during the construction of the asphalt binder, the road surface quality of the constructed road may be degraded. Therefore, it is preferable to control the transport vehicle so as not to contact the asphalt binder with the transport vehicle.

In view of the above, it is desirable to provide an asphalt binder capable of properly controlling a transport vehicle according to the condition of the asphalt binder.

Means for solving the problems

An asphalt leveler according to an embodiment of the present invention includes: a traction machine; the hopper is arranged at the front side of the tractor; a conveyor that conveys paving material in the hopper to a rear side of the tractor; a screw for spreading paving material, which is transported by the conveyor and is spread on a road surface, in a vehicle width direction; and a leveling device for leveling paving material spread by the screw on the rear side of the screw, so that the action of the transport vehicle is correspondingly synchronized with the action of the asphalt roll.

ADVANTAGEOUS EFFECTS OF INVENTION

According to one aspect of the present invention, the asphalt leveler can suppress degradation of the paving surface on the upstream side by synchronizing the operation of the transport vehicle with the operation of the asphalt leveler.

Drawings

Fig. 1A is a left side view showing an asphalt leveler and a dump truck, which are examples of the road machine according to embodiment 1.

Fig. 1B is a plan view showing an asphalt leveler and a dump truck, which are examples of the road machine according to embodiment 1.

Fig. 2 is a block diagram showing the structure of the asphalt binder and the dump truck according to embodiment 1.

Fig. 3 is a diagram showing a processing procedure performed by the asphalt roll according to embodiment 1.

Fig. 4 is a plan view showing a construction site of the 1 st movement path and the 2 nd movement path generated by the path generating unit for constructing the curved portion of the road.

Fig. 5A is a diagram showing a case where the distance between the rear wheel of the dump truck according to embodiment 1 and the components of each vehicle between the roll of the asphalt leveler is "0".

Fig. 5B is a diagram showing a case where the distance between the rear wheel of the dump truck according to embodiment 1 and the components of each vehicle between the rolls of the asphalt leveler is a predetermined distance "a".

Fig. 5C is a conceptual diagram showing a case where the distance between the rear wheel of the dump truck and the components of each vehicle between the rolls of the asphalt leveler according to embodiment 1 is the reference distance "a/2".

Detailed Description

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding structures may be denoted by the same reference numerals, and description thereof may be omitted.

(embodiment 1)

Fig. 1 is a diagram showing an asphalt roll 100 and a dump truck 200, which are examples of the road machine according to embodiment 1. Specifically, fig. 1A is a left side view, and fig. 1B is a top view. Fig. 1 shows an example in which dump truck 200 approaches pitch rolling machine 100 while retreating.

The asphalt roll machine 100 is mainly composed of a traction machine 1, a hopper 2 and a leveling device 3.

The leveling device 3 is a mechanism for leveling paving material. In the present embodiment, the leveling device 3 is a floating leveling device towed by the towing machine 1, and is coupled to the towing machine 1 via a leveling arm 3 a.

The hopper 2 is provided on the front side of the tractor 1 as a mechanism for receiving paving material. The hopper 2 of the present embodiment has a mechanism that can be opened and closed in the vehicle width direction by the hopper cylinder 2a with the movable mechanism parts 81a and 81b as axes. Further, when the asphalt roll 100 runs out of the paving material (for example, asphalt mixture) in the hopper 2, the hopper 2 is placed in a fully opened state so that the paving material (for example, asphalt mixture) can be received from the cabin 201 of the dump truck 200 as a paving material transport vehicle. Then, in a state where the dump truck 200 is in contact with the asphalt roll 100, the paving material is supplied from the cabin 201 of the dump truck 200 to the hopper 2.

When receiving the paving material from the vehicle cabin 201 of the dump truck 200, the asphalt leveler 100 continues to travel (work) while advancing in the traveling direction together with the dump truck 200. Specifically, the conveyor conveys the paving material contained in the hopper 2 to the rear side of the tractor 1. The screw spreads the paving material conveyed by the conveyor and laid on the road surface in the vehicle width direction. The leveling device 3 spreads paving material spread by the screw on the rear side of the screw.

After receiving the paving material from the cabin 201 of the dump truck 200, the operator of the asphalt roll 100 can load the paving material supplied to the hopper 2 on the conveyor by gradually closing the hopper 2. Then, if the paving material supplied to the hopper 2 is conveyed to the rear and the paving material in the hopper 2 is almost used up, the operator opens the hopper 2. Then, at a stage where the hopper 2 is again in the fully opened state, the hopper 2 can receive the paving material from the dump truck 200. Therefore, it is preferable that the driver of the dump truck 200, after confirming that the hopper 2 is in the fully opened state, bring the dump truck 200 close to the asphalt roll 100.

Further, asphalt roll 100 includes roller 2b. The roller 2b is provided in a position forward of the hopper 2. The roller 2b is configured to be able to contact the rear wheel 202 of the dump truck 200, and is rotatable together with the rear wheel 202 when the rear wheel 202 of the dump truck 200 contacts.

The traction machine 1 is a mechanism for running the asphalt roll 100. In the present embodiment, the traction machine 1 rotates the front wheels and the rear wheels using the hydraulic motor for running to move the asphalt binder 100. The travel hydraulic motor receives a supply of hydraulic oil from a hydraulic pressure source and rotates. The traction machine 1 may include tracks instead of wheels.

The tractor 1 is equipped with a controller 30, a wireless communication device 40, a GPS module 50, a main monitor 60, a driver's seat 61, an imaging device 62, a sound output device 63, and the like. Specifically, a cabin including a main monitor 60 and a driver seat 61 is provided on the upper surface of the tractor 1. The imaging device 62 and the audio output device 63 are provided at the front center of the upper surface of the tractor 1.

The wireless communication device 40 directly performs short-range wireless communication with devices existing around the asphalt roll 100, for example, the dump truck 200. As a wireless communication standard of the wireless communication device 40, for example, wi-Fi (registered trademark) can be used in the present embodiment. The wireless communication according to the present embodiment is not limited to the method using Wi-Fi (registered trademark), and wireless LAN, bluetooth (registered trademark), or the like may be used.

The GPS module 50 is an example of a GNSS (Global Navigation Satellite System: global navigation satellite system) module, and receives position information indicating the result of two-dimensional positioning by GPS (Global Positioning System: global positioning system). The positional information includes information indicating the position of the asphalt roll 100 in terms of latitude and longitude. In the present embodiment, an example using GPS is described as a method for acquiring position information, but the method for acquiring position information is not limited, and other known methods may be used.

Main monitor 60 is a device that displays various information to an operator of asphalt roll 100. In the present embodiment, main monitor 60 is a liquid crystal display, and can display various information in response to a command from controller 30. Main monitor 60 also includes an input device 60a for receiving an operation input from an operator of asphalt roll machine 100.

The imaging device 62 is a device for acquiring an image of a space existing in front of the pitch-roller 100. In the present embodiment, the imaging device 62 is a camera, and outputs an acquired image to the controller 30. The imaging device 62 may be a range image camera, an infrared camera, a stereo camera, or the like. The present embodiment describes an example in which the imaging device 62 is used as an example of a device capable of recognizing a space. However, the present embodiment does not limit the spatial recognition device to the image pickup device 62. That is, as long as the space recognition device can recognize the space based on the asphalt roll 100, for example, a laser sensor or the like may be used.

The imaging device 62 (an example of a detection device) according to the present embodiment captures a space existing in the imaging area RA1 (an example of a detection range) indicated by a one-dot chain line in fig. 1A and 1B in front of the pitch-roller 100. Then, the image pickup device 62 outputs image information (an example of detection information) related to the picked-up image to the controller 30. In the example shown in fig. 1A and 1B, the imaging device 62 can capture the dump truck 200 existing in the imaging area RA 1.

The sound output device 63 is a device that outputs sound toward the periphery of the pitch contour machine 100. In the present embodiment, the sound output device 63 is a speaker that outputs sound toward the front of the asphalt roll 100, and can output an alarm in response to a command from the controller 30. The audio output device 63 may output an audio message.

The controller 30 is a control device for controlling the asphalt roll 100. The controller 30 is constituted by a computer, for example, and has a CPU, an internal memory, a storage medium, and the like. The controller 30 performs various controls by causing the CPU to execute a program stored in a storage medium.

The controller 30 can support the driving operation of the asphalt roll machine 100 by an ADAS (Advanced driver-assistance systems: advanced driving assistance system) based on the image information received from the image pickup device 62 and detection signals received from various detection sensors (not shown). The driving operation support system used by the controller 30 according to the present embodiment is not limited to the driving operation system based on the ADAS, and may be another driving operation support system. For example, the controller 30 may also use AD (Autonomous Driving: autopilot). Further, any system may be used for the controller 30 as long as it is capable of controlling the movement of the asphalt roll 100 according to a previously generated movement path.

The dump truck 200 includes a vehicle cabin 201, a hoist cylinder not shown, a 1 st imaging device 261, a 2 nd imaging device 262, a controller 230, and a wireless communication device 240. The carriage 201 can mount paving material for supply to the hopper 2 of the asphalt binder 100. The hoist cylinder is a mechanism for tilting the vehicle cabin 201 backward, and switches between a tilted state in which the vehicle cabin 201 is tilted backward and a horizontal state in which the vehicle cabin 201 is horizontal by expanding and contracting in accordance with a command from the controller 230.

The 1 st imaging device 261 is, for example, a device that is provided near the emblem of the dump truck 200 and acquires an image of a space existing in front of the dump truck 200. The 2 nd imaging device 262 is a device that acquires an image of a space existing behind the dump truck 200. The 1 st imaging device 261 and the 2 nd imaging device 262 according to the present embodiment are cameras, and output acquired images to the controller 230. The 1 st imaging device 261 and the 2 nd imaging device 262 may be a range image camera, an infrared camera, a stereo camera, or the like. The present embodiment describes an example in which the 1 st imaging device 261 and the 2 nd imaging device 262 are used as an example of a device capable of recognizing a space. However, the present embodiment does not limit the spatial recognition device to the 1 st imaging device 261 and the 2 nd imaging device 262. That is, as long as the space recognition device can recognize a space based on the dump truck 200, for example, a laser sensor or the like may be used.

The 1 st image pickup device 261 according to the present embodiment picks up a space in an image pickup region RT1 shown by a two-dot chain line in fig. 1A and 1B existing in front of the dump truck 200. The 1 st image pickup device 261 outputs image information related to the photographed image to the controller 230.

The 2 nd imaging device 262 according to the present embodiment captures a space in an imaging region RT2 shown by a two-dot chain line in fig. 1A and 1B existing behind the dump truck 200. The 2 nd image pickup device 262 outputs image information related to the photographed image to the controller 230.

The wireless communication device 240 wirelessly communicates with devices existing around the dump truck 200, for example, the wireless communication device 40 of the asphalt roll 100, and the like. The wireless communication standard of the wireless communication apparatus 240 according to this embodiment may be Wi-Fi (registered trademark), for example. The wireless communication according to the present embodiment is not limited to the method using Wi-Fi (registered trademark), and wireless LAN, bluetooth (registered trademark), or the like may be used.

The controller 230 is a control device that controls the dump truck 200. The controller 230 is configured by a computer, for example, and has a CPU, an internal memory, a storage medium, and the like. The controller 230 performs various controls by causing the CPU to execute a program stored in a storage medium.

The controller 230 according to the present embodiment can support the driving operation of the dump truck 200 by the ADAS based on the image information received from the 1 st image pickup device 261, the image information received from the 2 nd image pickup device 262, and the detection signals received from various detection sensors (not shown). The driving operation support system used by the controller 230 according to the present embodiment is not limited to the driving operation system based on the ADAS, and may be another driving operation support system. For example, the controller 230 may also use AD. Further, any system may be used as the controller 230 as long as it can perform movement control in accordance with a movement path and various control instructions. The control command of the present embodiment is information indicating an instruction for performing movement control of the vehicle (for example, the asphalt roll 100 or the dump truck 200).

For example, the controller 230 according to the present embodiment realizes control to stop the dump truck 200 in the vicinity of the hopper 2 of the asphalt roll 100 by the parking support of the ADAS. At this time, the controller 230 of the present embodiment may receive a control command from the asphalt roll 100 via the wireless communication device 240, and may perform drive control of the dump truck 200 based on the received control command.

When dump truck 200 is positioned near hopper 2 of pitch leveler 100, pitch leveler 100 is typically under construction. Therefore, after dump truck 200 is positioned near hopper 2 of asphalt roll 100, dump truck 200 needs to travel together with asphalt roll 100 while dump truck 200 is supplying paving material from compartment 201 to hopper 2.

Therefore, the controller 30 of the asphalt binder 100 according to the present embodiment performs control to synchronize the operation of the dump truck 200 with the operation of the asphalt binder 100.

In the present embodiment, the controller 30 of the asphalt roll 100 generates a 1 st movement path for the asphalt roll 100 for moving the asphalt roll 100 so as to pave the area to be constructed, based on the construction plan. Then, the controller 30 controls the asphalt roll 100 according to the 1 st moving path.

The construction plan view of the storage medium that can be stored in the controller 30 includes information indicating an area of the reference coordinate system in which the asphalt binder 100 is to be constructed.

The reference coordinate system used in the construction plan is, for example, a world geodetic system. The world geodetic system is a three-dimensional orthogonal XYZ coordinate system in which an origin is placed at the center of gravity of the earth, an axis passing through the intersection of the greenwich meridian and the equator and the origin is defined as latitude (X axis), an axis passing through the intersection of the meridian of 90 degrees east longitude and the equator and the origin is defined as longitude (Y axis), and an axis passing through the north pole and the origin is defined as Z axis. In other words, the construction plan view includes information indicating the region to be constructed by a three-dimensional orthogonal XYZ coordinate system (world geodetic system).

The construction plan view may include various information related to the region to be constructed. For example, the construction plan may include information indicating the position of an obstacle present in the region to be constructed. As the obstacle, there is, for example, information of a level difference existing on a road surface. The height difference information is, for example, information on a working well existing on a road surface.

Pitch-roll machine 100 obtains location information representing the location of pitch-roll machine 100 via GPS module 50 in terms of latitude and longitude. Accordingly, the controller 30 of the asphalt roll 100 can determine the position represented by the position information acquired by the GPS module 50 on the construction plan.

The controller 30 generates the 2 nd movement path for the dump truck 200 from the construction plan so that the dump truck 200 travels in a state (in other words, in a synchronized state) in which the overlapped state of the cabin 201 of the dump truck 200 and the hopper 2 of the asphalt roll 100 is maintained. Then, the controller 30 generates a control command indicating the rudder angle, the speed, and the like of the dump truck 200 so that the dump truck 200 travels along the 2 nd travel path. Then, the controller 30 transmits the generated control command to the wireless communication device 240 of the dump truck 200 via the wireless communication device 40. Thus, the controller 30 synchronizes the operation of the dump truck 200 with the operation of the asphalt roll 100.

Fig. 2 is a block diagram showing the configuration of the asphalt binder 100 and the dump truck 200 according to the present embodiment. As shown in fig. 2, the dump truck 200 includes a 1 st imaging device 261, a 2 nd imaging device 262, an input device 263, a controller 230, a wireless communication device 240, and a drive system controller 250. That is, this embodiment is an example as follows: in the construction support system of the asphalt leveler including the asphalt leveler 100 and the dump truck 200, the controller 30 controls the operation of the dump truck 200 in synchronization with the operation of the asphalt leveler 100.

The controller 230 generates a control command related to drive control based on image information from the 1 st image pickup device 261 (for example, near the emblem provided on the front surface of the dump truck 200), image information from the 2 nd image pickup device 262 (for example, provided on the rear end portion of the dump truck 200), a control signal based on a detection sensor (not shown), and the like. Then, the controller 230 outputs the generated control instruction to the drive system controller 250. Thereby, the controller 230 realizes support of driving operations by ADAS. The drive system controller 250 controls the drive system, the engine, and the like of the dump truck 200 in accordance with the control command.

Further, the controller 230 performs various controls by receiving an operation from the driver via the input device 263.

When receiving a control command from pitch-roll machine 100 via wireless communication device 240, controller 230 outputs the received control command to drive-system controller 250. Thus, the dump truck 200 supports the driving operation by the ADAS in response to the request from the asphalt roll 100.

The controller 230 may transmit the image information captured by the 1 st image capturing device 261 and the image information captured by the 2 nd image capturing device 262 to the asphalt roll 100 via the wireless communication device 240.

The pitch-rolling machine 100 includes an imaging device 62, an input device 60a, a controller 30, a drive-system controller 55, and a wireless communication device 40. The drive system controller 55 controls the traction machine 1 in accordance with the control instruction.

The controller 30 according to the present embodiment can support driving operations by an ADAS (Advanced driver-assistance systems) based on image information received from the imaging device 62 and detection signals received from various detection sensors (not shown). The controller 30 according to the present embodiment is not limited to support of the driving operation by the ADAS, and other driving operation support may be used. For example, the controller 30 may also use AD (Autonomous Driving: autopilot).

The controller 30 of the present embodiment receives an input of a construction plan view via a connection I/F or a wireless communication device 40, not shown.

Then, the controller 30 performs various controls based on the construction plan and the like so that the asphalt roll 100 and the dump truck 200 move in the area to be constructed.

The functional blocks included in the controller 30 shown in fig. 2 are conceptual functional blocks, and are not necessarily physically configured as shown in the figure. All or part of the functional blocks may be functionally or physically distributed and integrated in any unit. All or any part of the processing functions performed in the respective functional blocks are realized by programs executed by the CPU. Alternatively, each functional block may be implemented as hardware based on wired logic. As shown in fig. 2, the controller 30 includes a dump truck identification information storage unit 31, an acquisition unit 32, a route generation unit 33, a detection unit 34, a determination unit 35, a command generation unit 36, and a communication control unit 37.

The dump truck identification information storage unit 31 is provided on a storage medium in the controller 30. The dump truck identification information storage unit 31 stores information for identifying the dump truck 200 to be communicated by the asphalt roll 100. For example, the dump truck identification information storage unit 31 stores license plate number information of the dump truck 200 in association with identification information (for example, SSID) of the wireless communication device 240 mounted on the dump truck 200. Thus, the controller 30 can identify the wireless communication device 240 to be a communication target based on the license plate number captured when the rear portion of the dump truck 200 is captured by the imaging device 62.

The acquisition unit 32 acquires image information captured by the imaging device 62. The acquisition unit 32 acquires operation information from the operator via the input device 60 a.

The acquisition unit 32 acquires a construction plan. For example, the acquisition unit 32 may acquire the construction plan from a nonvolatile storage medium connected via a connection I/F (for example, USB I/F) not shown. The acquisition unit 32 may acquire the construction plan received by the communication control unit 37 from an external device via the wireless communication device 40.

The route generation unit 33 generates a travel route for the asphalt roll 100 and the dump truck 200 based on the construction plan obtained by the obtaining unit 32. In the present embodiment, the generation of the movement path is performed after the construction plan is acquired and before the asphalt roll 100 starts the construction. Thus, the path generating unit 33 can generate a moving path including the start position of the asphalt roll 100.

The route generation unit 33 according to the present embodiment generates the 1 st movement route of the asphalt roll 100 so that the entire area to be constructed shown in the construction plan view can be constructed. The route generation unit 33 generates the 2 nd movement route of the dump truck 200 when the vehicle is traveling in contact with the asphalt roll 100 traveling along the 1 st movement route.

When the region having the height difference such as a work well is included in the region to be constructed shown in the construction plan view, the route generation unit 33 generates the 1 st movement route and the 2 nd movement route so that the wheels of the asphalt roll 100 and the dump truck 200 do not pass through the region having the height difference.

The detection unit 34 detects a transport vehicle such as the dump truck 200 existing in a space in front of the asphalt roll 100 from the image information acquired from the imaging device 62 after the asphalt roll 100 starts to be constructed. The technique for detecting the transport vehicle such as the dump truck 200 from the image indicated by the image information may be any technique including a known image processing technique. The detection unit 34 may detect other objects when detecting a transport vehicle or the like from an image. Other objects may include road cones, persons (staff, etc.), small machines (tamper, etc.), for example. The determination unit 35 may be configured to identify (detect) an object existing around the asphalt binder 100 (an example of a construction machine) based on image information (output value) of the imaging device 62, which is one type of the spatial recognition device. The object to be identified is, for example, dump truck 200, a terrain shape (inclination, hole, etc.), a wire, a utility pole, a person, an animal, a vehicle, a construction machine, a building, a wall, a helmet, a safety vest, a work suit, a predetermined sign on a helmet, or the like. In this way, the determination unit 35 may be configured to be able to recognize at least one of the type, position, shape, and the like of the object. For example, the determination unit 35 may be configured to be able to distinguish the dump truck 200 from objects other than the dump truck.

The determination unit 35 performs various determinations based on image information (an example of detection information) from the imaging device 62 (an example of detection device).

For example, the determination unit 35 determines license plate number information of the dump truck 200 existing in front of the asphalt roll 100 based on the image information from the image pickup device 62. In this way, the determination unit 35 can recognize the license plate number information of the dump truck 200 to be controlled.

The determination unit 35 may determine the distance between the dump truck 200 and the asphalt roll 100. The determination unit 35 according to the present embodiment has a correspondence relationship between the size of the dump truck 200 captured in the image and the distance between the rear wheel 202 of the dump truck 200 and the roller 2b of the asphalt roll machine 100. In this way, the determination unit 35 can determine the distance between the rear wheel 202 of the dump truck 200 and the roller 2b of the asphalt roll machine 100 based on the image information acquired by the acquisition unit 32.

For example, the determination unit 35 detects the dump truck 200 from the image captured by the imaging device 62, and then determines whether or not the vehicle cabin 201 of the dump truck 200 can be positioned at a predetermined position. The designated position is a position suitable for transferring the paving material existing in the vehicle cabin 201 to the vehicle cabin 201 in the hopper 2, and is a position partially overlapping the position of the hopper 2 of the asphalt roll 100 in the vertical direction. The designated position is a position that moves with the movement of pitch-roller 100. Typically, information related to the designated location is stored in advance in a storage medium of the controller 30. In the present embodiment, the information on the designated position is information on a rectangular area having substantially the same size (area) as the vehicle cabin 201 in plan view. In other words, the information related to the designated position is information related to a space having a rectangular parallelepiped shape of substantially the same size (volume) as the vehicle cabin 201. Accordingly, the "positioning the vehicle cabin 201 of the dump truck 200 at the specified position" means, for example, matching the rectangular area corresponding to the actual vehicle cabin 201 with the rectangular area corresponding to the specified position. The rectangular region ZN indicated by a broken line in fig. 1B is an example of a rectangular region corresponding to a designated position.

The command generating unit 36 generates a control command for causing the asphalt roll 100 to travel along the 1 st travel path. Specifically, the command generating unit 36 of the present embodiment generates an acceleration command or a deceleration command for the asphalt roll machine 100 for continuous construction. The command generating unit 36 generates a control command related to the manipulation for moving along the 1 st movement path, based on the 1 st movement path, the acceleration command or the deceleration command, and the position information of the asphalt roll 100 received from the GPS module 50. The command generating unit 36 may generate a control command for braking (braking) as needed. Then, the instruction generating section 36 outputs the generated control instruction to the drive system controller 55.

The command generating unit 36 according to the present embodiment generates a control command for the asphalt roll machine 100 so that the operation of the dump truck 200 is synchronized with the operation of the asphalt roll machine 100. Specifically, the control command is generated so as to travel at a constant speed along the 1 st movement path. Thus, the operation of the dump truck 200 is easily synchronized with the operation of the asphalt roll 100.

The control command generated by the command generating unit 36 of the present embodiment includes, for example, a control command for manipulating the carriage 201 of the dump truck 200 so as to be positioned at a predetermined position. The other control commands include, for example, a control command for instructing the dump truck 200 to move backward or stop in order to stop the rear wheel 202 of the dump truck 200 in the vicinity of the roller 2 b.

Then, the command generating unit 36 generates a control command for operating the carriage 201 of the dump truck 200 so as to be positioned at a predetermined position and then causing the transport vehicle (for example, the dump truck 200) to travel along the 2 nd movement path. Then, the instruction generation unit 36 outputs the generated control instruction to the communication control unit 37. The control command for traveling along the 2 nd movement path is, for example, a steering command in the right or left direction, a command to set a predetermined speed, an acceleration command, a deceleration command, a braking (braking) command, or the like.

Specifically, the command generating unit 36 generates a control command for operating the dump truck 200 so as to position the vehicle cabin 201 at a predetermined position and then for causing the dump truck 200 to travel at a speed set in accordance with the speed of the asphalt roll 100. As the speed set according to the speed of the asphalt roll 100, for example, a speed substantially equal to the speed of the asphalt roll 100 can be considered. That is, by causing dump truck 200 to travel at substantially the same speed as pitch-rolling machine 100, it is possible to maintain the state in which hopper 2 of pitch-rolling machine 100 and compartment 201 of dump truck 200 overlap in the vertical direction. However, even when an instruction to travel at substantially the same speed is issued, the instruction generating unit 36 may generate a positional deviation due to a difference between the path followed by the hopper 2 of the asphalt roll machine 100 and the path followed by the dump truck 200, a speed deviation, or the like.

Therefore, the command generating unit 36 of the present embodiment generates a control command for acceleration or deceleration of the dump truck 200 to maintain a state in which the hopper 2 of the asphalt roll machine 100 and the cabin 201 of the dump truck 200 overlap in the vertical direction.

The command generating unit 36 according to the present embodiment performs control based on the relative positional relationship between the asphalt binder 100 and the dump truck 200 in order to maintain the state in which the hopper 2 of the asphalt binder 100 and the cabin 201 of the dump truck 200 overlap in the vertical direction.

The command generating unit 36 generates a control command for controlling the hoist cylinder to dump the cabin 201 of the dump truck 200. The command generating unit 36 generates a control command for the dump after positioning the vehicle cabin 201 of the dump truck 200 at the specified position. In the present embodiment, the determination unit 35 may determine whether or not the vehicle cabin 201 of the dump truck 200 is positioned at the specified position based on the image information. Then, the instruction generating unit 36 generates a control instruction for the dumping based on the determination result. Further, the command generating unit 36 may generate a control command for dumping when receiving a dumping operation from the operator of the asphalt roll machine 100 via the input device 60 a.

The command generating unit 36 generates a control command for controlling the hoist cylinder to cause the cabin 201 of the dump truck 200 to drop. In the present embodiment, after the supply of the paving material mounted on the vehicle cabin 201 to the hopper 2 is completed, the command generating unit 36 generates a control command for the hopper. In the present embodiment, the determination unit 35 may determine whether or not the road pavement carried in the cabin 201 of the dump truck 200 is empty, in other words, whether or not the supply of the road pavement is completed, based on the image information. Then, the command generating unit 36 generates a control command for the hopper based on the determination result. Further, the command generating unit 36 may generate a control command for the hopper when receiving an operation for the hopper from the operator of the asphalt roll machine 100 via the input device 60 a.

The determination unit 35 determines the distance between the rear wheel 202 of the dump truck 200 and the roller 2b of the asphalt roll machine 100, that is, the distance between the components of each vehicle, based on the image information acquired by the acquisition unit 32. Then, the command generating unit 36 according to the present embodiment generates a control command for acceleration or deceleration of the dump truck 200 so that the distance between the components of each vehicle falls within a range from the distance "0" to the predetermined distance "a". The predetermined distance "a" is a distance between the rear wheel 202 and the roller 2b in a state where the rear end portion of the carriage 201 of the dump truck 200 and the front end portion of the hopper 2 overlap in the vertical direction.

In other words, the controller 30 can maintain the state in which the hopper 2 and the vehicle cabin 201 overlap in the vertical direction as long as the speed or acceleration of the dump truck 200 can be controlled so that the distance determined by the determination unit 35 falls within the range from the distance "0" to the predetermined distance "a". The specific control method will be described later.

The present embodiment describes an example of controlling the distance between the components of each vehicle so as to be within the range of the distance "0" to the predetermined distance "a", but the control method used in the present embodiment is not limited to this control method. That is, the controller 30 may use any control method as long as the command generating unit 36 can generate a control command for controlling the speed or acceleration of the dump truck 200 based on the distance between the components of each vehicle and maintain the state in which the hopper 2 and the vehicle cabin 201 of the dump truck 200 overlap in the vertical direction.

The command generating unit 36 generates a control command related to the manipulation for moving along the 2 nd movement path, the acceleration command or the deceleration command of the dump truck 200, and the position information of the dump truck 200. Further, the command generating unit 36 calculates the positional information of the dump truck 200 based on the positional information of the asphalt roll 100 acquired from the GPS module 50 and the relative positional relationship between the asphalt roll 100 and the dump truck 200. The relative positional relationship is obtained from the image information captured by the imaging device 62. The command generating unit 36 may generate a control command for braking (braking) the dump truck 200, or the like, as necessary. Then, the command generating unit 36 outputs the generated control command of the dump truck 200 to the wireless communication device 40.

In addition, the present embodiment is configured to calculate the positional information of the dump truck 200 from the positional information of the asphalt roll machine 100 and the relative positional relationship between the asphalt roll machine 100 and the dump truck 200 acquired from the GPS module 50. However, the present embodiment does not limit the method for acquiring the position information of the dump truck 200 to the above method. For example, the dump truck 200 may be provided with a GPS module. The controller 30 of the asphalt roll 100 may also acquire the positional information acquired from the GPS module provided in the dump truck 200 through wireless communication between the asphalt roll 100 and the dump truck 200.

The control command generated by the command generating unit 36 is not limited to the above command, and may be other various control commands. For example, the control command generated by the command generating unit 36 may be a command that can be executed by an ADAS or the like of the asphalt roll machine 100, such as on/off of a headlight of the asphalt roll machine 100 or a warning to an operator of the asphalt roll machine 100. Similarly, the control command generated by the command generating unit 36 may include a command executable by an ADAS or the like of the dump truck 200, such as turning on/off of a headlight of the dump truck 200 or warning a driver of the dump truck 200.

The communication control unit 37 performs communication control with the transport vehicle such as the dump truck 200 via the wireless communication device 240. For example, the communication control unit 37 performs control of communication with the wireless communication device 240 indicated by the identification information associated with the license plate number information determined by the instruction generation unit 36. Thus, the controller 30 can transmit a control command generated for the dump truck 200 to the dump truck 200. For example, the communication control unit 37 transmits a control command for moving the dump truck 200 along the 2 nd movement path generated by the command generating unit 36 to the wireless communication device 240.

The communication control unit 37 receives image information on an image captured by the 1 st image capturing device 261 of the dump truck 200 via the wireless communication device 240.

When the dump truck 200 is present in front, it is difficult for the operator of the asphalt roll 100 to visually confirm the traveling direction. Therefore, the communication control unit 37 according to the present embodiment receives image information related to an image captured in front of the dump truck 200, which is captured by the 1 st image capturing device 261 of the dump truck 200. The communication control unit 37 outputs the received image information to the main monitor 60. Thus, the operator of the asphalt roll machine 100 can grasp the situation in front of the dump truck 200.

Then, the determination unit 35 determines whether or not there is an obstacle on the movement path of the dump truck 200 and the asphalt roll 100 based on the received image information. The obstacle to be the determination target may be any object. For example, the obstacle to be determined is a shovel, a tower, or the like.

When the determination unit 35 determines that an obstacle is present, the sound output device 63 outputs a warning message indicating that the obstacle is present in response to an instruction from the determination unit 35. This allows the operator to recognize whether or not there is an obstacle on the moving path line. Further, the operator can recognize the situation of the moving path by visually recognizing the image information.

Fig. 3 is a diagram showing a processing procedure performed by the asphalt roll 100 according to the present embodiment. Typically, step S301 and step S302 in the processing steps shown in fig. 3 are performed before the asphalt roll 100 performs construction. The dump truck 200 may be driven by a driver or may be automatically operated by an ADAS or the like.

The acquisition unit 32 acquires a construction plan (step S301).

The route generation unit 33 generates the 1 st movement route of the asphalt roll 100 and the 2 nd movement route of the dump truck 200 from the construction plan map acquired by the acquisition unit 32 (step S302).

Then, the controller 30 starts movement control according to the 1 st movement path of the asphalt roll 100 (step S303).

The acquisition unit 32 acquires image information indicating an image captured by the imaging device 62 (step S304).

Then, the detection unit 34 determines whether or not the dump truck 200 is present in front of the asphalt roll 100 based on the image information (step S305). When the detection unit 34 determines that the dump truck 200 is not present (step S305: no), the controller 30 executes the process of step S305 again after a predetermined time.

When the detection unit 34 determines that the dump truck 200 is present (yes in step S305), the communication control unit 37 determines the identification information of the wireless communication device 240 based on the license plate number information of the dump truck 200. Then, the communication control unit 37 starts communication with the dump truck 200 mounted with the wireless communication device 240 indicated by the specified identification information (step S306). Thereby, the controller 30 starts automatic control of the dump truck 200.

The communication control unit 37 transmits a control command generated by the command generating unit 36 to the wireless communication device 240 of the dump truck 200 in order to maneuver the dump truck 200 so as to position the vehicle cabin 201 of the dump truck 200 at a predetermined position (step S307). Thus, the dump truck 200 moves to a position where the carriage 201 of the dump truck 200 overlaps the hopper 2 of the asphalt roll 100 in the vertical direction. The dump truck 200 can then move with the pitch leveler 100.

The command generating unit 36 generates a control command for the speed of the dump truck 200 based on the speed of the asphalt roll 100 (step S308). As the speed of dump truck 200, for example, the same speed as that of pitch rolling machine 100 can be considered. That is, the controller 30 controls the dump truck 200 so that the speed of the dump truck 200 matches the speed of the pitch leveler 100, thereby enabling the dump truck 200 and the pitch leveler 100 to travel at the same speed even if the distance varies.

The communication control unit 37 transmits a speed control command to the wireless communication device 240 of the dump truck 200 (step S309).

The acquisition unit 32 acquires image information indicating an image captured by the imaging device 62 (step S310). The acquisition unit 32 determines relative positional information between the rear wheel 202 of the dump truck 200 and the roller 2b of the asphalt leveler 100 based on the image information acquired in step S310.

The acquisition unit 32 acquires the position information from the GPS module 50 (step S311). Thus, the controller 30 identifies positional information (e.g., of the world geodetic system) of the pitch-roll machine 100. The acquisition unit 32 recognizes the positional information (of the world geodetic system, for example) of the dump truck 200 from the positional information (of the world geodetic system, for example) of the asphalt roll 100 and the relative positional information between the rear wheel 202 of the dump truck 200 and the roller 2b of the asphalt roll 100.

The command generating unit 36 generates a control command related to the speed of the dump truck 200, based on the relative position information, to maintain the overlapped state of the dump truck 200 and the asphalt roll 100 (the state in which the carriage 201 of the dump truck 200 and the hopper 2 of the asphalt roll 100 overlap in the vertical direction) (step S312). The speed-related control command is, for example, a control command for accelerating, decelerating, maintaining, or the like the dump truck 200. The speed-related control command of the present embodiment will be described later.

The command generating unit 36 generates a control command for a manipulation to move the dump truck 200 along the 2 nd movement path, based on the control command related to the position information of the dump truck 200, the 2 nd movement path of the dump truck 200, the current speed of the dump truck 200, acceleration or deceleration of the dump truck 200, and the like (step S313).

Then, the communication control unit 37 transmits a control command for manipulation and a control command related to the speed to the wireless communication device 240 of the dump truck 200 via the wireless communication device 40 (step S314).

The command generating unit 36 generates a command based on the 1 st movement path and the position information of the asphalt roll machine 100, control instructions for the manipulation of the asphalt roll 100 are generated for moving the asphalt roll 100 according to the 1 st movement path. Then, the drive system controller 55 performs steering control in accordance with the control instruction (step S315).

Next, the control command generated by the command generating unit 36 will be described. Fig. 4 is a plan view showing the construction site of the 1 st and 2 nd movement paths generated by the path generating unit 33 for constructing the curved portion (left curve portion) of the road. In the example shown in fig. 4, asphalt roll 100 lays the region between left side boundary line LP and right side boundary line RP with asphalt mixture. Accordingly, asphalt roll 100 expands screed 3 until left and right side boundaries LP and RP are reached, respectively.

The path generating section 33 generates the 1 st moving path AFL so that the asphalt mixture can be laid in the area between the left side boundary line LP and the right side boundary line RP by the asphalt roll 100. That is, the 1 st movement path AFL represents a movement path for paving an area to be constructed with the asphalt mixture material in accordance with a construction plan view of the asphalt roll 100.

In the present embodiment, the route generation unit 33 generates the 2 nd movement route DTL with reference to the 1 st movement route AFL of the asphalt roll 100. The 2 nd movement path DTL is a movement path of the dump truck 200. While the dump truck 200 moves along the 2 nd movement path DTL and the asphalt roll 100 moves along the 1 st movement path AFL, the carriage 201 of the dump truck 200 and the hopper 2 of the asphalt roll 100 are kept vertically overlapped. Accordingly, dump truck 200 can realize stable supply of the paving material from dump truck 200 to asphalt leveler 100. As described above, in the present embodiment, since a part of the dump truck 200 overlaps the asphalt roll 100, the distance between the dump truck 200 and the asphalt roll 100 disappears.

The 2 nd movement path DTL is a movement path used for control after the carriage 201 of the dump truck 200 is positioned at the specified position. In other words, after the control of positioning the vehicle cabin 201 of the dump truck 200 at the specified position is performed on the dump truck 200, the controller 30 performs automatic control according to the 2 nd movement path DTL.

Then, after the supply of the paving material from the dump truck 200 to the asphalt roll 100 is completed, the controller 30 ends the control of the dump truck 200 according to the 2 nd movement path DTL. Then, the dump truck 200 travels in accordance with control of the dump truck 200 side (for example, operation control by a driver or control by ADAS-based driving assistance of the dump truck 200 side). As described above, the controller 30 according to the present embodiment controls the dump truck 200 according to the 2 nd movement path DTL only during the period when the vehicle cabin 201 of the dump truck 200 is positioned at the specified position. Thereby, the controller 30 can control the plurality of dump trucks 200 according to the 2 nd movement path DTL.

The 1 st moving path AFL and the 2 nd moving path DTL are expressed by using a reference coordinate system. The reference coordinate system is, for example, a world geodetic system. The reference coordinate system is not limited to the world geodetic system, and any coordinate system may be used as long as it can represent the correspondence between the position information received by the asphalt roll 100 and the position information included in the construction plan.

Point AP1 represents the position of the tip of asphalt roll 100 at the start of construction, i.e., at time 1. The point AP2 indicates the position of the tip of the pitch-roller 100 at time 2 after advancing from time 1 to time 1 according to the 1 st movement path AFL for a predetermined time. Point AP3 represents the position of the tip of pitch-roller 100 at time 3 after advancing from time 2 to time 1 according to the 1 st movement path AFL for a predetermined time.

The command generating unit 36 generates a control command for operating the pitch-controlled roll 100 so that the actual position coordinate indicated by the position of the tip of the pitch-controlled roll 100 (for example, the point AP1, the point AP2, or the point AP 3) coincides with one of the position coordinates constituting the 1 st movement path AFL.

Specifically, the command generating unit 36 calculates position information indicating the position of the tip of the asphalt roll 100 (for example, points AP1, AP2, and AP 3) based on the position information from the GPS module 50. Then, in the calculated position information, when steering in the right direction or the left direction is required for following the 1 st movement path AFL, the command generating section 36 generates a control command for steering in the right direction or the left direction. The command generating unit 36 calculates the steering angle for the 1 st movement path AFL according to the current speed, acceleration, or deceleration of the pitch-roller 100. The calculated steering angle is included in the control command.

Point DP1 indicates the position of the tip of dump truck 200 at the start of construction, i.e., at time 1. The point DP2 indicates the position of the tip of the dump truck 200 at time 2 after advancing from time 1 to time 2 according to the movement path DTL for a predetermined time. Point DP3 indicates the position of the tip of dump truck 200 at time 3 after advancing from time 2 to time 2 according to travel path DTL for a predetermined time.

The command generating unit 36 generates a control command for operating the dump truck 200 so that the actual position coordinate indicated by the position of the tip of the dump truck 200 (for example, the point DP1, the point DP2, or the point DP 3) coincides with one of the position coordinates constituting the 2 nd movement path DTL. The command generating unit 36 generates a control command for maintaining a state in which the hopper 2 of the asphalt roll leveling machine 100 and the cabin 201 of the dump truck 200 overlap in the vertical direction.

Specifically, the command generating unit 36 generates a control command related to the speed of the dump truck 200 based on the speed, acceleration, or deceleration of the pitch roller 100. The command generating unit 36 calculates positional information indicating the position of the tip of the dump truck 200 (for example, points DP1, DP2, DP 3) based on the positional information from the GPS module 50. Then, in the calculated position information, when steering in the right direction or the left direction is required for following the 2 nd movement path, the command generating section 36 generates a control command for steering in the right direction or the left direction. The command generating unit 36 calculates the steering angle for the movement path 2 according to the current speed of the dump truck 200, the acceleration or deceleration indicated by the speed-related control command, and the like. The calculated steering angle is included in the control command. Then, the communication control unit 37 transmits the control command for the dump truck 200 to the wireless communication device 240 of the dump truck 200 via the wireless communication device 40.

Returning to fig. 3, the controller 30 determines whether or not the supply of the paving material from the dump truck 200 is completed (step S316). The method for determining whether or not the supply of the paving material is completed may be any method, and may be, for example, a notification from the dump truck 200. When it is determined that the supply of the paving material has not been completed (step S316: no), the controller 30 executes the processing of step S310 and thereafter.

When the controller 30 determines that the supply of the paving material is completed (step S315: no), the communication control unit 37 transmits a control command generated by the command generating unit 36 to disengage the dump truck 200 from the asphalt roll 100 to the wireless communication device 240 of the dump truck 200 (step S316).

Then, the controller 30 determines whether or not the construction according to the 1 st movement path is completed (step S317). When it is determined that the construction has not been completed (no in step S317), the controller 30 executes the processing of step S305 and thereafter again.

On the other hand, when it is determined that the construction has been completed (step S317: no), the controller 30 ends the process.

By performing the above-described treatment, the asphalt roll 100 according to the present embodiment can pave the region to be constructed with the asphalt mixture.

When the asphalt roll 100 travels along the 1 st travel path, the controller 30 according to the above embodiment generates the 2 nd travel path of the transport vehicle such as the dump truck 200 so that the overlapped state can be maintained. Thus, the controller 30 can synchronize the operation of the asphalt roll 100 with the operation of the dump truck 200. The determination unit 35 of the controller 30 according to the present embodiment can determine whether or not the hopper 2 and the vehicle cabin 201 are maintained in an overlapped state based on the positional relationship between the rear wheels of the dump truck 20 and the rollers 2b of the asphalt roll machine 100 (the positional relationship between the components of each vehicle). However, in the present embodiment, the rear wheel of the dump truck 20 or the roller 2b of the asphalt roll machine 100 is not necessarily used in the determination of whether or not the overlapped state is maintained. For example, it may be determined whether or not the hopper 2 is in an overlapped state with the vehicle cabin 201 based on the positional relationship between the front end of the hopper 2 and the rear end of the vehicle cabin 201. In other words, the controller 30 according to the present embodiment may control the overlapping state according to the positional relationship between the front end of the hopper 2 and the rear end of the vehicle cabin 201.

Next, the generation of the speed-related control command by the command generation unit 36 in step S311 will be specifically described. In the present embodiment, the determination unit 35 determines the distance between the rear wheel 202 of the dump truck 200 and the members of each vehicle between the rollers 2b of the asphalt roll machine 100 based on the image information acquired by the acquisition unit 32. Then, the command generating unit 36 according to the present embodiment generates a control command for acceleration or deceleration of the dump truck 200 so that the distance between the components of each vehicle falls within a range from the distance "0" to the predetermined distance "a". In this way, the speed of the dump truck 200 is controlled so that the distance between the components constituting the dump truck 200 and the components constituting the pitch leveler 100 falls within a predetermined range.

Fig. 5 is a conceptual diagram showing a positional relationship between the rear wheel 202 of the dump truck 200 and the roller 2b of the asphalt leveler 100 according to the present embodiment. Fig. 5A is a diagram showing a case where the distance between the rear wheel 202 of the dump truck 200 and the components of each vehicle between the rollers 2b of the asphalt roll machine 100 is "0".

Fig. 5B is a diagram showing a case where the distance between the rear wheel 202 of the dump truck 200 and the components of each vehicle between the rollers 2B of the asphalt roll machine 100 is a predetermined distance "a". In the example shown in fig. 5B, the rear end portion of the carriage 201 of the dump truck 200 and the front end portion of the hopper 2 of the asphalt roll 100 overlap in the vertical direction. In other words, if the distance between the rear wheel 202 of the dump truck 200 and the members of each vehicle between the rollers 2b of the asphalt roll machine 100 exceeds the predetermined distance "a", the hopper 2 and the vehicle cabin 201 of the dump truck 200 do not overlap in the vertical direction. At this time, if dumping is performed, there is a possibility that the paving material may not be supplied from the vehicle cabin 201 to the hopper 2 and fall on the road surface or the like.

The command generating unit 36 of the controller 30 according to the present embodiment generates a control command related to the speed such that the distance between the components of each vehicle between the rear wheel 202 of the dump truck 200 (an example of a component of the dump truck 200) and the roller 2b of the asphalt roll 100 (an example of a component of the asphalt roll 100) falls within a predetermined range ("0". Ltoreq.distance between components of each vehicle. Ltoreq.a "). In the present embodiment, the control is switched according to whether or not the distance between the components of each vehicle is shorter than the reference distance. The reference distance according to the present embodiment is defined as a distance "a/2" located in the middle of a predetermined distance "a" which is a distance "0" between the components of each vehicle in fig. 5A and a distance "0" between the components of each vehicle in fig. 5B. The present embodiment describes an example in which the distance between the rear wheel 202, which is a component of the dump truck 200, and the roller 20b, which is a component of the asphalt roll machine 100, is used as a criterion. However, in the present embodiment, the means for determining the distance is not limited to the rear wheel 202 and the roller 20b, and may be other means.

Fig. 5C is a diagram showing a case where the distance between the rear wheel 202 of the dump truck 200 and the components of each vehicle between the rollers 2b of the asphalt roll machine 100 is the reference distance "a/2". Further, the controller 30 switches control (for example, acceleration or deceleration) related to the speed of the dump truck 200 according to whether or not the distance between the components of each vehicle is shorter than the reference distance "a/2". Acceleration and deceleration for the dump truck 200 are preset. Further, the acceleration and deceleration of the dump truck 200 may be changed according to the distance between the components of each vehicle. Next, a specific process of step S311 in fig. 3 in the controller 30 according to the present embodiment will be described.

Specifically, in step S310, after identifying the position information of the asphalt roll machine 100 and the position information of the dump truck 200, the determination unit 35 determines whether or not the distance between the rear wheel 202 of the dump truck 200 and the members of each vehicle between the rollers 2b of the asphalt roll machine 100 is shorter than the reference distance "a/2".

When the determination unit 35 determines that the distance between the components of each vehicle is shorter than the reference distance "a/2", the command generation unit 36 generates a control command for accelerating the dump truck 200. For example, as the distance between the components of each vehicle becomes shorter than the reference distance "a/2", the acceleration indicated by the control command becomes larger.

On the other hand, when the determination section 35 determines that the distance between the components of each vehicle is not shorter than the reference distance "a/2", the instruction generation section 36 determines whether the distance between the components of each vehicle is longer than the reference distance "a/2". When the determination unit 35 determines that the vehicle is long, the command generation unit 36 generates a control command for decelerating the dump truck 200. For example, as the distance between the components of each vehicle becomes longer than the reference distance "a/2", the deceleration indicated by the control instruction becomes larger.

On the other hand, when the determination unit 35 determines that the distance between the components of each vehicle is not longer than the reference distance "a/2", in other words, the distance between the components of each vehicle is equal to the reference distance "a/2", the command generation unit 36 generates a control command to maintain the current speed of the dump truck 200. In this way, the controller 30 performs control to increase or decrease the speed of the dump truck 200 with respect to the pitch rolling machine 100.

The command generating unit 36 of the present embodiment generates the acceleration control command, the deceleration control command, or the speed maintenance control command as the speed-related control command. After the command generation unit 36 generates these control commands, the processing proceeds to step S312 and subsequent steps.

As described above, the controller 30 according to the present embodiment generates a control command related to the speed of the dump truck 200 based on the positional relationship between the dump truck 200 and the asphalt roll 100. Thereby, the controller 30 can synchronize the speed of the pitch trimmer 100 with the speed of the dump truck 200.

(embodiment 2)

In embodiment 1, as a method of generating a control command related to the speed of the dump truck 200, a method of switching speed-related control according to the distance between the rear wheel 202 of the dump truck 200 and the components of each vehicle between the rollers 2b of the asphalt roll machine 100 is adopted. However, the above embodiment does not limit the method of generating the control command related to the speed of the dump truck 200 by the controller 30 of the asphalt roll machine 100 to the method of switching according to the distance between the components of each vehicle. Therefore, embodiment 2 in which a control command related to a speed is generated by a method different from embodiment 1 will be described below. Note that, since asphalt roll 100 and dump truck 200 according to embodiment 2 have the same configuration as embodiment 1, description thereof is omitted.

In step S312, the controller 30 according to embodiment 2 calculates a difference between the speed of the control command transmitted in step S309 and the actual speed of the dump truck 200, and controls the speed of the dump truck 200 based on the calculated difference. When the dump truck 200 travels at the speed indicated by the control command transmitted in step S309, the hopper 2 of the asphalt roll machine 100 and the compartment 201 of the dump truck 200 can be maintained in a vertically overlapped state.

However, in reality, a deviation occurs between the speed of the control command and the actual speed due to the air resistance of the dump truck 200, loss due to mechanical control, or the like. If such a deviation occurs, it becomes difficult to maintain a state in which the hopper 2 of the asphalt roll machine 100 and the cabin 201 of the dump truck 200 overlap in the vertical direction. Therefore, in embodiment 2, the controller 30 performs feedback control of the speed of the dump truck 200.

Specifically, the acquisition unit 32 acquires information on the actual speed of the dump truck 200. As the acquisition method, for example, the acquisition unit 32 may acquire information of the actual speed received from the dump truck 200 via the communication control unit 37. As another example, the acquisition unit 32 may estimate the actual speed of the dump truck 200 from the image of the dump truck 200 captured in the image information captured by the imaging device 62.

Then, the determination unit 35 calculates a difference between the speed indicated by the control command transmitted to the dump truck 200 in step S309 and the actual speed of the dump truck 200.

Then, the command generating unit 36 generates a control command for performing feedback control for traveling at a speed indicated by the control command of the speed, based on a difference between the speed indicated by the control command and the actual speed of the dump truck 200. As a method of feedback control, for example, a known method such as PID control may be used.

In embodiment 2, the command generation unit 36 sets a control command based on the feedback control as a control command related to the speed. After the command generating unit 36 generates the control command, the communication control unit 37 transmits the control command to the dump truck 200 via the wireless communication device 40. In this way, the controller 30 executes the processing of step S312 and the following in fig. 3. That is, when receiving the control command, the controller 230 of the dump truck 200 performs feedback control to reduce the difference between the speed indicated in the control command transmitted in step S309 and the actual speed of the dump truck 200. Thus, the controller 230 can bring the actual speed of the dump truck 200 close to the speed indicated by the speed control command.

Further, as in embodiment 1, the command generating unit 36 of embodiment 2 may generate a control command for accelerating, decelerating, or maintaining the speed of the dump truck 200 based on the distance between the components of each vehicle.

The command generating unit 36 according to embodiment 2 may generate the speed control command based on whether or not the distance between the roller 2b of the asphalt leveler and the rear wheel 202 of the dump truck 200 is shorter than the reference distance "a/2".

For example, when the determination unit 35 determines that the distance between the components of each vehicle is shorter than the reference distance "a/2", the command generation unit 36 generates a control command to travel at a speed faster than the current speed of the asphalt roll. As another example, when the determination unit 35 determines that the distance between the components of each vehicle is longer than the reference distance "a/2", the command generation unit 36 generates a control command to travel at a speed slower than the current speed of the asphalt roll.

When external disturbances (for example, inclination of a road surface, obstacles, etc.) are present in front of the dump truck 200, the command generation unit 36 may generate a control command that suppresses the influence of the external disturbances before the influence is exerted on the asphalt roll 100 and the dump truck 200.

For example, the communication control unit 37 of the asphalt roll 100 may receive the image information captured by the 1 st image capturing device 261 of the dump truck 200 via the wireless communication device 40, and the command generation unit 36 may correct the speed-related control command according to the situation indicated by the image information. For example, when the determination unit 35 determines that the traveling direction of the dump truck 200 is an upward slope based on the image information, the command generation unit 36 performs feedforward control of raising the acceleration degree in advance on the generated control command. The command generating unit 36 according to embodiment 2 may generate the control command based on a control combining the feedforward control and the feedback control.

In embodiment 2, the controller 30 performs the control described above, thereby synchronizing the speed of the dump truck 200 with the speed of the asphalt roll 100. As a result, the controller 30 according to embodiment 2 maintains a constant distance between the components of each vehicle between the dump truck 200 and the asphalt roll 100, and maintains a state in which the cabin 201 of the dump truck 200 and the hopper 2 of the asphalt roll 100 overlap in the vertical direction.

The controller 30 according to embodiment 2 generates a control command based on feedback control related to the speed of the dump truck 200 based on a difference between the speed indicated by the control command of the dump truck 200 and the actual speed. As a result, as in embodiment 1, the controller 30 can synchronize the speed of the pitch trimmer 100 with the speed of the dump truck 200.

The controller 30 according to the above embodiment synchronizes the operation of the transport vehicle such as the dump truck 200 with the operation of the asphalt roll 100 by the control. The operation of synchronizing the two is not limited to the operation and the speed, and may be the on/off of the headlight or the turn signal, the output of warning information, or the like.

In the above example, the case where the imaging device 62 images the space existing in front of the asphalt roll 100 has been described. When the self-unloading truck 200 is detected in front of the asphalt roll 100, the controller 30 controls the self-unloading truck 200. However, the present embodiment is not limited to the case where the transport vehicle to be controlled is present in front of the asphalt roll 100. The controller 30 may set a transport vehicle existing around the asphalt binder 100 as a control target. For example, when the asphalt roll 100 further includes an imaging device capable of capturing images in the left-right direction, the controller 30 may set the dump truck detected by the imaging device as a control target. At this time, for example, the controller 30 of the asphalt roll 100 transmits a control command to the detected dump truck so as to advance forward and then retract. The control thereafter is the same as the above embodiment. As described above, if the asphalt binder 100 is around, a detection device such as an imaging device can set the detection range. Further, the controller 30 may control the transport vehicle detected within the detection range.

In the above example, the case where the imaging device 62 detects a transport vehicle such as the dump truck 200 has been described. However, the present embodiment does not limit the detection device that detects the transport vehicle to the imaging device. The detection device may be a sensor or the like capable of detecting the position of the dump truck 200. For example, the detection device may be a LIDAR (Light Detection and Ranging, laser Imaging Detection and Ranging: light detection and ranging, laser imaging detection and ranging) or millimeter wave radar equidistant sensor.

The steering information of the steering dump truck 200 transmitted from the asphalt roll machine 100 to the dump truck 200 is not limited to the steering (steering) control command, and may be any information necessary for steering the dump truck 200. For example, if the dump truck 200 can maneuver according to the 2 nd movement path when receiving the 2 nd movement path, the asphalt roll 100 may transmit the 2 nd movement path as the maneuver information.

In the above embodiment, the pitch horn 100 is configured as described above to synchronize the operation of the pitch horn 100 with the operation of the dump truck 200, whereby the burden associated with the manual manipulation by the driver of the dump truck 200 can be reduced.

Further, by synchronizing the operation of the asphalt roll machine 100 with the operation of the dump truck 200, the asphalt roll machine 100 can suppress a deviation in the positional relationship between the carriage 201 of the dump truck 200 and the hopper 2 of the asphalt roll machine 100, and thus can stabilize the supply of the paving material from the dump truck 200 to the asphalt roll machine 100. Thus, asphalt roll 100 can suppress degradation of the quality of the asphalt pavement after construction.

(modification)

In the above embodiment, an example in which the 1 st movement path for the asphalt roll machine 100 and the 2 nd movement path for the dump truck 200 are generated in the asphalt roll machine 100 is described. However, the above embodiment does not limit the generation of the 1 st movement path for the asphalt roll 100 and the 2 nd movement path for the dump truck 200 to the case of using the asphalt roll 100. Therefore, in the modification, the movement path is generated by the information processing apparatus provided outside. That is, this modification is an example as follows: in the construction support system for asphalt leveler including asphalt leveler 100, dump truck 200, and information processing device, the information processing device generates the 1 st movement path for asphalt leveler 100 and the 2 nd movement path for dump truck 200 in order to synchronize the operation of dump truck 200 with the operation of asphalt leveler 100.

The information processing device provided outside is configured to generate the 1 st movement path for the asphalt roll 100 and the 2 nd movement path for the dump truck 200 after the construction plan is input.

Then, the information processing device transmits the 1 st movement path for the asphalt roll machine 100 and the 2 nd movement path for the dump truck 200 to the wireless communication device 40 of the asphalt roll machine 100. The subsequent processing is the same as in the above embodiment, and therefore, the description thereof is omitted. As in the present modification, as long as the device is included in the construction support system of the asphalt leveler, control for synchronizing the operation of the dump truck 200 with the operation of the asphalt leveler 100 may be performed.

In the above embodiments and modifications, the safety relating to road pavement is improved by automatically controlling the transport vehicle and the asphalt binder in accordance with the area of the construction target in the road pavement site. In the above embodiments and modifications, the operator of the asphalt roll machine can confirm the surrounding situation from the image information captured in front of the transport vehicle, and thus the safety of the operator and surrounding staff can be improved.

The embodiments and modifications of the asphalt leveler, the dump truck (an example of a transport vehicle), and the construction support system for the asphalt leveler have been described above, but the present invention is not limited to the embodiments and modifications and the like. Various changes, modifications, substitutions, additions, deletions and combinations can be made within the scope described in the claims. These are, of course, within the technical scope of the present invention.

The present application claims priority based on japanese patent application No. 2021-056023 filed on 3 months 29 of 2021, the entire contents of which are incorporated herein by reference.

Description of symbols

100-asphalt rolling machine, 30-controller, 31-dumper identification information storage unit, 32-acquisition unit, 33-path generation unit, 34-detection unit, 35-determination unit, 36-instruction generation unit, 37-communication control unit and 62-camera device.

Claims

1. An asphalt roll leveling machine, comprising:

a traction machine;

the hopper is arranged at the front side of the tractor;

a conveyor that conveys paving material in the hopper to a rear side of the tractor;

a screw for spreading paving material, which is transported by the conveyor and is spread on a road surface, in a vehicle width direction; a kind of electronic device with high-pressure air-conditioning system

Leveling means for leveling paving material spread by the screw on a rear side of the screw,

the motion of the transport vehicle is synchronized with the motion of the asphalt binder.

2. The asphalt roll machine of claim 1, wherein,

control instructions for the asphalt binder are generated to synchronize the motion of the transport vehicle with the motion of the asphalt binder.

3. The asphalt roll machine of claim 1, wherein,

The distance between the component constituting the transport vehicle and the component constituting the asphalt binder is acquired,

and generating a control instruction indicating acceleration or deceleration of the transport vehicle according to the acquired distance.

4. The asphalt roll machine of claim 3, wherein,

and generating the control command so that the cabin of the transport vehicle and the hopper are within a range in which the cabin and the hopper are maintained in a vertically overlapped state, based on the acquired distance.

5. The asphalt roll machine of claim 1, wherein,

a control command indicating the speed of the transport vehicle is generated based on the speed of the asphalt binder.

6. The asphalt roll machine of claim 5, wherein,

after the transmission of the control command for the speed, the actual speed of the transport vehicle is obtained,

a control command for feedback-controlling the transport vehicle so that the transport vehicle runs at a speed indicated by a control command for the speed is generated based on a difference between the actual speed of the transport vehicle and the speed indicated by the control command for the speed.

7. A construction support system for an asphalt leveler provided with a tractor, a hopper provided on a front side of the tractor, a conveyor that conveys paving material in the hopper to a rear side of the tractor, a screw that spreads paving material conveyed by the conveyor in a vehicle width direction and laid on a road surface, and a leveling device that spreads paving material spread by the screw on a rear side of the screw, the construction support system comprising:

And a control device configured to synchronize the operation of the transport vehicle in front of the asphalt binder with the operation of the asphalt binder.

8. The construction support system for asphalt binder according to claim 7, wherein,

the control device is configured to generate a control command for the asphalt binder so that the operation of the transport vehicle is synchronized with the operation of the asphalt binder.

9. The construction support system for asphalt binder according to claim 7, wherein,

the control device is configured to acquire a distance between a member constituting the transport vehicle and a member constituting the asphalt binder, and to generate a control command instructing acceleration or deceleration of the transport vehicle based on the acquired distance.

10. The construction support system for asphalt binder according to claim 7, wherein,

the control device is configured to generate a control command indicating a speed of the transport vehicle based on the speed of the asphalt binder.