EP4317586A1

EP4317586A1 - Asphalt finisher, transport vehicle, and system for assisting construction of asphalt finisher

Info

Publication number: EP4317586A1
Application number: EP22780834.2A
Authority: EP
Inventors: Hisaho Mino; Kazuaki Hagiwara
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: 2024-02-07
Also published as: JPWO2022210623A1; WO2022210623A1; CN116981809A; EP4317586A4

Abstract

An asphalt finisher includes a tractor, a hopper installed on a front side of the tractor, a conveyor that conveys a paving material inside the hopper to a rear side of the tractor, a screw that lays and spreads the paving material conveyed by the conveyor and scattered on a road surface in a vehicle width direction, a screed device that lays and levels the paving material laid and spread by the screw on a rear side of the screw, and a detection device that sets a periphery of the asphalt finisher as a detection range. A control command for controlling a transport vehicle detected by the detection device is generated.

Description

Technical Field

The present invention relates to an asphalt finisher, a transport vehicle, and a system for assisting construction of an asphalt finisher.

Background Art

In the related art, an asphalt finisher is known which includes a tractor, a hopper installed on a front side of the tractor to receive a paving material, a conveyor that feeds the paving material inside the hopper to a rear side of the tractor, a screw that lays and spreads the paving material fed by the conveyor on the rear side of the tractor, and a screed that lays and levels the paving material laid and spread by the screw on a rear side of the screw.
When the asphalt finisher carries out construction, a transport vehicle (for example, a dump truck) needs to come into contact with a front part of the asphalt finisher. Therefore, currently, a driver of the transport vehicle brings the transport vehicle into contact with the asphalt finisher in such a manner that the driver of the transport vehicle visually performs a steering operation and receives a guidance and an instruction from a guide member.

Citation List

Patent Literature

[PTL 1] International Publication No. 2017/010541

Summary of Invention

Technical Problem

However, when the driver of the transport vehicle is less skilled or when visibility is poor due to night-time construction, there is a possibility that the driver of the transport vehicle may not be able to appropriately bring the transport vehicle into contact with the asphalt finisher.
In addition, when the guide member who guides the transport vehicle is disposed in a construction site, a labor cost burden for the disposition increases.
In view of the above-described circumstances, it is desirable to provide an asphalt finisher that reduces a burden on a driver of a transport vehicle by guiding the transport vehicle.

Solution to Problem

According to an aspect of the present invention, there is provided an asphalt finisher including a tractor, a hopper installed on a front side of the tractor, a conveyor that conveys a paving material inside the hopper to a rear side of the tractor, a screw that lays and spreads the paving material conveyed by the conveyor and scattered on a road surface in a vehicle width direction, a screed device that lays and levels the paving material laid and spread by the screw on a rear side of the screw, and a detection device that sets a periphery of the asphalt finisher as a detection range. A control command for controlling a transport vehicle detected by the detection device is generated.

Advantageous Effects of Invention

According to the aspect of the present invention, a burden on a driver of a transport vehicle is reduced by guiding the transport vehicle.

Brief Description of Drawings

Fig. 1A is a left side view illustrating an asphalt finisher and a dump truck which are examples of a road paving machine according to a first embodiment.
Fig. 1B is a top view illustrating the asphalt finisher and the dump truck which are the examples of the road paving machine according to the first embodiment.
Fig. 2 is a block diagram illustrating a configuration of the asphalt finisher and the dump truck according to the first embodiment.
Fig. 3 is a view illustrating a process procedure performed between the asphalt finisher and the dump truck according to the first embodiment.
Fig. 4 is a view illustrating a position relationship when the dump truck deviates in a rightward direction, compared to the asphalt finisher in the first embodiment.
Fig. 5 is a view illustrating a position relationship when the dump truck according to the first embodiment moves rearward to a vicinity of the asphalt finisher.
Fig. 6 is a block diagram illustrating a configuration of a dump truck according to a second embodiment.
Fig. 7 is a view illustrating a process procedure performed by the dump truck according to the second embodiment.

Description of Embodiments

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In each drawing, the same reference numerals will be assigned to the same or corresponding configurations, and description thereof may be omitted.

(First Embodiment)

Figs. 1A and 1B are views illustrating an asphalt finisher 100 and a dump truck 200, which are examples of a road paving machine according to a first embodiment. Specifically, Fig. 1A is a left side view, and Fig. 1B is a top view. Figs. 1A and 1B illustrate an example in which the dump truck 200 approaches the asphalt finisher 100 while moving rearward.
The asphalt finisher 100 is configured to mainly include a tractor 1, a hopper 2, and a screed device 3.
The screed device 3 is a mechanism for laying and leveling a paving material. In the present embodiment, the screed device 3 is a floating screed device towed by the tractor 1, and is connected to the tractor 1 via a leveling arm 3a.
The hopper 2 is provided on a front side of the tractor 1 as a mechanism for receiving the paving material. The hopper 2 of the present embodiment has a mechanism that can be opened and closed in a vehicle width direction by a hopper cylinder 2a while movable mechanism portions 81a and 81b serve as axes. Then, when the asphalt finisher 100 is about to run out of a mixture of the hopper 2, the hopper 2 is brought into a fully opened state, and the paving material (for example, the asphalt mixture) can be received from the loading platform 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 finisher 100, the paving material is supplied to the hopper 2 from the loading platform 201 of the dump truck 200.
In addition, even when the paving material is received from the loading platform 201 of the dump truck 200, the asphalt finisher 100 continues traveling (construction) while pushing the dump truck forward. Specifically, a conveyor conveys the paving material received inside the hopper 2 to a rear side of the tractor 1. A screw lays and spreads the paving material conveyed by the conveyor and scattered on a road surface in the vehicle width direction. The screed device 3 lays and levels the paving material laid and spread by the screw on a rear side of the screw.
After receiving the paving material from the loading platform 201 of the dump truck 200, the operator of the asphalt finisher 100 can put the paving material loaded to the hopper 2 on the conveyor by gradually closing the hopper 2. Thereafter, in a stage where the hopper 2 is in the fully opened state again, the hopper 2 can receive the paving material from the dump truck 200. Therefore, it is preferable that a driver of the dump truck 200 brings the dump truck 200 into contact with the hopper 2 after confirming that the hopper 2 is in the fully opened state.
Furthermore, the asphalt finisher 100 includes a roller 2b. The roller 2b is installed in front of the hopper 2. The roller 2b is configured to be capable of coming into contact with a rear wheel 202 of the dump truck 200, and when the rear wheel 202 of the dump truck 200 is in contact with the roller 2b, the roller 2b can rotate together with the rear wheel 202.
The tractor 1 is a mechanism for causing the asphalt finisher 100 to travel. In the present embodiment, the tractor 1 moves the asphalt finisher 100 in such a manner that a traveling hydraulic motor is used to rotate front wheels and rear wheels. The traveling hydraulic motor rotates by receiving hydraulic oil supply from a hydraulic source. The tractor 1 may include a crawler instead of the wheels.
In addition, the tractor 1 is equipped with a controller 30, a wireless communication device 40, a main monitor 60, a driving seat 61, an imaging device 62, and an audio output device 63. Specifically, a cab including the main monitor 60 and the driving seat 61 is installed on an upper surface of the tractor 1. The imaging device 62 and the audio output device 63 are installed in a front end central part of the upper surface of the tractor 1.
The wireless communication device 40 directly performs short-range wireless communication with a device existing around the asphalt finisher 100, for example, such as a dump truck 200. In the present embodiment, for example, it is conceivable to use Wi-Fi (registered trademark) as a wireless communication standard of the wireless communication device 40. The wireless communication of the present embodiment is not limited to a method using the Wi-Fi (registered trademark), and wireless LAN or Bluetooth (registered trademark) may be used.
The main monitor 60 is a device that displays various information to the operator of the asphalt finisher 100. In the present embodiment, the main monitor 60 is a liquid crystal display, and can display various information in accordance with a command from the controller 30. In addition, the main monitor 60 includes an input device 60a that receives an operation input of the operator of the asphalt finisher 100.
The imaging device 62 is a device that acquires an image of a space in front of the asphalt finisher 100. In the present embodiment, the imaging device 62 is a camera, and outputs the acquired image to the controller 30. The imaging device 62 may be a range image camera, an infrared camera, or a stereo camera. In the present embodiment, an example in which the imaging device 62 is used as an example of a device capable of recognizing a space will be described. However, in the present embodiment, the space recognition device is not limited to the imaging device 62. That is, any space recognition device may be used as long as the space can be recognized based on the asphalt finisher 100, and for example, a laser sensor may be used.
The imaging device 62 (example of a detection device) according to the present embodiment images a space inside an imaging region RA1 (example of a detection range) existing in front of the asphalt finisher 100 and illustrated by a one-dot chain line in Figs. 1A and 1B. Then, the imaging device 62 outputs image information (example of detection information) relating to the captured image to the controller 30. In an example illustrated in Figs. 1A and 1B, the imaging device 62 can image the dump truck 200 existing in the imaging region RA1.
The audio output device 63 is a device that outputs audio toward a periphery of the asphalt finisher 100. In the present embodiment, the audio output device 63 is a speaker that outputs audio forward of the asphalt finisher 100, and can output an alarm in accordance with a command from the controller 30. The audio output device 63 may output an audio message.
The controller 30 is a control device that controls the asphalt finisher 100. For example, the controller 30 is configured to include a computer, and has a Central Processing Unit (CPU), an internal memory, and a storage medium. The controller 30 performs various types of control by causing the CPU to execute a program stored in the storage medium.
The dump truck 200 is configured to include a loading platform 201, a hoist cylinder 270 (refer to Fig. 5), a first imaging device 261, a second imaging device 262, a controller 230, and a wireless communication device 240. The loading platform 201 can be equipped with the paving material to be supplied to the hopper 2 of the asphalt finisher 100.
The hoist cylinder 270 is a mechanism that tilts the loading platform 201 rearward, and is provided on a chassis frame of the dump truck 200. For example, the hoist cylinder 270 expands and contracts in accordance with a command from the controller 230. In this manner, the hoist cylinder 270 switches between a tilted state where the loading platform 201 is tilted rearward and a horizontal state where the loading platform 201 is on a horizontal level.
The first imaging device 261 is a device that acquires an image of a space in front of the dump truck 200. The second imaging device 262 is a device that acquires the image of the space behind the dump truck 200. The first imaging device 261 and the second imaging device 262 according to the present embodiment are cameras, and output the acquired image to the controller 230. The first imaging device 261 and the second imaging device 262 may be range image cameras, infrared cameras, or stereo cameras. In the present embodiment, an example in which the first imaging device 261 and the second imaging device 262 are used as examples of devices capable of recognizing the space will be described. However, in the present embodiment, the space recognition device is not limited to the first imaging device 261 and the second imaging device 262. That is, any space recognition device may be used as long as the space can be recognized based on the dump truck 200, and for example, a laser sensor may be used.
The first imaging device 261 according to the present embodiment images a space inside an imaging region RT1 existing in front of the dump truck 200 and illustrated by a two-dot chain line in Figs. 1A and 1B. The first imaging device 261 outputs image information relating to the captured image to the controller 230.
The second imaging device 262 according to the present embodiment images a space inside an imaging region RT2 existing behind the dump truck 200 and illustrated by a two-dot chain line in Figs. 1A and 1B. The second imaging device 262 outputs image information relating to the captured image to the controller 230.
The wireless communication device 240 performs wireless communication with a device existing around the dump truck 200, for example, such as the asphalt finisher 100. In the present embodiment, for example, it is conceivable to use Wi-Fi (registered trademark) as the wireless communication standard of the wireless communication device 240. The wireless communication of the present embodiment is not limited to a method using Wi-Fi (registered trademark), and wireless LAN of Bluetooth (registered trademark) may be used.
The controller 230 is a control device that controls the dump truck 200. For example, the controller 230 is configured to include a computer, and has a Central Processing Unit (CPU), an internal memory, and a storage medium. The controller 230 performs various types of control by causing the CPU to execute a program stored in the storage medium.
The controller 230 according to the present embodiment can assist a driving operation by using Advanced driver-assistance systems (ADAS), based on image information received from the first imaging device 261, image information received from the second imaging device 262, and detection signals received from various detection sensors (not illustrated). The driving operation assistance system used by the controller 230 according to the present embodiment is not limited to the driving operation assistance system using the ADAS, and may be other driving operation assistance systems. For example, the controller 230 may use Autonomous Driving (AD). Furthermore, the controller 230 may use any system as long as the system can control the dump truck 200 to move to the vicinity of the hopper 2 of the asphalt finisher 100.
The controller 230 according to the present embodiment realizes control for stopping the dump truck 200 in the vicinity of the hopper 2 of the asphalt finisher 100 by using parking assistance of the ADAS. In this case, the controller 230 of the present embodiment may receive a control command from the asphalt finisher 100 via the wireless communication device 240, and may perform drive control of the dump truck 200, based on the received control command.
In order for the dump truck 200 to supply the paving material to the hopper 2, it is necessary to align the hopper 2 and the loading platform 201 with each other. For example, when the hopper 2 of the asphalt finisher 100 and the loading platform 201 of the dump truck 200 deviate in a rightward-leftward direction, it is necessary to adjust a steering angle of the dump truck 200.
For example, the deviation in the rightward-leftward direction can be determined from an image captured by the imaging device 62 of the asphalt finisher 100.
Therefore, in the present embodiment, the controller 30 of the asphalt finisher 100 generates a control command for adjusting the steering angle of the dump truck 200, based on the image information from the imaging device 62.
Fig. 2 is a block diagram illustrating a configuration of the asphalt finisher 100 and the dump truck 200 according to the present embodiment. As illustrated in Fig. 2, the dump truck 200 includes a first imaging device 261, a second imaging device 262, an input device 263, a controller 230, a wireless communication device 240, and a drive system controller 250. That is, in the present modification example, in the system for assisting construction of the asphalt finisher including the asphalt finisher 100 and the dump truck 200, an example will be described in which the controller 30 generates a control command for adjusting the steering angle of the dump truck 200, based on the image information from the imaging device 62.
The controller 230 generates a control command relating to the drive control, based on the image information from the first imaging device 261, the image information from the second imaging device 262, and a control signal from a detection sensor (not illustrated). Then, the controller 230 outputs the generated control command to the drive system controller 250. In this manner, the controller 230 realizes the driving operation assistance using the ADAS.
In addition, the controller 230 performs various types of control by receiving an operation by the driver of the dump truck 200 via the input device 263.
In addition, when the control command is received from the asphalt finisher 100 via the wireless communication device 240, the controller 230 outputs the received control command to the drive system controller 250. In this manner, the controller 230 realizes the driving operation assistance of the dump truck 200 by using the ADAS in accordance with a request from the asphalt finisher 100.
The asphalt finisher 100 includes the imaging device 62, the input device 60a, the controller 30, and the wireless communication device 40. The controller 30 performs the control, based on the image information from the imaging device 62. In addition, the controller 30 transmits the control command for controlling the dump truck 200 to the dump truck 200 via the wireless communication device 40. The controller 30 performs various types of control in accordance with an operation input by the operator of the asphalt finisher 100 through the input device 60a.
Each functional block included in the controller 30 illustrated in Fig. 2 is conceptual, and does not necessarily have to be physically configured as illustrated. All or a part of each functional block may be functionally or physically distributed or integrated in any unit. All or any part of each processing function performed in each functional block is realized by a program executed by the CPU. Alternatively, each functional block may be realized as hardware using a wired logic. As illustrated in Fig. 2, the controller 30 includes a dump truck identification information storage unit 31, an acquisition unit 32, a detection unit 33, a determination unit 34, a generation unit 35, and a communication control unit 36.
The dump truck identification information storage unit 31 is provided in a storage medium inside the controller 30. The dump truck identification information storage unit 31 stores information for the asphalt finisher 100 to identify the dump truck 200 serving as a communication target. For example, the dump truck identification information storage unit 31 stores number plate information of the dump truck 200 and identification information (for example, SSID) of the wireless communication device 240 mounted on the dump truck 200 in association with each other. In this manner, the controller 30 can identify the wireless communication device 240 serving as the communication target, based on the imaged number plate when the imaging device 62 images a rear part of the dump truck 200.
The acquisition unit 32 acquires the image information relating to the image captured by the imaging device 62. In addition, the acquisition unit 32 acquires the operation information relating to the operation input by the operator of the asphalt finisher 100 via the input device 60a.
The detection unit 33 detects whether or not a transport vehicle such as the dump truck 200 exists in a front space of the asphalt finisher 100, based on the acquired image information. Any technique including a known image processing technique may be used as a technique for detecting the transport vehicle such as the dump truck 200 from the image indicated by image information. The detection unit 33 may detect other objects when detecting the transport vehicle from the image. For example, the other objects may include a load cone, a person (worker), and a small machine (rammer or tamper). In addition, the determination unit 34 may be configured to recognize (detect) an object existing around the asphalt finisher 100 (example of a work machine), based on the image information (output value) of the imaging device 62 serving as one type of the space recognition device. For example, the object serving as a recognition target includes the dump truck 200, a terrain shape (inclination or hole), an electric wire, an electric pole, a person, an animal, a vehicle, a construction machine, a building, a wall, a helmet, a safety vest, work clothes, or a predetermined mark on the helmet. In this way, the determination unit 34 may be configured to be capable of identifying at least one of a type, a position, and a shape of the object. For example, the determination unit 34 may be configured to be capable of distinguishing between the dump truck 200 and an object other than the dump truck.
The determination unit 34 determines various types of information, based on the image information (example of detection information) from the imaging device 62 (example of the detection device). For example, the determination unit 34 determines whether or not the loading platform 201 of the dump truck 200 can be positioned at a designated position after the dump truck 200 is detected from the image captured by the imaging device 62. The designated position is a position of the loading platform 201 suitable for moving the paving material on the loading platform 201 into the hopper 2, and is a position partially overlapping the position of the hopper 2 of the asphalt finisher 100 in the vertical direction. Information relating to the designated position is typically stored in advance in the storage medium of the controller 30. In the present embodiment, the information relating to the designated position is information relating to a rectangular region having substantially the same size (area) as that of the loading platform 201 in a top view. In other words, the information relating to the designated position is information relating to a rectangular parallelepiped space having substantially the same size (volume) as that of the loading platform 201. Therefore, for example, "positioning the loading platform 201 of the dump truck 200 at the designated position" means causing the rectangular region corresponding to the actual loading platform 201 to coincide with the rectangular region corresponding to the designated position. A rectangular region ZN illustrated by a dotted line in Fig. 1B is an example of the rectangular region corresponding to the designated position.
In the present embodiment, the imaging device 62 is provided in the asphalt finisher 100 so that an optical axis of the imaging device 62 overlaps a center line in a traveling direction of the asphalt finisher 100 in a top view. Then, when the dump truck 200 moves rearward so that the center line of the dump truck 200 overlaps the center line of the asphalt finisher 100 in a top view, the loading platform 201 of the dump truck 200 is positioned at the designated position.
Therefore, the determination unit 34 determines whether or not an image portion corresponding to a center position of the dump truck 200 deviates in the rightward direction or in the leftward direction from the center of the image captured by the imaging device 62. In this manner, the determination unit 34 can determine whether or not the loading platform 201 of the dump truck 200 can be positioned at the designated position.
In addition, any method may be used as a method for identifying the center position of the dump truck 200 captured in the image. For example, the center position of the dump truck 200 may be identified from right and left end portions of the dump truck 200.
In addition, the above-described determination method has been described as an example of a method for determining whether or not the loading platform 201 of the dump truck 200 is positioned at the designated position, in other words, whether or not the dump truck 200 deviates in the rightward-leftward direction. Therefore, other methods may be used. For example, when both end portions of the hopper 2 and both end portions of the dump truck 200 are imaged by the imaging device 62, the detection unit 33 may detect both end portions of the hopper 2 and both end portions of the dump truck 200 from the image information. Then, the determination unit 34 may determine whether or not a difference between the left end portion of the dump truck 200 and the left end portion of the hopper 2 and a difference between the right end portion of the dump truck 200 and the right end portion of the hopper 2 are equal to each other. In this manner, the determination unit 34 can determine whether or not the loading platform 201 of the dump truck 200 can be positioned at the designated position.
Furthermore, the determination unit 34 also determines a distance between the dump truck 200 and the asphalt finisher 100. The determination unit 34 according to the present embodiment has a correspondence relationship between a size of the dump truck 200 captured in the image and a distance between the rear wheel 202 of the dump truck 200 and the roller 2b of the asphalt finisher 100. In this manner, the determination unit 34 can identify the distance between the rear wheel 202 of the dump truck 200 and the roller 2b of the asphalt finisher 100 from the image information acquired by the acquisition unit 32.
Furthermore, the determination unit 34 determines number plate information of the dump truck 200 existing in front of the asphalt finisher 100, based on the image information from the imaging device 62.
The generation unit 35 generates a control command for controlling the transport vehicle (for example, the dump truck 200) detected from the image (example of detection information) captured by the imaging device 62. For example, the generated control command is a steering command in the rightward direction or in the leftward direction, a deceleration command, or a braking command. The control command generated by the generation unit 35 is not limited to the above-described command, and may be various other control commands. For example, the control command generated by the generation unit 35 may be a command that can be executed by the ADAS, such as turning on/off the headlight or warning the driver.
The generation unit 35 of the present embodiment generates the control command, based on a determination result obtained by the determination unit 34. For example, the control command includes a control command for performing the steering so that the loading platform 201 of the dump truck 200 is positioned at the designated position. For example, the other control commands include a control command for instructing the dump truck 200 to move rearward or to stop to bring the rear wheel 202 of the dump truck 200 into contact with the roller 2b.
Specifically, when the determination unit 34 determines that the loading platform 201 of the dump truck 200 deviates in the rightward direction, the generation unit 35 generates a control command for steering the dump truck 200 to move rearward in the leftward direction. In addition, when the determination unit 34 determines that the loading platform 201 of the dump truck 200 deviates in the leftward direction, the generation unit 35 generates the control command for steering the dump truck 200 to move rearward in the rightward direction. In this way, the generation unit 35 can correct the deviation in the rightward-leftward direction by generating the control command for steering the dump truck 200, based on the image information from the imaging device 62.
Furthermore, the generation unit 35 generates a control command relating to stop or deceleration, based on a position relationship between the rear wheel 202 of the dump truck 200 and the roller 2b of the asphalt finisher 100, which is identified by the determination unit 34.
For example, when the determination unit 34 determines that the distance between the rear wheel 202 of the dump truck 200 and the roller 2b of the asphalt finisher 100 (hereinafter, referred to as a "detection distance") falls within a first distance (for example, 2 m), the generation unit 35 generates a control command for decelerating (brake control) the dump truck 200.
Furthermore, when the determination unit 34 determines that the rear wheel 202 of the dump truck 200 is located in the vicinity of the roller 2b of the asphalt finisher 100, the generation unit 35 generates a control command for stopping the dump truck 200. In the present embodiment, the determination unit 34 determines that the rear wheel 202 is located in the vicinity of the roller 2b of the asphalt finisher 100, when the detection distance falls within a second distance (for example, 10 cm). When the rear wheel 202 of the dump truck 200 is located in the vicinity of the roller 2b of the asphalt finisher 100, the hopper 2 and the loading platform 201 overlap each other in the vertical direction. In other words, the hopper 2 of the asphalt finisher 100 and the loading platform 201 of the dump truck 200 are in an overlapping state. Therefore, the hopper 2 can receive the paving material from the loading platform 201. The determination unit 34 of the controller 30 according to the present embodiment can determine whether or not the overlapping state is maintained between the hopper 2 and the loading platform 201, based on the position relationship between the rear wheel of the dump truck 20 and the roller 2b of the asphalt finisher 100 (position relationship between the respective vehicle components). However, in the present embodiment, in determining whether or not the overlapping state is maintained, the rear wheel may not always be used as the component of the dump truck 20, or the roller 2b may not always be used as the component of the asphalt finisher 100. For example, it may be determined whether or not the hopper 2 maintains the overlapping state with the loading platform 201, based on the position relationship between a front end of the hopper 2 and a rear end of the loading platform 201. In other words, the controller 30 according to the present embodiment may perform control to maintain the overlapping state, based on the position relationship between the front end of the hopper 2 and the rear end of the loading platform 201.
Furthermore, the generation unit 35 generates a control command corresponding to a state of the asphalt finisher 100. For example, the generation unit 35 generates a control command for the dump truck 200 when the hopper 2 is open. That is, the controller 30 can guide the dump truck 200 to the designated position only when the hopper 2 is open. In this manner, it is possible to prevent a situation in which the paving material cannot be supplied since the hopper 2 is not open, although the dump truck 200 is close to the asphalt finisher 100.
The communication control unit 36 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 36 performs the communication control with the wireless communication device 240 indicated by the identification information associated with the number plate information determined by the determination unit 34. In this manner, the controller 30 can transmit the control command to the dump truck 200. For example, the communication control unit 36 transmits the control command generated by the generation unit 35 to the wireless communication device 240.
Fig. 3 is a view illustrating a process procedure performed between the asphalt finisher 100 and the dump truck 200 according to the present embodiment. In an example illustrated in Fig. 3, the asphalt finisher 100 has already started the construction. In addition, a driver is aboard the dump truck 200. The dump truck 200 may be driven by the driver, or may be automatically steered by the ADAS.
First, the controller 30 determines whether or not a button is pressed, based on an operation signal from the input device 60a operated by the operator of the asphalt finisher 100 (S351). The button is a button for starting automatic control for guiding the dump truck 200 to the designated position. When it is determined that the button is not pressed (S351: No), the controller 30 waits until the button is pressed.
When the controller 30 of the asphalt finisher 100 determines that the button is pressed (S351: Yes), the acquisition unit 32 acquires the image from the imaging device 62 (S352). The acquisition unit 32 may acquire various control signals including whether or not the hopper 2 is open.
The controller 30 determines whether or not the hopper 2 is open, based on the image or various control signals (S353). When the controller 30 determines that the hopper 2 is not open (S353: No), the controller 30 displays an alert screen indicating that the hopper 2 is not open (need to open the hopper 2) on the main monitor 60. (S354), and completes the process.
On the other hand, when the controller 30 determines that the hopper 2 is open (S353: Yes), the acquisition unit 32 acquires the image from the imaging device 62 (S355).
Then, the detection unit 33 determines whether or not the dump truck 200 exists in front of the asphalt finisher 100, based on the image information (S356). When the detection unit 33 determines that the dump truck 200 does not exist (S356: No), the controller 30 completes the process.
When the detection unit 33 determines that the dump truck 200 exists (S356: Yes), the communication control unit 36 identifies the identification information of the wireless communication device 240 from the number plate information of the dump truck 200. Then, the communication control unit 36 transmits a control command for starting automatic control to the dump truck 200 equipped with the wireless communication device 240 indicated by the identified identification information (S357).
The controller 230 of the dump truck 200 determines whether or not the control command for starting automatic control is received via the wireless communication device 240 (S301). When the control command for starting the automatic control is not received (S301: No), the controller 230 waits until the control command is received.
On the other hand, when the controller 230 of the dump truck 200 receives the control command for starting the automatic control (S301: Yes), the controller 230 notifies the driver that the command is received. Then, the controller 230 determines whether or not an approval operation for the automatic control is received from the driver, based on an output of the input device 263 (S302). When it is determined that the approval operation is not received (S302: No), the controller 230 waits until the approval operation is received.
On the other hand, when it is determined that the approval operation is received (S302: Yes), the controller 230 transmits a response signal indicating that the automatic control is approved to the wireless communication device 40 of the asphalt finisher 100 via the wireless communication device 240 (S303).
The communication control unit 36 of the asphalt finisher 100 determines whether or not the response signal is received via the wireless communication device 40 (S358). When it is determined that the response signal is not received (S358: No), the communication control unit 36 waits until the response signal is received.
When the communication control unit 36 of the asphalt finisher 100 determines that the response signal is received via the wireless communication device 40 (S358: Yes), the generation unit 35 generates a control command for moving the dump truck 200 rearward at a speed V1 (S359). The speed V1 is a speed suitable for approaching the asphalt finisher 100, and is a speed set according to the embodiment.
Then, the communication control unit 36 transmits the control command for moving the dump truck 200 rearward at the speed V1 to the wireless communication device 240 of the dump truck 200 (S360).
The controller 230 of the dump truck 200 determines whether or not the control command for moving rearward is received via the wireless communication device 240 (S304). When the control command for moving rearward is not received (S304: No), the dump truck 200 continues an operation corresponding to the steering of the driver or the operation corresponding to the automatic steering using the ADAS until the control command for moving rearward is received.
On the other hand, when the controller 230 determines that the control command for moving rearward is received via the wireless communication device 240 (S304: Yes), the controller 230 starts control for the rearward movement at the speed V1 (S305).
Then, in the asphalt finisher 100, the acquisition unit 32 of the controller 30 acquires the image information from the imaging device 62 (S361). Then, the determination unit 34 determines whether or not the dump truck 200 deviates in the rightward direction or in the leftward direction, based on the acquired image (S362).
When the determination unit 34 determines that the dump truck 200 deviates in the rightward direction or in the leftward direction (S362: Yes), the generation unit 35 generates a control command for steering the dump truck 200 in the rightward direction or in the leftward direction to correct the deviation (S364).
On the other hand, when the determination unit 34 determines that the dump truck 200 does not deviate in the rightward direction or in the leftward direction (S362: No), the generation unit 35 generates a control command for moving the dump truck 200 straight rearward (S363). That is, the generation unit 35 generates a steering control command for moving the dump truck 200 straight rearward by setting a steering angle to "0".
Then, the communication control unit 36 transmits the steering control command generated in S363 or in S362 to the wireless communication device 240 of the dump truck 200 (S365).
Fig. 4 is a view illustrating a position relationship when the dump truck 200 deviates in the rightward direction compared to the asphalt finisher 100 in a top view (vehicle width direction). 400A is a left side view, and 400B is a top view. In an example illustrated in Fig. 4, in a top view, a center line 401 of the dump truck 200 deviates in the rightward direction by a distance A from a center line 402 of the asphalt finisher 100. Therefore, the determination unit 34 can detect that the dump truck 200 deviates in the rightward direction, based on the image information acquired by the acquisition unit 32.
Therefore, the generation unit 35 generates a steering control command for moving a vehicle body center of the dump truck 200 in the leftward direction. Then, the communication control unit 36 transmits the steering control command for moving the vehicle body center of the dump truck 200 in the leftward direction to the wireless communication device 240 of the dump truck 200 via the wireless communication device 40. Thereafter, when the determination unit 34 determines that the dump truck 200 reaches the center, based on the image information acquired by the acquisition unit 32, the communication control unit 36 transmits the steering control command for moving the dump truck 200 straight rearward by setting the steering angle to "0". In this manner, the center line 401 of the dump truck 200 and the center line 402 of the asphalt finisher 100 coincide with each other. In other words, the controller 30 can position the dump truck 200 at the designated position.
Referring back to Fig. 3, the controller 230 of the dump truck 200 determines whether or not the steering control command is received via the wireless communication device 240 (S306). When the steering control command is not received (S306: No), the controller 230 performs a process in S308.
On the other hand, when the controller 230 determines that the steering control command is received via the wireless communication device 240 (S306: Yes), the controller 230 instructs the drive system controller 250 to perform steering control in accordance with the control command (S307).
In the asphalt finisher 100, the determination unit 34 determines whether or not the distance (detection distance) from the dump truck 200 falls within the first distance, based on the image information (S366). When it is determined that the distance (detection distance) from the dump truck 200 is longer than (does not fall within) the first distance (S366: No), the determination unit 34 performs a process in S369.
On the other hand, when the determination unit 34 determines that the distance (detection distance) from the dump truck 200 falls within the first distance (S366: Yes), the generation unit 35 generates a control command for moving the dump truck 200 rearward at a speed V2 (S367). The speed V2 is a speed lower than the speed V1. That is, when the speed V1 is switched to the speed V2, the deceleration control is performed. Therefore, the control command for moving the dump truck 200 rearward at the speed V2 is also regarded as the control command for deceleration.
Then, the communication control unit 36 transmits the control command for moving rearward at the speed V2, which is generated in S366, to the wireless communication device 240 of the dump truck 200 (S368).
The controller 230 of the dump truck 200 determines whether or not the control command for moving rearward at the speed V2 is received via the wireless communication device 240 (S308). When the control command for moving rearward at the speed V2 is not received (S308: No), the controller 230 performs a process in S310.
On the other hand, when the controller 230 determines that the control command for moving rearward at the speed V2 is received via the wireless communication device 240 (S308: Yes), the controller 230 instructs the drive system controller 250 to perform deceleration control (control for moving the dump truck 200 rearward at the speed V2) in accordance with the control command (S309). When the dump truck 200 moves already at the speed V2, the controller 230 does not particularly perform the control.
In the asphalt finisher 100, the determination unit 34 determines whether or not the dump truck 200 (detection distance) is located within the second distance, based on the image information (S369). When it is determined that the dump truck 200 (detection distance) is located farther than (not located within) the second distance (S369: No), the determination unit 34 performs a process in S361.
On the other hand, when the determination unit 34 determines that the dump truck 200 (detection distance) is located within the second distance (S369: Yes), the generation unit 35 generates a control command for stopping the rearward movement of the dump truck 200 (S370).
Then, the communication control unit 36 transmits the control command for stopping the rearward movement, which is generated in S369, to the wireless communication device 240 of the dump truck 200 (S370), and completes the control in the asphalt finisher 100.
On the other hand, in the dump truck 200, the controller 230 determines whether or not the control command for stopping the rearward movement is received via the wireless communication device 240 (S310). When the control command for stopping the rearward movement is not received (S310: No), the controller 230 performs a process in S306.
On the other hand, when the controller 230 determines that the control command for stopping the rearward movement is received via the wireless communication device 240 (S310: Yes), the controller 230 instructs the drive system controller 250 to stop the control for the rearward movement in accordance with the control command (S311), and completes the control in the dump truck 200. Thereafter, the dump truck 200 is switched to a neutral state, and moves forward while being pushed from the asphalt finisher 100. In addition, the dump truck 200 may perform control for forward movement in accordance with a command from the asphalt finisher 100.
Fig. 5 is a view illustrating a position relationship when the dump truck 200 according to the present embodiment moves rearward to the vicinity of the asphalt finisher 100. 500A is a left side view, and 500B is a top view. In an example illustrated in Fig. 5, the asphalt finisher 100 moves the dump truck 200 to the designated position by performing the above-described control.
In the example illustrated in Fig. 5, the determination unit 34 determines that the dump truck 200 (detection distance) is located within the second distance. Then, the generation unit 35 generates the control command for stopping, and the communication control unit 36 transmits the generated control command for stopping to the wireless communication device 240 of the dump truck 200. In this manner, the dump truck 200 is stopped. Then, the controller 230 of the dump truck 200 tilts the loading platform 201 rearward by extending the hoist cylinder 270 after the stop control. In this manner, the paving material is supplied to the hopper 2 from the loading platform 201 of the dump truck 200.
In the above-described example, a case where the imaging device 62 images the space existing in front of the asphalt finisher 100 has been described. Then, when the dump truck 200 is detected in front of the asphalt finisher 100, the controller 30 controls the dump truck 200. However, the present embodiment is not limited to a case where the transport vehicle serving as a control target exists in front of the asphalt finisher 100. The controller 30 may control a transport vehicle existing around the asphalt finisher 100 as the control target. For example, when the asphalt finisher 100 further includes an imaging device capable of imaging in a rightward-leftward direction, the controller 30 may control the dump truck detected by the imaging device as the control target. In this case, for example, the controller 30 of the asphalt finisher 100 transmits a control command to the detected dump truck to move rearward after moving forward. The control subsequent thereto is the same as the control in the above-described embodiment. In this way, the detection device such as the imaging device may have a detection range as long as the range is located around the asphalt finisher 100. Then, the controller 30 may control the transport vehicle detected within the detection range.
In addition, in the above-described example, a case where the imaging device 62 detects the transport vehicle such as the dump truck 200 has been described. However, in the present embodiment, the detection device that detects the transport vehicle is not limited to the imaging device. The detection device may be a sensor capable of detecting the position of the dump truck 200. For example, the detection device may be a range sensor such as Light Detection and Ranging, Laser Imaging Detection and Ranging (LIDAR) or a millimeter-wave radar.
In the present embodiment, since the asphalt finisher 100 and the dump truck 200 include the above-described configuration, the dump truck 200 can be moved so that the dump truck 200 is positioned at the designated position.

(Modification Example 1 of First Embodiment)

In the above-described example, a case where the asphalt finisher 100 controls the dump truck 200 has been described. However, the present invention is not limited to the above-described embodiment. In Modification Example 1 of the first embodiment described below, a case where a driver who is aboard the dump truck 200 performs the driving operation instead of the dump truck 200 assisting the driving operation using the ADAS will be described.
In the present modification example as well, the generation unit 35 of the controller 30 of the asphalt finisher 100 generates the control command in the same manner as that in the above-described embodiment. Then, the communication control unit 36 transmits the generated control command to a terminal device (for example, a smartphone) possessed by the driver (example of a person) of the dump truck 200. The control command is not a control command for controlling the dump truck 200, but is a control command for the terminal device to output information. The terminal device serving as a transmission destination of the control command may be any device including a terminal that can be carried by a person such as the driver.
For example, when a portable terminal receives the control command for the steering angle, the portable terminal outputs information instructing the driver to turn a steering wheel to the right or to the left. In addition, when the portable terminal receives the control command for stopping, the portable terminal outputs information instructing the driver to step on the brake.
In this way, the portable terminal outputs information to the driver in accordance with the control command. The output information may be displayed as screen information on a display panel of the portable terminal. In addition, the output information may be output as sound information from a speaker of the portable terminal.

(Modification Example 2 of First Embodiment)

In the above-described embodiment, an example has been described in which a process of guiding the dump truck 200 to the designated position starts on a condition that the operator presses the button in the asphalt finisher 100. However, in the above-described embodiment, the condition for starting the guidance is not limited. Therefore, in Modification Example 2 of the first embodiment, an example will be described in which the guidance automatically starts when another condition is satisfied.
The controller 30 of the present modification example determines whether or not to start the guidance, based on the image information from the imaging device 62 and a control signal from a detection sensor (not illustrated). Specifically, the controller 30 determines whether or not the hopper 2 is open, based on the control signal. Then, when it is determined that the hopper 2 is open, the controller 30 determines whether or not the detection unit 33 detects the dump truck 200 in the image acquired from the imaging device 62.
Then, when the detection unit 33 determines that the dump truck 200 is detected in the image information acquired from the imaging device 62, the determination unit 34 determines whether or not the distance (detection distance) between the dump truck 200 and the asphalt finisher 100 falls within a predetermined distance. The predetermined distance may be a reference distance for starting the guidance control, and is set to 20 m, for example.
When the determination unit 34 determines that the detection distance falls within the predetermined distance, the communication control unit 36 transmits a control command for starting automatic control to the wireless communication device 240 corresponding to the detected dump truck 200. The process subsequent thereto is the same as that in the first embodiment.
In the present modification example, in addition to the advantageous effects of the above-described embodiment, the control automatically starts when another condition is satisfied. Therefore, an advantageous effect is achieved in that the burden on the driver of the dump truck 200 can be further reduced.

(Modification Example 3 of First Embodiment)

In the above-described embodiment, an example has been described in which the dump truck 200 is detected, based on the image data captured by the imaging device 62 of the asphalt finisher 100. However, the method for understanding the relative position relationship between the asphalt finisher 100 and the dump truck 200 is not limited to the method for detecting the dump truck 200 by the imaging device 62 of the asphalt finisher 100. Therefore, in Modification Example 3 of the first embodiment, a method using the image information captured by the second imaging device 262 provided in the dump truck 200 will be described.
In the present modification example, the wireless communication device 240 of the dump truck 200 transmits the image information captured by the second imaging device 262 to the wireless communication device 40 of the asphalt finisher 100.
The detection unit 33 of the asphalt finisher 100 detects the asphalt finisher 100 in the image input from the wireless communication device 40.
Then, the determination unit 34 determines whether or not the loading platform 201 of the dump truck 200 deviates in the rightward direction or in the leftward direction with reference to the position of the hopper 2 of the asphalt finisher 100, based on the position of the asphalt finisher 100 detected from the image information. The process subsequent thereto is the same as that in the first embodiment.
In the above-described embodiments and modification examples, a case where the control target of the asphalt finisher 100 is the dump truck 200 has been described. However, the control target is not limited to the dump truck 200. The control target may be other transport vehicles which can supply the paving material to the asphalt finisher 100.
In the above-described embodiment and modification example, since the asphalt finisher includes the above-described configuration, the loading platform of the transport vehicle can be positioned at the designated position. Therefore, a steering burden on the driver of the transport vehicle can be reduced.
Furthermore, the asphalt finisher stops the transport vehicle at a desired position with reference to the hopper of the asphalt finisher. Therefore, it is possible to prevent the transport vehicle and the asphalt finisher from coming into contact with each other while the transport vehicle moves rearward. In this manner, the asphalt finisher can reduce a load such as an impact on the asphalt finisher of the transport vehicle. Furthermore, since the asphalt finisher can prevent the impact during the construction. Therefore, it is possible to prevent quality degradation of the asphalt under construction.

(Second Embodiment)

In the first embodiment and the modification examples thereof, an example has been described in which steering, deceleration, and stop control of the dump truck 200 are performed based on the control command transmitted from the asphalt finisher 100. However, the control based on the control command is not limited to the steering, deceleration, and stop control based on the control command from the asphalt finisher 100. Therefore, in a second embodiment, an example will be described in which the dump truck 200 controls the dump truck 200 to move to the designated position, based on the image information captured by the second imaging device 262. That is, in the present embodiment, the following example will be described. In the system for assisting construction of the asphalt finisher including the asphalt finisher 100 and the dump truck 200, the controller 330 of the dump truck 200 generates a control command for moving the dump truck 200 to the designated position, based on the image information captured by the second imaging device 262.
Fig. 6 is a block diagram illustrating a configuration of the dump truck 200 of the second embodiment. As illustrated in Fig. 6, the dump truck 200 includes the first imaging device 261, the second imaging device 262, the input device 263, the controller 330, and the drive system controller 250. In addition, the dump truck 200 includes the loading platform 201 and the hoist cylinder 270 (refer to Fig. 5), as in the case of the first embodiment. In the second embodiment, the information relating to the designated position is stored in advance in a storage medium of the controller 330.
Each functional block included in the controller 330 illustrated in Fig. 6 is conceptual, and does not necessarily have to be physically configured as illustrated. All or a part of each functional block can be functionally or physically distributed or integrated in any unit. All or any part of each processing function performed in each functional block is realized by a program executed by the CPU. Alternatively, each functional block may be realized as hardware using a wired logic. In addition, as illustrated in Fig. 6, the controller 330 includes an acquisition unit 331, a detection unit 332, a determination unit 333, a generation unit 334, and an output control unit 335.
The acquisition unit 331 acquires the image information captured by the first imaging device 261. The acquisition unit 331 acquires the image information captured by the second imaging device 262. In addition, the acquisition unit 331 acquires the operation information relating to the operation input by the operator of the asphalt finisher 100 via the input device 263.
The detection unit 332 detects the asphalt finisher 100 existing behind the dump truck 200, based on the acquired image information.
The determination unit 333 determines various types of information, based on the image information from the first imaging device 261 and the second imaging device 262. For example, the determination unit 333 determines whether or not the loading platform 201 of the dump truck 200 can be positioned at the designated position after the asphalt finisher 100 is detected from the image information of the second imaging device 262.
The first imaging device 261 and the second imaging device 262 of the present embodiment are provided in the dump truck 200 so that each optical axis overlaps the center line in the traveling direction of the dump truck 200 in a top view. In this manner, in the same procedure as in the first embodiment, the determination unit 333 can determine whether or not the loading platform 201 of the dump truck 200 can be positioned at the designated position.
The generation unit 334 generates various control commands for controlling the dump truck 200. For example, the generation unit 334 generates the control command for controlling the dump truck 200, based on a determination result obtained by the determination unit 333. Specifically, the determination unit 333 determines whether or not the dump truck 200 deviates in the rightward-leftward direction, based on a position of the asphalt finisher 100 detected in the image captured by the second imaging device 262. Then, the generation unit 334 generates the control command for controlling the dump truck 200, based on the determination result obtained by the determination unit 333.
The controller 330 of the dump truck 200 of the present embodiment performs the control until the loading platform 201 of the dump truck 200 is positioned at the designated position, when the driver presses a predetermined button.
When the controller 330 described above starts the control until the loading platform 201 is positioned at the designated position, the determination unit 333 determines whether or not the hopper 2 of the asphalt finisher 100 is in an open state, based on the image information. Then, when the determination unit 333 determines that the hopper 2 is in the open state, the generation unit 334 generates a control command for positioning the loading platform 201 of the dump truck 200 at the designated position.
The output control unit 335 outputs various information (for example, the control command) to a configuration inside the dump truck 200. For example, the output control unit 335 performs drive control of the dump truck 200 by outputting the control command generated by the generation unit 334 to the drive system controller 250.
Fig. 7 is a view illustrating a process procedure performed by the dump truck 200 according to the present embodiment. In an example illustrated in Fig. 7, the asphalt finisher 100 has already started the construction. In addition, a driver is aboard the dump truck 200. The dump truck 200 may be driven by the driver, or may be automatically steered by the ADAS.
First, the controller 330 determines whether or not the button is pressed, based on the operation signal from the input device 263 operated by the driver of the dump truck 200 (S701). The button is a button for starting the control for guiding the dump truck 200 to the designated position. When it is determined that the button is not pressed (S701: No), the controller 330 waits until the button is pressed.
When the controller 330 determines that the button is pressed (S701: Yes), the acquisition unit 331 acquires the image from the second imaging device 262 which images the rear side of the dump truck 200 (S702).
The detection unit 332 detects whether or not the asphalt finisher 100 exists behind the dump truck 200, based on the acquired image (S703). When the detection unit 332 determines that the asphalt finisher 100 does not exist (S703: No), the output control unit 335 causes the display device of the dump truck 200 to display that the asphalt finisher 100 is not detected (S704), and completes the process.
On the other hand, when the detection unit 332 determines that the asphalt finisher 100 exists (S703: Yes), the determination unit 333 determines whether or not the hopper 2 of the asphalt finisher 100 is open, based on the acquired image information. (S705). When the determination unit 333 determines that the hopper 2 is not open (S705: No), the output control unit 335 causes the display device of the dump truck 200 to display that the hopper 2 of the asphalt finisher 100 is not open (need to open the hopper 2) (S706), and completes the process.
On the other hand, when the determination unit 333 determines that the hopper 2 of the asphalt finisher 100 is open (S705: Yes), the generation unit 334 generates the control command for moving the dump truck 200 rearward at the speed V1 (S707).
Then, the output control unit 335 starts the control for moving rearward by outputting the control command for moving rearward at the speed V1 to the drive system controller 250 (S708).
During the control for moving rearward, the acquisition unit 331 acquires the image information from the second imaging device 262 which images the rear side of the dump truck 200 (S709).
Based on the acquired image, the determination unit 333 determines whether or not the loading platform 201 of the dump truck 200 deviates in the rightward direction or in the leftward direction with reference to the designated position (S710).
When the determination unit 333 determines that the loading platform 201 of the dump truck 200 deviates in the rightward direction or in the leftward direction (S710: Yes), the generation unit 334 generates the control command for steering in the rightward direction or in the leftward direction to correct the deviation (S712).
On the other hand, when the determination unit 333 determines that the loading platform 201 of the dump truck 200 does not deviate in the rightward direction or in the leftward direction (S710: No), the generation unit 334 generates the control command for moving the dump truck 200 straight rearward (S711). That is, in S711, the generation unit 334 generates the steering control command for moving the dump truck 200 straight rearward by setting the steering angle to "0".
Then, the output control unit 335 performs the steering control by outputting the control command generated in S711 or S712 to the drive system controller 250 (S713).
Next, the determination unit 333 determines whether or not the distance (detection distance) between the asphalt finisher 100 and the dump truck 200 falls within the first distance, based on the image information (S714). When the determination unit 333 determines that the detection distance does not fall within the first distance (S714: No), the controller 330 performs the process in S709 again.
On the other hand, when the determination unit 333 determines that the detection distance falls within the first distance (S714: Yes), the generation unit 35 generates the control command for moving the dump truck 200 rearward at the speed V2 (speed V2 < speed V1) (S715).
Then, the output control unit 335 outputs the control command for moving rearward at the speed V2 to the drive system controller 250, and instructs the deceleration control to set the current speed to the speed V2 (S716). When the dump truck 200 already moves rearward at the speed V2, the output control unit 335 does not particularly perform the control.
Next, the determination unit 333 determines whether or not the detection distance falls within the second distance, based on the image information (S717). When the determination unit 333 determines that the detection distance does not fall within the second distance (S717: No), the controller 330 performs the process in S709 again.
On the other hand, when the determination unit 333 determines that the detection distance falls within the second distance (S717: Yes), the generation unit 334 generates the control command for stopping the rearward movement of the dump truck 200 (S718). Then, the output control unit 335 outputs the control command to the drive system controller 250 to instruct to stop the control for moving rearward (S719), and completes the control in the dump truck 200. Thereafter, the dump truck 200 is switched to a neutral state, and moves forward while being pushed from the asphalt finisher 100. In addition, the dump truck 200 may perform control for forward movement in accordance with a command from the asphalt finisher 100.
As in the above-described embodiments and modification examples, as long as a device is included in the system for assisting construction of the asphalt finisher, the control command for controlling the dump truck (transport vehicle) may be generated, based on a detection result obtained by the detection device. The system for assisting construction of the asphalt finisher is not limited to the asphalt finisher and the dump truck (transport vehicle), and may include an external information processing device. In the above-described embodiments and modification examples, according to the above-described configuration, the loading platform of the transport vehicle can be positioned at the designated position. Therefore, a steering burden on the driver of the transport vehicle can be reduced.
Furthermore, in the transport vehicle, the transport vehicle is stopped at the desired position with reference to the hopper of the asphalt finisher. Therefore, it is possible to prevent the transport vehicle and the asphalt finisher from coming into contact with each other while the transport vehicle moves rearward. In this manner, the transport vehicle can reduce a load such as an impact on the asphalt finisher. In addition, the transport vehicle can prevent the impact on the asphalt finisher during the construction. Therefore, it is possible to prevent quality degradation of the asphalt under construction.
Hitherto, the embodiments of the asphalt finisher, the dump truck (example of the transport vehicle), and the system for assisting construction of the asphalt finisher have been described. However, the present invention is not limited to the above-described embodiments. Various changes, modifications, substitutions, additions, deletions, and combinations can be made within the scope described in the appended claims. As a matter of course, all of these also belong to the technical scope of the present invention.
The present application claims priority based on Japanese Patent Application No. 2021-056022 filed on March 29, 2021 , and the entire contents of this Japanese patent application are incorporated herein by reference.

Reference Signs List

100: Asphalt finisher
30: Controller
31: Dump truck identification information storage unit
32: Acquisition unit
33: Detection unit
34: Determination unit
35: Generation unit
36: Communication control unit
40: Wireless communication device
60a: Input device
62: Imaging device
200: Dump truck
230: Controller
240: Wireless communication device
250: Drive system controller
261: First imaging device
262: Second imaging device
263: Input device
330: Controller
331: Acquisition unit
332: Detection unit
333: Determination unit
334: Generation unit
335: Output control unit

Claims

An asphalt finisher comprising:
a tractor;

a hopper installed on a front side of the tractor;

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

a screw that lays and spreads the paving material conveyed by the conveyor and scattered on a road surface in a vehicle width direction;

a screed device that lays and levels the paving material laid and spread by the screw on a rear side of the screw; and

a detection device that sets a periphery of the asphalt finisher as a detection range,

wherein a control command for controlling a transport vehicle detected by the detection device is generated.
The asphalt finisher according to claim 1, further comprising:
a communication device that transmits the control command to the transport vehicle or a terminal device of a person who is aboard the transport vehicle.
The asphalt finisher according to claim 1,
wherein the control command for steering the transport vehicle is generated, based on detection information detected by the detection device.
The asphalt finisher according to claim 1, further comprising:
a roller installed in front of the hopper and configured to come into contact with a rear wheel of the transport vehicle,

wherein the control command for stopping the transport vehicle based on a position relationship between the roller and the transport vehicle is generated from detection information detected by the detection device.
The asphalt finisher according to claim 4,
wherein when the hopper and a loading platform of the transport vehicle overlap each other in a vertical direction and the rear wheel of the transport vehicle is located in a vicinity of the roller, the control command for stopping the transport vehicle is generated.
The asphalt finisher according to claim 1,
wherein the hopper includes an openable and closeable mechanism, and

when the hopper is open, the control command is generated.
A transport vehicle comprising:
a loading platform;

a mechanism that tilts the loading platform rearward; and

a detection device that sets a periphery of the transport vehicle as a detection range,

wherein a control command for controlling the transport vehicle is generated, based on a position of an asphalt finisher detected by the detection device.
The transport vehicle according to claim 7,
wherein when a hopper included in the asphalt finisher detected by the detection device is an open state, the control command is generated.
A system for assisting construction of an asphalt finisher which is used for an asphalt finisher including a tractor, a hopper installed on a front side of the tractor, a conveyor that conveys a paving material inside the hopper to a rear side of the tractor, a screw that lays and spreads the paving material conveyed by the conveyor and scattered on a road surface in a vehicle width direction, a screed device that lays and levels the paving material laid and spread by the screw on a rear side of the screw, and a detection device that sets a periphery of the asphalt finisher as a detection range, the system comprising:
a control device configured to generate a control command for controlling a transport vehicle detected by the detection device.
The system for assisting construction of an asphalt finisher according to claim 9, further comprising:
a communication device that transmits the control command to the transport vehicle or a terminal device of a person who is aboard the transport vehicle.
The system for assisting construction of an asphalt finisher according to claim 9,
wherein the control device generates the control command for steering the transport vehicle, based on detection information detected by the detection device.
The system for assisting construction of an asphalt finisher according to claim 9, further comprising:
a roller installed in front of the hopper and configured to come into contact with a rear wheel of the transport vehicle,

wherein the control device generates the control command for stopping the transport vehicle based on a position relationship between the roller and the transport vehicle, from detection information detected by the detection device.