JP2020051155A - Compaction machine - Google Patents

Abstract

To provide a compaction machine for reducing abrasion of a scraper member that removes deposits attached to a rolling wheel.SOLUTION: A compaction machine comprises: a rolling wheel; a deposit detection device that detects a coordinate value indicating a position of a deposit adhering to the rolling wheel; a scraper device having a scraper member and an actuator, and which brings the scraper member into contact with the rolling wheel by the operation of the actuator to remove the deposit; and a control device for controlling the operation of the actuator. The control device calculates the amount of the deposit based on the coordinate value detected by the deposit detection device, and compares the calculated amount of the deposit with a predefined threshold. The control device controls the actuator so that the scraper member comes into contact with the roller wheel when the amount of the deposit is at least above the threshold, and releases control to separate the scraper member from the rolling wheel when the amount of the deposit is at least below the threshold while performing the control.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a technique for removing deposits attached to the surface of a rolling wheel of a compaction machine.

  When a road surface is finished or compacted by a compacting machine, a surface material such as a heated asphalt mixture or mud adheres to the surface of a rolling wheel such as an iron wheel or a tire of the compacting machine. Further, in order to scrape the scraper off, a compacting machine is equipped with a scraper device.

  Conventionally, the operation of a predetermined lever provided in a driver's seat or the operation of a predetermined lever provided in the vicinity of a mounting portion of a scraper device allows a scraper member to contact with or separate from a rolling wheel. Although these operations are performed under the control of field workers, compaction machines that automatically operate a scraper device have been proposed.

  For example, Patent Literature 1 discloses a technique that focuses on spraying or spraying a liquid agent during compaction work. In Patent Document 1, in a scraper operating device of a compacting machine in which a scraper can be switched to an operating state or a non-operating state by remote control from a driver's seat, at least a watering valve of a watering device is turned on, or A technique is disclosed in which a control device activates the scraper device when any signal of the spray valve ON is obtained.

JP-A-10-68103

  In order to reduce the wear of the scraper members, in soil where deposits are difficult to adhere to the compaction wheel, a method of keeping the scraper device in an isolated state without operating the scraper device is adopted. Is determined by field workers. For this reason, the structure described in Patent Document 1 in which the scraper device is always operated at the time of watering or spraying of a liquid agent which is always performed during compaction work, even when compacting soil that is difficult to adhere to the surface of the rolling wheel, The device operates, leading to increased wear of the scraper member. Further, in the future, when the number of field workers decreases due to the automation of construction machines, it is required to have a function of determining whether or not the scraper device can be used by the device side and operating the scraper device at an appropriate timing.

  The present invention has been made in view of such circumstances of the prior art, and an object of the present invention is to reduce the wear of a scraper member in a compaction machine that removes deposits by bringing the scraper member into contact with a rolling wheel. It is to provide the technology which can do.

  In order to achieve the above object, a compaction machine according to the present invention includes a compaction wheel, a deposit detection device that detects a coordinate value indicating a position of a deposit attached to the compaction wheel, and a scraper member. A scraper device having an actuator and an actuator, the scraper member being brought into contact with the rolling wheel by the operation of the actuator to remove the deposits, and a control device controlling the operation of the actuator. A machine, wherein the control device calculates the amount of the attached matter based on the coordinate value detected by the attached matter detection device, and compares the calculated amount of the attached matter with a predefined threshold. Then, when the amount of the deposit exceeds at least the threshold value, the actuator is controlled so that the scraper member is brought into contact with the rolling wheel, and the control is performed while the control is being performed. If the amount of the object is below at least the threshold, to release the control to separate the said scraper member from the rolling 圧輪, characterized in that.

It is possible to reduce the abrasion of the scraper member by determining whether or not the scraper member needs to be contacted in accordance with the amount of deposits attached to the rolling wheel, and performing control in accordance with the determination result.
Problems, configurations, and effects other than those described above will be apparent from the following description of the embodiments.

It is a schematic diagram of a compaction machine. It is a perspective view showing the outline of the mechanical composition of the scraper device of a 1st embodiment. FIG. 3 is a control block diagram of the first embodiment. It is a side view of the scraper device of 1st Embodiment. It is a side view showing other examples of a form of a scraper device of a 1st embodiment. It is a flowchart which shows the operation | movement procedure of 1st Embodiment. It is a control block diagram showing an example of implementation which considered a speed difference between an inner wheel and an outer wheel of a 2nd embodiment. It is a top view when the compaction machine (dashed line) of 2nd Embodiment is visually recognized from above. FIG. 11 is a control block diagram illustrating another example of mounting in which a speed difference between an inner wheel and an outer wheel according to the second embodiment is considered. It is a perspective view showing the outline of the mechanical composition of the scraper device in a 3rd embodiment. It is a figure for explaining a mode of a 3rd embodiment and showing a mode in which an adhesion thing has adhered to a compaction wheel. It is a control block diagram of a 3rd embodiment. It is a flowchart which shows the operation | movement procedure of 3rd Embodiment. FIG. 2 is a diagram illustrating an example of a hardware configuration of a control device according to an embodiment.

  In the following embodiments, when necessary for convenience, the description is divided into a plurality of sections or embodiments. In the following embodiments, when referring to the number of elements (including numbers, numerical values, amounts, ranges, etc.), unless otherwise specified, and in principle the number is clearly limited to a specific number, The number is not limited to a specific number, and may be more than or less than a specific number. In the following embodiments, the constituent elements (including the processing steps and the like) are not necessarily essential unless otherwise specified and when it is deemed essential in principle.

  Hereinafter, embodiments will be described with reference to the drawings and the like. The following description shows specific examples of the content of the present invention, and the present invention is not limited to these descriptions, and various modifications by those skilled in the art within the technical idea disclosed in the embodiments. And modifications are possible. In all the drawings for describing the embodiments, components having the same function are denoted by the same reference numerals, and repeated description thereof may be omitted.

[First Embodiment]
FIG. 1 is a side view schematically showing a compacting machine, and FIG. 2 is a perspective view showing a mechanical configuration of a scraper device. The compaction machine 21 includes an iron wheel, a tire, and the like, and has the compaction wheel 1 for compacting a surface material. The compacting machine 21 has a frame 2 that supports the compaction wheel 1, and a vehicle body 18 that includes a steering handle 3, a driver's seat 17, and a control device 22. In addition, the front wheel 19 of the rolling wheel 1 turns left and right with respect to the vehicle body 18 in accordance with the operation of the steering handle 3 by the operator, thereby steering the compaction machine 21.

  The compaction machine 21 performs compaction by applying vibration or weight to the ground. At the time of compaction, if the rolling is continued while deposits such as heated asphalt and mud are adhered to the surface of the rolling wheel 1, the quality of pavement and rolling is adversely affected. Therefore, the compacting machine 21 is provided with a scraper device 12 shown in FIG. 2, and the scraper member 4 comes into contact with the surface of the rolling wheel 1 and slides to remove the attached matter. FIG. 2 shows the scraper device 12 for the rear wheel 20, but the scraper device 12 for the front wheel 19 is also provided with the same configuration (see FIG. 1).

  The scraper device 12 has a scraper member 4 composed of a blade member or a brush member having a lower edge having a curved surface shape corresponding to the surface shape of the rolling wheel 1. The scraper member 4 is connected to the frame 2 via a base connector 5, a scraper connector 6, a bar 7, and the like supported by the frame 2 of the compacting machine 21. The lower edge of the scraper member 4 comes into contact with the surface of the rolling wheel 1, and the rolling wheel 1 rotates, for example, in the direction of an arrow 23, and with this rotation, the scraper member 4 slides on the surface of the rolling wheel 1. Thus, the scraper device 12 removes the deposit attached to the surface of the rolling wheel 1. The scraper device 12 for the front wheel 19 has the same configuration, and can remove the deposits attached to the surface of the rolling wheel 1 (the front wheel 19).

  FIG. 3 is a diagram illustrating an example of a control block in the first embodiment for controlling the operation of the scraper device 12. As shown in FIG. 3, the compaction machine 21 of the first embodiment detects the attached matter detection device 10 that detects the attached matter on the surface of the rolling wheel 1 and the rotational speeds of the front wheel 19 and the rear wheel 20. A rotation speed sensor 11. These are connected to the control device 22 and output various signals and data to the control device 22.

  The control device 22 is a controller that controls the scraper member 4 to contact the rolling wheel 1 or controls the scraper member 4 to be separated from the rolling wheel 1. The control device 22 includes, for example, an arithmetic processing device, a storage device, and the like in a hardware configuration (details will be described later with reference to FIG. 14), performs calculations using various kinds of input signals and data, and controls the actuator 9 for control. Output an electric signal (current). The actuator 9 is provided in the scraper device 12, converts the input electric signal into a mechanical operation to operate the scraper member 4, and brings the scraper member 4 into contact with the rolling wheel 1 or in a separated state. Or

  The attached matter detection device 10 will be described with reference to FIG. The attached matter detection device 10 is, for example, a sensor such as a 3D-LiDAR, reads a surface profile within the attached matter detection range 8, and detects a coordinate value indicating the position of the attached matter 13 attached to the rolling wheel 1. . The shape of the attached matter 13 is specified by a set of coordinate values obtained by the attached matter detection device 10, and a size, a volume, and the like are calculated based on the obtained coordinate values. The required minimum angle of view 29 of the attached matter detection device 10 is provided so as to include two tangents 28 from the position of the attached matter detection device 10 to the surface of the rolling wheel 1. The required minimum angle of view 29 is provided so that at least the height H (thickness of the attached matter 13) of the attached matter 13 can be detected at the contact points P1 and P2 on the tangent line 28. In addition to these, the required minimum angle of view 29 is provided so that the height H of the attached matter 13 can be detected even when the rolling wheel 1 slightly swings.

  Further, the attached matter detection device 10 is positioned so as not to be blocked by the scraper member 4 when the attached matter 13 is detected, that is, so that there is no obstruction between the attached matter detection device 10 and the contacts P1 and P2. It is assumed that

  With such an arrangement, when the compaction machine 21 moves forward by rotating the rolling wheel 1 in the direction of the arrow 23, when the front end 13a of the deposit 13 reaches the contact point P1, the deposit detection device 10 Can detect the presence of the deposit 13 and detect the width W and height H of the deposit 13 at the contact point P1. On the other hand, even when the compaction machine 21 moves backward due to the reverse rotation of the rolling wheel 1, when the rear end portion 13b of the deposit 13 reaches the contact point P2, the deposit detection device 10 In addition to detecting the presence, the width W and the height H of the attached matter 13 at the contact point P2 can be detected.

  If the height H of the deposit 13 on both tangents of the rolling wheel 1 cannot be detected using a single deposit detection device 10 due to the arrangement configuration, as shown in FIG. A plurality of devices 10 may be installed. FIG. 5 is provided with two detection devices, an attached matter detection device 10a for detecting the attached matter 13 on the rear side of the rolling wheel 1 and an attached matter detecting device 10b for detecting the attached matter 13 on the front side of the rolling wheel 1. FIG. Also in this configuration, when the attachment 13 reaches the tangent 28 on the front end 40a side of the scraper member 4 and the tangent 28 on the rear end 40b side, the presence of the attachment 13 is detected, and the width W and Dimensions such as height H can also be detected.

  4 and 5 show the attached matter detection device 10 on the rear wheel 20, but the attached matter detection device 10 is similarly arranged on the front wheel 19 side.

  Returning to FIG. 3, the control operation of the first embodiment will be described. First, a rotation speed sensor 11 that detects the rotation speed of the rolling wheel 1 outputs a rotation pulse signal of each of the front wheel 19 and the rear wheel 20 and time information Tω to the control device 22. The rotation speed calculator 25 in the control device 22 calculates the wheel rotation speed ω of the rolling wheel 1 according to the signal from the rotation speed sensor 11. The wheel rotation speed ω is output to the attached matter information calculation unit 26 and the actuator control unit 27. The operations of the rotation speed sensor 11 and the rotation speed calculation unit 25 are constantly repeated every prescribed cycle.

  On the other hand, the attached matter detection device 10 performs a wide-angle scan on the surface profile on the tangent line 28 of the rolling wheel 1 to acquire coordinate data and time information. The attached matter information calculation unit 26 in the control device 22 inputs various information obtained by the attached matter detection device 10 and determines whether the attached matter 13 is attached. This operation is always repeated in conjunction with the reading operation of the attached matter detection device 10. When there is no attached matter 13, the attached matter detection device 10 detects only the coordinate value indicating the surface shape of the rolling wheel 1, but when there is the attached matter 13, the vicinity of the contact point P1 or the contact point P2 is detected. An object having a shape different from the surface shape of the rolling wheel 1 is detected. In this embodiment, when a shape different from the surface shape of the rolling wheel 1 is detected in this way, it is treated that the deposit 13 is attached.

  The subsequent operation will be described with reference to the flowchart of FIG. When the attached matter 13 is detected (S101: Yes), the attached matter information calculation unit 26 calculates the length L, width W, and height H of the attached matter 13 by calculation, and calculates the volume V of the attached matter 13. On the other hand, if the attached matter 13 is not detected (S101: none), the process proceeds to S111, and the actuator control unit 27 issues a release signal for releasing the contact state of the scraper member 4 to the actuator 9 to make it a separated state. It outputs (S111).

  The length L of the attached matter 13 is indicated by an arc L connecting the front end 13a and the rear end 13b of the attached matter 13 (see FIG. 4). The L calculator 30 of the attached matter information calculator 26 acquires from the attached matter detector 10 the time TLa at which the front end 13a of the attached matter 13 is detected and the time TLb at which the rear end 13b of the attached matter 13 is detected. Alternatively, it is obtained from the built-in clock of the control device 22. The L calculation unit 30 measures the times TLa and TLb based on the difference between the coordinate data currently being processed and the coordinate data one cycle before. That is, the L calculation unit 30 measures the time when the state where the attached matter 13 is present from the state where the attached matter 13 is not present at the contact point P1 or the contact P2 as the time TLa. The time when there is no state is counted as time TLb.

  Then, the L calculation unit 30 calculates a difference time TL1 between the time TLa and the time TLb. When the wheel rotation speed is ω, the arc L is represented by L = 2TL1πrω (where r is the radius of the rolling wheel 1), and the L calculation unit 30 calculates the arc L using this equation. . Although the wheel rotation speed ω is obtained from the rotation speed calculator 25, a value from another speed sensor may be used.

  In addition, the L calculation unit 30 additionally calculates a travel time Tx from when the front end 13a of the attached matter 13 is detected to when the front end 13a reaches the rear end 40b of the scraper member 4, by the wheel rotation speed ω. Calculated based on In the example of FIG. 4, since the attached matter detection device 10 detects the front end 13a of the attached matter 13 at the contact point P1, the distance (prescribed value) from the contact point P1 to the rear end part 40b of the scraper member 4 is X. Then, the L calculation unit 30 calculates the arrival time Tx using Tx = X / 2πrω. On the other hand, when the compaction machine 21 is moving backward, the L calculation unit 30 determines the arrival time Ty from the detection of the rear end 13 b of the deposit 13 to the arrival at the front end 40 a of the scraper member 4. Ask. The method for obtaining the time Ty is the same as the method for obtaining the time Tx. That is, assuming that the distance (prescribed value) from the contact point P2 to the front end portion 40a of the scraper member 4 is Y, the L calculator 30 calculates the time Ty using Ty = Y / 2πrω.

  The length of the attached matter 13 is calculated as described above. The width W and the height H of the attached matter 13 can be obtained using the coordinate values input from the attached matter detection device 10. Here, the width W of the deposit 13 is the length of the deposit 13 in the rotation axis direction of the rolling wheel 1, and the height H is the thickness of the deposit as described above. The H / W calculation unit 31 can calculate the width W and the height H from difference data between a coordinate value obtained from the attached matter detection device 10 and a coordinate value when there is no attached matter. In the present embodiment, it is assumed that a coordinate value when there is no attached matter is acquired in advance, and this is stored in the storage device. Further, the attached matter detection device 10 obtains the cross-sectional shape of the attached matter 13 detected at the positions of the contact points P1 and P2 as needed. The cross-sectional shape is constantly changing, and the dimensions of the obtained width W and height H are different from time to time. For this reason, in the present embodiment, the longest width and height among the widths and heights obtained up to now, after detecting the endmost portion of the attached matter 13, are referred to as the width W of the attached matter 13, It shall be adopted as height H, respectively.

  The V operation unit 32 acquires the length L, width W, and height H of the attached matter 13 from the L operation unit 30 and the H / W operation unit 31, and calculates the volume V of the attached matter 13. Then, the V calculation unit 32 outputs the calculated volume V to the actuator control unit 27.

  The actuator control unit 27 acquires the volume V from the V calculation unit 32, and determines whether to operate the scraper device 12 based on the volume V (S103).

  In the present embodiment, compaction is performed in a state where the deposits are adhered on a test basis, and a flatness test is performed in advance to determine how much the difference in height of the construction surface occurs when the volume of the deposits is large. deep. Then, from the result obtained by this flatness test, a volume in which the height difference exceeds a specified value (hereinafter referred to as threshold Vth) is derived, and the threshold Vth is stored in a storage device in advance. In addition, since the allowable value of the flatness (difference in height) of the construction surface determined by the Japan Road Association is 2.4 mm in the case of a heated asphalt compound, this 2.4 mm is defined as the specified value of the height difference. , The threshold value Vth.

  If the volume V acquired from the attached matter information calculation unit 26 exceeds the threshold value Vth (S103: operation is necessary), the operation presence / absence determination unit 34 advances the process to S104. On the other hand, if the volume V obtained from the attached matter information calculation unit 26 is equal to or smaller than the threshold value Vth (S103: equal to or smaller than the specified value), the process proceeds to S111, and the actuator control unit 27 separates the scraper member 4 from the roller wheel 1. Release the control as follows.

  On the other hand, when the actuator is operated, the actuator control unit 27 calculates the operation timing (S104). This calculation process is performed by the operation timing calculation unit 33. The operation timing calculator 33 acquires the difference time TL1 and the arrival time Tx of the attached matter 13 (Ty when the vehicle is moving backward) from the L calculator 30.

  The operation timing calculator 33 calculates the operation timing Tsx using the arrival time Tx when the compaction machine 21 is moving forward, and calculates the operation timing Tsy using the arrival time Ty when the compaction machine 21 is moving backward. The operation timing Tsx of the scraper device 12 when the compaction machine 21 is moving forward must be shorter than the time Tx until the front end 13a of the deposit 13 reaches the rear end 40b of the scraper member 4. . Therefore, the operation timing calculation unit 33 calculates the operation timing Tsx using a method of subtracting the time Tx by a specified value, for example. Further, the operation timing Tsy of the scraper device 12 when the compaction machine 21 is moving backward is not shorter than the time Ty until the rear end portion 13b of the deposit 13 reaches the front end portion 40a of the scraper member 4. Not be. Therefore, the operation timing calculation unit 33 calculates the operation timing Tsy by using, for example, a method of subtracting the time Ty by a specified value. Note that, here, the subtraction is performed using a specified value. However, the operation timing calculation unit 33 obtains a value to be subtracted using the wheel rotation speed ω obtained from the rotation speed calculation unit 25, and the times Tx and Ty are calculated using the values. The operation timing Tsx or Tsy may be calculated by subtraction. The operation timing calculation unit 33 outputs the calculated operation timing Tsx or Tsy to the current output determination unit 35.

  On the other hand, when the volume V exceeds the threshold value Vth, the operation presence / absence determination unit 34 determines whether the scraper device 12 has been already controlled and is in a contact state (S105). Here, if the contact state is already established (S105: control is performed), the operation presence / absence determination unit 34 instructs the current output determination unit 35 to continue the operation control (S107). The current output determining unit 35 maintains the output of the current (control signal) according to the command. On the other hand, when it is not in the contact state (S105: no control), the operation presence / absence determination unit 34 instructs the current output determination unit 35 to start the operation control of the scraper device 12 (S106).

  The current output determining unit 35 receiving the command from the operation presence / absence determining unit 34 outputs a control signal to the actuator 9 according to the content of the command. Thus, the current output determination unit 35 controls the scraper member 4 so as to contact or separate from the rolling wheel 1.

  When outputting the control signal, the current output determination unit 35 of the actuator control unit 27 controls the operation timing of the scraper device 12 so that the actuator 9 operates at the operation timing Tsx or Tsy. Thus, the scraper member 4 comes into contact with the rolling wheel 1 at the operation timing. When the rolling wheel 1 rotates while the contact is maintained, the scraper member 4 removes the deposit 13 attached to the rolling wheel 1. After the time TL1 has elapsed since the operation of the scraper device 12, the current output determination unit 35 stops the signal output and stops the operation control of the scraper device 12. Thereby, the scraper member 4 is separated from the rolling wheel 1 as in the operation of S111.

  In the first embodiment, the volume V is calculated, and it is determined whether or not to perform the operation control based on the calculated volume. However, in evaluating the flatness (difference in height) of the construction surface, the adherence of the deposit 13 is evaluated. The effect of height on length, width and height is greater. For this reason, the operation presence / absence determination unit 34 may input the height H instead of the volume V, and compare the height H with a threshold value (for example, the flatness allowable value 2.4 mm). Note that this aspect will be described again in the second embodiment.

  In the first embodiment, the mounting example in which whether the scraper member is brought into contact with the rolling wheel or not in contact with the roller according to the amount of the adhered substance has been described. Further, in the first embodiment, the volume or height of the attached matter is adopted as a value indicating the amount of the attached matter, and this value is compared with a threshold to determine whether contact is necessary. On the other hand, the length or width of the attached matter may be adopted as the value indicating the amount of the attached matter, and a data set combining any of volume, length, width, and height is used to indicate the amount of the attached matter. It may be adopted as a value. Alternatively, when the weight of the attached matter can be obtained directly or indirectly (for example, using a volume or specific gravity), this weight may be adopted as a value indicating the amount of the attached matter.

[Second embodiment]
The first embodiment is effective when the compaction machine 21 moves straight. However, for example, the rear wheel 20 (or the front wheel 19) may have a configuration in which a plurality of wheels are arranged side by side in the left-right direction orthogonal to the traveling direction of the compaction machine 21. At this time, there is a difference in rotation speed between the inner ring and the outer ring. In the second embodiment, an implementation example in which the speed difference between the inner wheel and the outer wheel is considered will be described.

  In the case of the work by the compaction machine, when switching the compaction area (lane), the front wheel 19 of the compaction machine 21 turns to perform a lane change. In this case, in the rear wheel 20 including a plurality of wheels, a difference occurs in the wheel rotation speed between the inner wheel and the outer wheel as described above. For this reason, the compaction machine 21 of the second embodiment mounts a rotation speed sensor for each wheel constituting the rear wheel 20. FIG. 7 is a block diagram showing this configuration example. The rotation speed sensors 11a, 11b, 11c, and 11d (the rotation speed sensors 11b and 11c are omitted in FIG. 7) each measure the rotation speed of each wheel. The rotation speed calculation unit 25 receives the detection values from the rotation speed sensors 11a to 11d, calculates the rotation speeds ω1 to ω4 for each wheel, and outputs the calculated rotation speeds to the rotation speed determination unit 36. The rotation speed determination unit 36 determines the rotation speed of the fastest rotation from among the rotation speeds ω1 to ω4 as ωf and the rotation speed of the slowest rotation as ωs, and determines the actuator control unit 27 and the L calculation unit. Output to 30.

  When the scraper device 12 is brought into the contact state, the actuator control unit 27 selects the rotation speed ωf that is rotating at the highest speed, and uses the rotation speed ωf in the calculation so that the timing for starting the removal of the deposit 13 is not delayed. Operation control. Further, when the scraper device 12 is set in the separated state, the actuator control unit 27 selects the rotation speed ωs that is rotating at the slowest speed, and uses the rotation speed ωs for the calculation, so that the timing of ending the removal of the attached matter 13 is advanced. Operation control can be performed to prevent such a situation.

  The L calculation unit 30 calculates the length L of the attached matter 13 by using the rotation speed ωs rotating at the slowest speed in the calculation. As a result, the length L of the attached matter 13 tends to be calculated longer, and the volume V is also largely estimated. Therefore, in the case of a configuration in which the presence or absence of operation is determined by comparing the volume V and the threshold value Vth as described in the first embodiment, the volume V exceeds the threshold value Vth and the scraper device 12 tends to be in a contact state. Therefore, it is possible to reduce the leakage of the attached matter 13 being removed.

  An example in which it is difficult to arrange a rotation speed sensor for each wheel will be described with reference to FIGS. FIG. 8 is a schematic diagram when the compaction machine 21 (shown by a broken line) is visually recognized from above, and is a diagram for explaining that the speed of each wheel at the time of turning is obtained based on the steering angle. FIG. 9 is a block diagram illustrating a configuration for performing the operation. Here, a compaction machine 21 including three front wheels 19 and four rear wheels 20 is illustrated.

  The rotation speed calculator 25 shown in FIG. 9 calculates the rotation speed of each wheel based on the steering angle φ obtained from the steering angle detector 38. First, the front wheel turning radius rf (see FIG. 8) can be obtained by rf = Lv / sinφ. Here, Lv is the distance between the rotation axis of the front wheel 19 and the rotation axis of the rear wheel 20, and φ is the steering angle. When the speed of the wheel 19b located at the center of the front wheel 19 is V0, the angular velocity ωv is represented by ωv = V0 / rf.

  The rotation speed calculator 25 calculates the speeds V1 to V6 of the front wheels 19a, 19c and the rear wheels 20a, 20b, 20c, 20d using the front wheel turning radius rf and the angular speed ωv. V1 = ωv (rf−df), V2 = ωv (rf + df), V3 = ωv (rr−1.5dr), V4 = ωv (rr−0.5dr), V5 = ωv (rr + 0), respectively. .5dr) and V6 = ωv (rr + 1.5dr). Here, df is the width of each of the wheels 19a to 19c, rr is the turning radius of the rear wheel, and dr is the width of each of the wheels 20a to 20d. Here, the slip of the wheels is not considered.

  The rotation speed calculation unit 25 calculates the rotation speeds ω0 to ω6 using the speeds V0 to V6 obtained as described above. Then, the rotation speed calculation unit 25 determines the rotation speed of the fastest rotation as ωf and the rotation speed of the slowest rotation as ωs, similarly to the processing of the rotation speed determination unit 36 shown in FIG. 27 and the attached matter information calculation unit 26. The operations of the actuator control section 27 and the attached matter information calculation section 26 are as described with reference to FIG.

  The actuator control unit 27 of the second embodiment has a pressing force calculation unit 37 as shown in FIGS. The pressing force calculator 37 calculates a force (pressing force F) for pressing the scraper member 4 against the rolling wheel 1. The pressing force F is increased or decreased in accordance with the volume V of the adhered substance 13 with the force of pressing the conventional scraper device against the rolling wheel as a reference value.

  Here, when the volume V obtained from the attached matter information calculation unit 26 is equal to or more than the first threshold, the pressing force calculation unit 37 sets the pressing force F so as to be the above-mentioned reference value, and when it is smaller than the first threshold. , A specified value is subtracted from the reference value, and this value is set as the pressing force F. By this mounting, the pressing force tends to decrease as compared with the conventional pressing force, so that the consumption of the scraper member 4 can be further reduced. Alternatively, when the volume V is equal to or greater than a first threshold value defined in advance, the pressing force calculation unit 37 may add a prescribed value to the reference value and set this as the pressing force F, When V is smaller than the first threshold, the pressing force F may be set so as to be the above-described reference value. By this mounting, the pressing force tends to increase as compared with the conventional pressing force, so that the removal rate of the deposit 13 in one operation is improved. In this example, since one threshold value (first threshold value) is used for the setting, the pressing force F is set in two steps. By defining the pressing force F, the pressing force F can be set in multiple stages.

  In addition, a table in which the volume and the pressing force to be applied are stored in a storage device in advance, and the pressing force calculating unit 37 stores the table in the volume V obtained from the V calculating unit 32. The table may be searched based on the table to obtain the pressing force F. Alternatively, a formula capable of obtaining the pressing force F from the volume V is provided in advance, and the pressing force calculating unit 37 may calculate the pressing force F using this formula.

  Note that the first threshold value, each value in the correspondence table, and the formula for calculating the pressing force can be obtained by performing a test on how much pressure can be applied to remove the deposit 13 in advance according to the volume V.

  The pressing force calculation unit 37 outputs the derived value of the pressing force F to the current output determination unit 35 in the actuator control unit 27.

  The current output determination unit 35 in the actuator control unit 27 acquires the pressing force F from the pressing force calculation unit 37, converts it into a current value (control signal) corresponding to this, and outputs it to the actuator 9. The scraper device 12 obtains power from the actuator 9 and controls the contact / separation operation. In the case of the contact operation, the scraper device 4 applies the pressing force F corresponding to the volume V of the adhered substance 13 to the rolling wheel 1. Press

  In the above example, it is assumed that the scraper member 4 is pressed against the rolling wheel 1 with a pressing force F corresponding to the volume V of the attached matter 13, but the pressing force calculation unit 37 determines the length, width, and height of the attached matter. Alternatively, the pressing force F may be determined according to the weight, and the scraper member 4 may be pressed by the pressing force F.

  In the second embodiment, as shown in FIGS. 7 and 9, the H / W calculation unit 31 outputs the height H of the deposit 13 to the actuator control unit 27. Then, the operation presence / absence determination unit 34 performs a comparison process between the height H and the threshold value Hth (for example, the above-described allowable value of flatness of 2.4 mm). When the height H exceeds the threshold value Hth, the pressing force calculation unit 37 performs the process of deriving the pressing force F. When the height H is equal to or less than the threshold value Hth, the actuator control unit 27 controls the scraper member 4 so as to be separated from the rolling wheel 1.

[Third embodiment]
An aspect of the third embodiment will be described with reference to FIGS. In the first embodiment and the second embodiment, the attachment 13 attached to the rolling wheel 1 is removed by controlling the scraper member that operates integrally. However, in the third embodiment, a plurality of scrapers are removed. An embodiment in which the scraper members are individually controlled to remove the deposit 13 will be described.

  FIG. 10 is a perspective view illustrating a mechanical configuration of the scraper device according to the third embodiment. As shown in FIG. 10, the rolling wheel 1 according to the third embodiment includes wheels 1a, 1b, 1c, and 1d arranged side by side in the left-right direction. Actuators 9a, 9b, 9c, 9d are provided for each of the wheels 1a to 1d. The scraper members 4a, 4b, 4c, and 4d are arranged side by side in the direction of the rotation axis of the rolling wheel 1, and the actuators 9a to 9d individually control the contact / separation of the corresponding scraper members 4a to 4d. By doing so, finer control becomes possible.

  When the attached matter 13 is attached to one of the wheels 1a to 1d in a concentrated manner, the operation can be performed without abrading the other scraper members 4. For example, when the deposit 13 adheres to the rolling wheel 1 as shown in FIG. 11, if the integrated scraper member 4 copes with the problem, the scraper member 4 that slides on the non-adhering area 15 is in contact with the non-adhering area 15 without operation. And wear. Therefore, the compaction machine 21 of the third embodiment is provided with a plurality of divided scraper members 4a to 4d, and each of the scraper members 4a to 4d comes in contact with a partial area of the rolling wheel 1 to thereby increase the Deposits attached to some areas are removed. Partial areas respectively assigned to the scraper members 4a to 4d are referred to as removal areas a to d.

  The control device 22 of the third embodiment calculates the position and amount of the deposit 13 for each of the removal areas a to d, and individually calculates and controls the operation timing of each of the actuators 9a to 9d. With this configuration, the life of the scraper member that does not need to operate can be extended.

  FIG. 11 shows an example in which the scraper members 4 b and 4 c including the attachment area 14 in the removal area are controlled to be brought into contact with the rolling wheel 1. That is, since the deposit 13 is attached to the removal area b where the scraper member 4b is responsible for removal, and the removal area c where the scraper member 4c is responsible for removal, the control device 22 causes the scraper members 4b and 4c to Is controlled so as to make contact. Conversely, since there is no deposit in the removal area a and the removal area d, the control device 22 controls the scraper members 4a and 4d to be separated from the rolling wheel 1. Thereby, at least the wear of the scraper members 4a, 4d can be reduced, and the life can be extended. By such mounting, the replacement frequency of the scraper member 4 can be reduced as a whole, and the cost due to component replacement can be reduced.

  FIG. 12 is a diagram illustrating a configuration of a functional block according to the third embodiment. The coordinate extraction unit 121 in the control device 22 extracts the coordinate data obtained from the attached matter detection device 10 by dividing the coordinate data into removal areas a to d. Then, the coordinate extraction unit 121 outputs the extracted coordinate data to the attached matter information calculation unit 26.

  In the attached matter information calculation unit 26, a dedicated L calculation unit 30, a H / W calculation unit 31, and a V calculation unit 32 are provided for each of the scraper members 4a to 4d (for each of the actuators 9a to 9d). In the actuator control unit 27, a dedicated operation timing calculation unit 33, a current output determination unit 35, a pressing force calculation unit 37, and an operation presence / absence determination unit 34 are provided for each of the actuators 9a to 9d. With this configuration, the control device 22 can individually control the actuators 9a to 9d.

  When the rolling wheel 1 is composed of the wheels 1a, 1b, 1c, and 1d, the rotation speed calculation unit 25 applies the mode described in the second embodiment, and the rotation speed calculation unit 25 performs the operations of the wheels 1a, 1b, and 1c. 1d can be calculated respectively. Then, the rotation speed calculation unit 25 outputs the wheel rotation speed ω of the wheels 1a to 1d to the attached matter information calculation unit 26 and the actuator control unit 27, respectively.

  With the above configuration, in the third embodiment, after the coordinate data of the attached matter detected by the attached matter detection device 10 is cut out by the coordinate cutout unit 121, the operation described in the first and second embodiments is performed. This can be performed for each of the actuators 9a to 9d. Thereby, the scraper device 12 can remove the deposits for each of the removal areas a to d.

  FIG. 13 is a flowchart illustrating an operation example according to the third embodiment. In the third embodiment, as in FIG. 6 of the first embodiment, a process of determining the presence or absence of an adhered substance is performed (S201). In the third embodiment, this processing is performed by the coordinate extraction unit 121. If there is no attached matter (S201: none), the process of releasing the control of the scraper member is performed and the separating operation is performed as in the first embodiment (S211). On the other hand, when there is an attached matter (S201: present), the coordinate extracting unit 121 extracts the coordinate data for the number of scraper members (that is, for each of the removal areas a to d) (S202). Subsequent operations are individually performed in units of the scraper members 4a to 4d (in the example of FIG. 13, they are described as "A" to "D"). The operations in S203 to S207 are the same as those in S103 to S107 in the first embodiment.

  In the third embodiment, after S206 or S207, the attached matter information calculation unit 26 acquires the coordinate data extracted by the coordinate extraction unit 121, and determines whether there is an attached matter in its own removal area. A determination is made (S208). If there is no attached matter (S208: none), the process proceeds to S211. When there is an attached matter (S208: Yes), the operation presence / absence determination unit 34 determines whether the amount (volume) required for operation is compared by using a threshold (S209). If the operation is not required (S209: the specified value or less), the process proceeds to S211. If the operation is required (S209: operation is required), the process returns to S204. These operations in S208 and S209 assume a case where it is not possible to remove the attached matter in the region at one time. That is, the control device 22 checks again during the control of the scraper device 12, and determines whether or not to continue the operation for each removal area according to the remaining amount. If the deposit 13 remains, the contact is continued in the removal area, and if the removal of the deposit 13 is completed, the contact control in the removal area is released.

  In the third embodiment, an example in which the area is divided into four removal areas has been described, but the number of divisions of this area is not limited to this. Also, here, an example in which a plurality of wheels are arranged in the left-right direction is shown, but the aspect of the third embodiment can be applied to an integrated wheel. Further, in the third embodiment, an example is shown in which the wheels and the removal areas are made to coincide with each other at a ratio of 1: 1. However, the aspect is not limited to this, and does not necessarily have to coincide.

  Lastly, a hardware configuration example of the control device 22 described in each of the above embodiments will be described with reference to FIG. The control device 22 has the same hardware configuration as a conventional computer as illustrated in FIG.

  The CPU 101 (CPU: Central Processing Unit) is a processing device that expands a program stored in a ROM 103 (Read Only Memory) or a storage 104 into a RAM 102 (Random Access Memory) and executes an arithmetic operation. The CPU 101 comprehensively controls each hardware inside the control device 22 by executing and executing a program. The RAM 102 is a volatile memory, and is a work memory that directly inputs and outputs data to and from the CPU 101. The RAM 102 temporarily stores necessary data while the CPU 101 is executing a program.

  The ROM 103 is a non-volatile memory and stores firmware executed by the CPU 101. The storage 104 is an auxiliary storage device such as a flash memory, an SSD (Solid State Drive), and a hard disk drive. The storage 104 non-volatilely stores programs executed by the CPU 101 and control data such as parameters.

  The connection I / F 105 is a group of interfaces for connecting to various peripheral devices. The connection I / F 105 has, for example, an interface capable of inputting signals and data from the rotation speed sensor 11 and the attached matter detection device 10, and has an interface capable of outputting a control signal to the actuator 9.

  Although the control device 22 has the above-described configuration, a part or all of the control device 22 may be implemented by an integrated circuit such as an ASIC. Note that even when some or all of the components are implemented by an integrated circuit or the like, the configuration is regarded as one mode of a computer. The blocks shown in FIGS. 3, 7, 9, and 12 are realized by the CPU 101 shown in FIG.

  In the description of each of the above embodiments, it is assumed that the functional units such as the rotation speed calculation unit 25, the attached matter information calculation unit 26, and the actuator control unit 27, which are included in the control device 22, mainly perform the respective processes. explained. The operations of these functional units can be naturally translated into the operations of the control device 22. That is, the operations and processes by each functional unit described in each embodiment can be the operations and processes by the control device 22.

  In each of the above embodiments, the control device performs control such that the scraper member is in contact with the rolling wheel when the amount of the adhered substance exceeds the threshold, and when the amount of the adhered substance is equal to or less than the threshold, The control is released so that the scraper member is separated from the rolling wheel. As described above, in each of the above embodiments, when the amount of the deposit is equal to the threshold, the control is released and the separation is performed. However, when the amount of the deposit is “the threshold” or more, the contact control is performed. Alternatively, the control may be released when the threshold value is “less than”. That is, the control device performs the contact control when the amount of the deposit is “at least above” the threshold, and performs the control when the amount of the deposit is “at least below the threshold” during the control. Any configuration may be used as long as it is released to separate the scraper member from the rolling wheel.

  As described above, according to each embodiment, it is possible to control whether or not the scraper member is pressed in accordance with the amount of the deposit, and to control the scraper member to contact or separate from the rolling wheel depending on the size of the deposit. Thereby, abrasion of the scraper member can be reduced. Further, by controlling the force and timing of pressing the scraper member, the wear of the scraper member can be further reduced.

  The present invention is not limited to the embodiments described above, and includes various modifications. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the described configurations. It is also possible to add the configuration of another embodiment to the configuration of one embodiment. Further, for a part of the configuration of each embodiment, it is possible to add, delete, or replace another configuration.

1: rolling wheels 1a, 1b, 1c, 1d: wheels 2: frame 3: steering handles 4, 4a, 4b, 4c, 4d: scraper member 5: base connector 6: scraper connector 7: bars 9, 9a, 9b, 9c, 9d: actuators 10, 10a, 10b: attached matter detecting device 11, 11a, 11b, 11c, 11d: rotational speed sensor 12: scraper device 13: attached matter 18: body bodies 19, 19a, 19b, 19c: front wheel 20. , 20a, 20b, 20c, 20d: rear wheel 21: compaction machine 22: control device 25: rotational speed calculator 26: deposit information calculator 27: actuator controller 30: L calculator 31: H / W calculator 32: V calculation unit 33: operation timing calculation unit 34: operation presence / absence determination unit 35: current output determination unit 36: rotation speed determination unit 37: pressing force calculation 38: steering angle detecting device 121: coordinate extraction unit

Claims (6)

Rolling wheels,
An adhering matter detection device that detects a coordinate value indicating a position of the adhering matter adhering to the rolling wheel,
A scraper device having a scraper member and an actuator, and bringing the scraper member into contact with the rolling wheel by the operation of the actuator to remove the deposit;
A control device for controlling the operation of the actuator, and a compaction machine comprising:
The control device includes:
Based on the coordinate values detected by the attached matter detection device, calculate the amount of the attached matter,
Comparing the calculated amount of the deposits with a predefined threshold, and controlling the actuator to contact the scraper member with the rolling wheel when the amount of the deposits exceeds the threshold at least. Then, when the amount of the attached matter is at least below the threshold while performing the control, the control is released to separate the scraper member from the rolling wheel,
A compaction machine characterized by the following: The compaction machine according to claim 1,
Furthermore, it has a rotation speed sensor that detects the rotation speed of the rolling wheel,
The control device further includes:
Calculating the rotation speed of the rolling wheel according to a signal from the rotation speed sensor,
Based on the calculated rotation speed, the arrival time until the attached matter reaches the scraper member, and the time when the attached matter detection device detects the front end of the attached matter, the rear end of the attached matter Calculate the difference time up to the time when
Based on the calculated rotation speed, the arrival time, and the difference time, calculate the timing of bringing the scraper member into contact with the rolling wheel and the timing of separating the scraper member from the rolling wheel, and determine whether to perform the control at the timing. Or release the control,
A compaction machine characterized by the following: The compaction machine according to claim 1,
The control device calculates the volume of the deposit as the amount of the deposit,
A compaction machine characterized by the following: The compaction machine according to claim 1,
The control device further derives a pressing force according to the amount of the attached matter, and controls the actuator so that the scraper member contacts the rolling wheel with the pressing force.
A compaction machine characterized by the following: The compaction machine according to claim 2,
The rolling wheel is constituted by a plurality of wheels arranged side by side in a left-right direction orthogonal to a traveling direction of the compaction machine,
The control device calculates a rotation speed for each wheel,
The rotational speed rotating at the highest speed among the rotational speeds of the wheels, and the rotational speed rotating at the slowest speed are obtained, and the scraper member is moved to the rolling wheel based on the rotational speed rotating at the highest speed. Calculate the timing of contact, and calculate the timing at which the scraper member separates from the rolling wheel based on the rotational speed of the slowest rotation,
A compaction machine characterized by the following: The compaction machine according to claim 2,
The scraper member has a configuration in which a plurality of the scraper members are arranged in the direction of the rotation axis of the rolling wheel, and each of the scraper members comes into contact with a partial region of the rolling wheel and adheres to the partial region. To remove
The actuator individually controls each of the scraper members,
The control device further cuts out a coordinate value detected by the attached matter detection device for each of the partial regions,
Based on the coordinate values of each of the extracted regions, the amount of the attached matter is calculated for each of the partial regions,
The amount and threshold of the attached matter are compared for each of the partial areas,
In any one of the partial areas, when the amount of the deposit exceeds a threshold value at least, the actuator is controlled such that the scraper member corresponding to the partial area contacts the rolling wheel,
In the partial area where the control is performed, when the amount of the attached matter is at least below a threshold, the control is released to separate the scraper member from the rolling wheel,
A compaction machine characterized by the following:

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