JP2021188371A - Rolling compaction machine - Google Patents

Abstract

To provide a rolling compaction machine that can improve safety of rolling compaction operation.SOLUTION: A rolling compaction machine (1) of the present invention includes a traveling device (10) which includes a front traveling device (20), a rear traveling device (30) and a coupling device (40) that rotatably connects the front traveling device and the rear traveling device in the roll direction and rotatably connects the front traveling device to the rear traveling device in the steering direction, and further includes a posture grasping device (60) that grasps the postures of the traveling devices, and the posture grasping device includes an angle detector (70) that detects the angles of the traveling devices, a control device (90) that transmits predetermined alarm signals based on roll angle signals from the angle detector and a notification device (80) that notifies predetermined alarms based on alarm signals.SELECTED DRAWING: Figure 1

Description

The present invention relates to a compaction machine, and more particularly to a compaction machine provided with a notification device.

Conventionally, it has been known that a construction machine such as a hydraulic excavator is provided with a fall prevention device that outputs an alarm before a fall may occur (Patent Document 1).

For example, Patent Document 1 includes a fall prevention device including a tilt angular velocity acquisition unit that acquires a tilt angular velocity of an excavator and a fall sign detection unit that detects a sign of a fall based on the tilt angular velocity acquired by the tilt angular velocity acquisition unit. Is described. The fall prevention device described in Patent Document 1 includes a lower traveling body, an upper traveling body mounted on the lower traveling body via a turning mechanism, and an excavation attachment attached to the upper traveling body. It is installed in the excavator to be used.

Japanese Unexamined Patent Publication No. 2013-238097

By the way, in recent years, rolling machines such as vibration rollers for earthwork may compact a rough road surface more than ever, and the usage environment has been diversified. With such diversification of the usage environment, the compaction machine exhibits various behaviors such as roll, pitch, and turn when traveling on a sloped road surface or a road surface having a large unevenness. Therefore, during the compaction work, the compaction machine may fall over depending on the condition of the traveling road surface. Further, when the component of the compaction machine exceeds the movable range, there is a possibility that the component may fail.

The present invention has been made in view of such a problem, and an object of the present invention is to provide a compaction machine capable of improving the safety of compaction work.

In order to achieve the above object, the compaction machine of the present invention makes the front traveling device including the front wheels, the rear traveling device including the rear wheels, the front traveling device, and the rear traveling device relatively rotatable in the roll direction. In a rolling machine including a connecting device that is connected and rotatably connects the front traveling device to the rear traveling device in the steering direction, and a traveling device including the rear traveling device, the posture of the traveling device is grasped. Further comprising a configured attitude grasping device, the posture grasping device is attached to the traveling device and is configured to detect an angle of the traveling device, and an angle detecting device, and the traveling device from the angle detecting device to the traveling device. A control device configured to receive a roll angle signal based on the roll angle, determine the attitude of the traveling device based on the roll angle signal, and transmit a predetermined alarm signal based on the result of the determination. , A notification device configured to receive the alarm signal and notify a predetermined alarm based on the alarm signal.

The compaction machine of the present invention receives a roll angle signal based on the roll angle of the traveling device from the angle detecting device, determines the posture of the traveling device based on the roll angle signal, and determines a predetermined position based on the result of the determination. It includes a control device configured to transmit an alarm signal, a notification device configured to receive the alarm signal and notify a predetermined alarm based on the alarm signal, and an attitude grasping device including. Therefore, when it is determined that the compaction machine traveling on a sloped road surface or a rough road surface with large unevenness is excessively inclined in the roll direction, the control device notifies the posture of the compaction machine as an alarm signal. Send to the device. As a result, the operator can grasp the current posture of the compaction machine through the notification device, for example, perform an operation to alleviate the inclination of the compaction machine in the roll direction, and make the compaction work by the compaction machine safe. Can be done.

It is a side view which shows the schematic structure of the compaction machine which concerns on 1st Embodiment of this invention, and shows the state which the front traveling apparatus and the rear traveling apparatus are in a neutral position. It is a top view which shows the compaction machine shown in FIG. FIG. 3 is an enlarged perspective view showing a front traveling device, a rear traveling device, and a connecting device in the compaction machine in the state shown in FIG. 1. It is a side view which shows the schematic structure of the compaction machine which concerns on 1st Embodiment of this invention, and shows the state which the front traveling apparatus is rolling. It is a front view which shows the compaction machine shown in FIG. FIG. 3 is an enlarged perspective view showing a front traveling device, a rear traveling device, and a connecting device in the compaction machine in the state shown in FIG. 4. It is a top view which shows the schematic structure of the compaction machine which concerns on 1st Embodiment of this invention, and shows the state which the front traveling apparatus is steering. FIG. 3 is an enlarged perspective view showing a front traveling device, a rear traveling device, and a connecting device in the compaction machine in the state shown in FIG. 7. It is an enlarged perspective view which shows the front traveling apparatus, the rear traveling apparatus, and the coupling apparatus constituting the compaction machine which concerns on 1st Embodiment of this invention, and shows the state which the front traveling apparatus is rolling and steering. It shows. It is a functional block diagram which shows the structure of the posture grasping apparatus which concerns on 1st Embodiment of this invention. It is a figure which shows the display example by the notification device which concerns on 1st Embodiment of this invention, and shows the compaction machine in the state shown in FIG. It is a figure which shows the display example by the notification device which concerns on 1st Embodiment of this invention, and shows the compaction machine of the state different from the compaction machine of the state shown in FIG. It is a figure which shows the display example by the notification device which concerns on 1st Embodiment of this invention, and shows the compaction machine of the state different from the compaction machine of the state shown in FIG. It is a flowchart which shows the process for grasping the fall sign in the posture grasping apparatus which concerns on 1st Embodiment of this invention. It is a flowchart which shows the process for grasping the failure sign in the posture grasping apparatus which concerns on 1st Embodiment of this invention. It is a functional block diagram which shows the structure of the posture grasping apparatus which concerns on 2nd Embodiment of this invention. It is a flowchart which shows the process for grasping the fall sign in the posture grasping apparatus which concerns on 2nd Embodiment of this invention. It is a flowchart which shows the process for grasping the failure sign in the posture grasping apparatus which concerns on 2nd Embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a side view showing a schematic configuration of a compaction machine 1 according to a first embodiment of the present invention, and shows a state in which the front traveling device 20 and the rear traveling device 30 are in a neutral position. FIG. 2 is a plan view showing the compaction machine 1 shown in FIG. FIG. 3 is an enlarged perspective view showing the front traveling device 20, the rear traveling device 30, and the connecting device 40 in the compaction machine 1 in the state shown in FIG. 1. FIG. 4 is a side view showing a schematic configuration of the compaction machine 1 according to the first embodiment of the present invention, and shows a state in which the front traveling device 20 is rolling. FIG. 5 is a front view showing the compaction machine 1 shown in FIG. FIG. 6 is an enlarged perspective view showing the front traveling device 20, the rear traveling device 30, and the connecting device 40 in the compaction machine 1 in the state shown in FIG. FIG. 7 is a plan view showing a schematic configuration of the compaction machine 1 according to the first embodiment of the present invention, and shows a state in which the front traveling device 20 is steered. FIG. 8 is an enlarged perspective view showing the front traveling device 20, the rear traveling device 30, and the connecting device 40 in the compaction machine 1 in the state shown in FIG. 7. FIG. 9 is an enlarged perspective view showing the front traveling device 20, the rear traveling device 30, and the connecting device 40 constituting the compaction machine 1 according to the first embodiment of the present invention, in which the front traveling device 20 rolls. It also indicates a state of steering. FIG. 10 is a functional block diagram showing the configuration of the posture grasping device 60 according to the first embodiment of the present invention. FIG. 11 is a diagram showing a display example by the notification device 80 according to the first embodiment of the present invention, and shows the compaction machine 1 in the state shown in FIG. FIG. 12 is a diagram showing a display example by the notification device 80 according to the first embodiment of the present invention, and shows a compaction machine 1 in a state different from the compaction machine 1 in the state shown in FIG. .. FIG. 13 is a diagram showing a display example by the notification device 80 according to the first embodiment of the present invention, and shows a compaction machine 1 in a state different from the compaction machine 1 in the state shown in FIG. ..

For convenience of explanation, "front", "rear", "left", and "right" are defined as "front", "rear", "left", and "right" from the viewpoint of the operator in the cabin 34 based on the traveling direction of the compaction machine 1, and "on the basis of gravity". Define "top" and "bottom". That is, the arrows "front" and "rear" shown in each figure indicate the forward direction and the reverse direction of the compaction machine 1, and the arrows "left" and "right" indicate the left-right (vehicle width) direction of the compaction machine 1. , And the arrows "up" and "down" indicate the vertical direction of the compaction machine 1.

The "neutral position" means that the roll angle, steering angle, and pitch angle, which will be described later, are all 0 °. _{Here, the "roll direction" means the rotation direction around the anteroposterior axis L 0} passing through the center of gravity of the traveling device 10 in the neutral position, and the "roll angle" is orthogonal to the _{anteroposterior axis L 0.} the lateral axis W ₀ to be described later as a reference, means a rotation angle in the roll direction from the axis W _0. Further, the "steering direction" means the rotation direction of the front traveling device 20 around the steering shaft 45, which will be described later, and the "steering angle" means the steering shaft 45 extending in the vertical direction in the neutral position. with respect to the longitudinal axis L ₀ orthogonal means the rotation angle in the steering direction from the axis L _{0. Further, the "pitch direction" means the rotation direction around the left-right direction axis W 0} passing through the center of gravity of the traveling device 10 in the neutral position, and the "pitch angle" means the front-back _{direction orthogonal to the left-right direction axis W 0.} the axis L ₀ as the reference, means a rotation angle in the pitch direction from the axis L _0.

The compaction machine 1 is, for example, an articulated type (joint type) vibrating roller, and as shown in FIGS. 1 and 10, a posture configured to grasp the postures of the traveling device 10 and the traveling device 10. The grasping device 60 is provided. The traveling device 10 includes a front traveling device 20, a rear traveling device 30, and a connecting device 40 that artically connects the front traveling device 20 and the rear traveling device 30.

As shown in FIGS. 1 and 2, the front traveling device 20 includes a front frame 22 having a square frame shape in a plan view, and front wheels 24 rotatably supported by the front frame 22.

The front wheel 24 is a rolling compaction wheel formed in a drum shape, and is housed inside the frame body of the front frame 22. Specifically, each end wall 24a located on the left and right sides of the front wheel 24 is rotatably supported by a pair of side frame portions 22a described later, for example, via a support unit having a built-in anti-vibration rubber. In this way, the front wheels 24 are elastically supported by the front frame 22. A vibration generator that vibrates the front wheel 24 is built in the front wheel 24, and the front wheel 24 is vibrated by driving the vibration generator by the driving force of a vibration motor described later.

As shown in FIG. 2, the front frame 22 is a pair of side frame portions 22a which are plate-shaped members extending in the front-rear direction on the outside in the left-right direction (vehicle width direction) of the front wheels 24, and the pair of side frame portions 22a. It is a prismatic member that connects the front connection frame portion 22b, which is a prismatic member that connects the front end portion in front of the front wheel 24, and the rear end portion of the pair of side frame portions 22a behind the front wheel 24. Includes a rear connection frame portion 22c. The front frame 22 is formed into a frame having a rectangular shape in a plan view by a pair of side frame portions 22a, a front connecting frame portion 22b, and a rear connecting frame portion 22c.

As shown in FIG. 1, the rear traveling device 30 includes a rear frame 32, a cabin 34, a rear wheel 36, and an engine cover 38. A rear wheel 36 that functions as a tire roller is rotatably attached to the rear frame 32. Further, the rear frame 32 is provided with an engine room (not shown), and the engine room is covered with an engine cover 38 that can be opened and closed. A diesel engine (not shown) and a hydraulic pump (not shown) are arranged in the engine room, and this hydraulic pump is driven by the diesel engine to rotate a vibration motor and a rear wheel 36 that vibrate the front wheels 24. The hydraulic oil is supplied to hydraulic equipment such as a traveling motor. A cabin 34 is provided on the upper part of the rear frame 32. A handle (not shown) operated by an operator is provided in the cabin 34.

The connecting device 40 connects the front traveling device 20 and the rear traveling device 30 so as to be relatively rotatable in the roll direction (FIGS. 4 to 6), and rotates the front traveling device 20 with respect to the rear traveling device 30 in the steering direction. It is movably connected (FIGS. 7 and 8). As shown in FIG. 3, the coupling device 40 has a mounting member 41 mounted on the rear frame 32. The mounting member 41 is rotatably mounted on the rear frame 32 in the steering direction via the steering shaft 45 (FIGS. 7 to 9).

As shown in FIG. 9, the connecting device 40 has a roll mechanism 42 that connects the front traveling device 20 and the rear traveling device 30 so as to be relatively rotatable in the roll direction. The roll mechanism 42 rotatably attaches the rear connection frame portion 22c to the attachment member 41 in the roll direction via a roll shaft (not shown). As a result, as shown in FIGS. 4 to 6, for example, the front traveling device 20 can rotate in the roll direction with respect to the rear traveling device 30. Since the configuration of the roll mechanism 42 is known, detailed description thereof will be omitted.

As shown in FIGS. 8 and 9, the coupling device 40 has a steering mechanism 44 that rotatably connects the front traveling device 20 to the rear traveling device 30 in the steering direction. The steering mechanism 44 includes a pair of hydraulic cylinders 44a and a pair of piston rods 44b flexibly accommodated in the pair of hydraulic cylinders 44a. The pair of piston rods 44b are attached to the attachment member 41 so as to be relatively rotatable. As a result, by changing the hydraulic pressure in the pair of hydraulic cylinders 44a to expand and contract the pair of piston rods 44b, the mounting member 41 rotates around the steering shaft 45, and eventually the front frame 22 rotates, and the rear The front traveling device 20 can be steered with respect to the traveling device 30 (FIGS. 7 and 8). Since the configuration of the steering mechanism 44 is known, detailed description thereof will be omitted. In this way, by the operator operating the steering wheel in the cabin 34, the front traveling device 20 can change its direction via the steering mechanism 44.

Further, in the cabin 34, operating devices such as a forward / backward changeover lever and an engine rotation speed changeover switch (none of which are shown) are provided, and an operator performs forward / backward changeover operation, steering operation, and engine speed changeover operation. The rolling work is carried out at the site.

Next, the posture grasping device 60 constituting the compaction machine 1 will be described. As shown in FIG. 10, the posture grasping device 60 includes an angle detecting device 70, a notification device 80, and a control device 90.

The angle detection device 70 is attached to the traveling device 10 and is configured to detect the angle of the traveling device 10. Specifically, the angle detection device 70 includes a first angle sensor 72, a second angle sensor 74, and a third angle sensor 76.

As shown in FIG. 3, the first angle sensor 72 is attached to the rear connection frame portion 22c of the front traveling device 20 and detects _{the rotation angle (front roll angle AFR) of the front traveling device 20 in the roll direction.} It is configured as follows. Specifically, the first angle sensor 72 is configured to have a built-in pendulum, and the amount of displacement of the pendulum according to the inclination of the front traveling device 20 in the roll direction is set to the front roll angle A of the front traveling device 20. _{It is configured to be detected as FR} and transmitted to the control device 90 as a front roll angle signal. Further, the first angle sensor 72 also detects _{the rotation angle (front pitch angle A FP} ) of the front traveling device 20 in the pitch direction. In this case, the first angle sensor 72 detects the amount of displacement of the pendulum according to the inclination of the front traveling device 20 in the pitch direction as the front pitch angle _AFP of the front traveling device 20, and controls it as a front pitch angle signal. It is configured to send to 90. Here, the first angle sensor 72 may be any as long as it can detect the roll angle and the pitch angle of the front traveling device 20, and is not limited to the above-mentioned pendulum built-in type sensor. Further, the roll angle and the pitch angle may be detected by different sensors.

As shown in FIG. 1, the second angle sensor 74 is mounted in the cabin 34 of the rear driving device 30 is configured to detect the rotation angle in the roll direction of the rear traveling device 30 (Riaroru angle A _RR) ing. More specifically, the second angle sensor 74 is constituted by an internal pendulum, Riaroru angle A _RR of the rear traveling device 30 the amount of displacement of the pendulum in response to inclination of the roll direction of the rear driving device 30 Is configured to be detected and transmitted to the control device 90 as a rear roll angle signal. The second angle sensor 74 is adapted to detect the rotation angle in the pitch direction of the rear traveling device 30 (Riapitchi angle A _RP). In this case, the second angle sensor 74 detects the amount of displacement of the pendulum in response to inclination of a pitch direction of the rear traveling device 30 as Riapitchi angle A _RP of the rear driving device 30, to the controller 90 as Riapitchi angle signal It is configured to send. Here, the second angle sensor 74 may be any as long as it can detect the roll angle and the pitch angle of the rear traveling device 30, and is not limited to the above-mentioned pendulum built-in type sensor. Further, the roll angle and the pitch angle may be detected by different sensors.

As shown in FIG. 3, the third angle sensor 76 is attached to the mounting member 41 of the connecting device 40, and determines the rotation angle (steering angle _AFS ) of the front traveling device 20 with respect to the rear traveling device 30 in the steering direction. It is configured to detect. The third angle sensor 76 is configured to output a voltage by a rotary encoder of a rotary shaft (not shown) to detect the steering angle. Specifically, when the operator operates the steering wheel and the mounting member 41 of the coupling device 40 rotates around the steering shaft 45 by the operation of the steering mechanism 44, the rotation of the third angle sensor 76 (not shown) corresponds to this. The shaft rotates. Third angle sensor 76 detects a voltage change corresponding to the amount of rotation of the rotary shaft as a steering angle A _FS, is configured to transmit to the controller 90 as a steering angle signal. The third angle sensor 76 is not limited to the above-mentioned rotary encoder type sensor as long as it can detect the steering angle of the front traveling device 20 with respect to the rear traveling device 30.

As shown in FIG. 10, the control device 90 includes a receiving unit 92, a processing unit 94, a transmitting unit 96, and a storage unit 98. The control device 90 is a device that controls the operation of the posture grasping device 60, and is, for example, a computer including a CPU, RAM, ROM, and the like. In the present embodiment, the control device 90 reads a program corresponding to each functional element of the receiving unit 92, the processing unit 94, the transmitting unit 96, and the storage unit 98 from the ROM, loads the program into the RAM, and corresponds to each functional element. The processing unit 94 as a CPU is made to execute the processing.

The receiving unit 92 is configured to receive a roll angle signal based on the roll angle of the traveling device 10 from the angle detecting device 70. Specifically, the receiving unit 92, the front roll angle signal received based on the front roll angle A _FR from the first angle sensor 72, receives the Riaroru angle signal based on Riaroru angle A _RR from the second angle sensor 74 It is configured to do. Furthermore, the receiving unit 92 is configured to receive a steering angle signal based on the steering angle A _FS from the third angle sensor 76.

The processing unit 94 is configured to determine the posture of the traveling device 10 based on the roll angle signal received by the receiving unit 92. Specifically, the processing unit 94 calculates the roll angle difference A _{Diff of the front roll angle A FR} and the rear roll angle A _RR , and compares the roll angle difference A _Diff with the pre-stored first threshold value T _1. , When the roll angle difference A _Diff is larger than the first threshold value T ₁ , it is determined that the traveling device 10 has a sign of tipping over. Here, the first threshold value T ₁ is stored in the storage unit 98 in advance, and the traveling device 10 actually falls over based on various specifications such as the weight, the position of the center of gravity, and the power performance of the traveling device 10. The roll angle difference is set to be smaller than the _{A Diff.} Further, the fifth threshold value T ₅ is also stored in advance in the storage unit 98. The fifth threshold T _{5 is based on the roll angle (front roll angle A FR} and rear roll angle A _RR ) at which the traveling device 10 actually falls, based on various specifications such as the weight, the position of the center of gravity, and the power performance of the traveling device 10. Is also set small.

Further, the processing unit 94 _{corrects the first threshold value T 1} based on the steering angle signal to calculate the first correction threshold value T _1A , compares the roll angle difference A _Diff with the first correction threshold value T _1A , and compares the roll angle difference A Diff with the first correction threshold value T 1A. When the roll angle difference A _Diff is larger than the first correction threshold value T _1A, it is configured to determine that the traveling device 10 has a sign of tipping over. Specifically, the processing unit 94 is configured to make the first correction threshold value T _{1A smaller as the steering angle AFS is larger.} This is because as the steering angle _AFS increases, a fall occurs with a smaller roll angle difference A _Diff. Further, the processing unit 94 is configured _{so that the larger the pitch angle AMP} described later is, the smaller the other first correction threshold value T _1B is smaller than the first correction threshold value T _1A. The pitch angle A _MP while turning angle A _FS is not 0 ° is increased, because a fall occurs in smaller rolls angle difference A _Diff.

Further, the processing unit 94 _{compares the roll angle difference A Diff} with the pre-stored second threshold value T ₂ , and when the roll angle difference A _Diff is larger than the second threshold value T ₂ , the traveling device 10 fails. It is configured to judge that there is a sign. Here, the second threshold value T ₂ is stored in the storage unit 98 in advance, and can be used for various specifications such as the weight, the position of the center of gravity, and the movable range of the components of the traveling device 10 (for example, the front traveling device 20). Based on this, the traveling device 10 is set to be smaller than the _{roll angle difference A Diff that actually fails.}

Further, the processing unit 94 _{corrects the second threshold value T 2} based on the steering angle signal to calculate the second correction threshold value T _2A , compares the roll angle difference A _Diff with the second correction threshold value T _2A . When the roll angle difference A _Diff is larger than the second correction threshold value T _2A, it is configured to determine that the traveling device 10 has a sign of failure. Specifically, the processing unit 94 is configured so as to reduce the second correction threshold T _2A as steered angle A _FS is large. This is because as the steering angle _AFS increases, a failure occurs with a smaller roll angle difference A _Diff. Further, the processing unit 94 is configured to make another second correction threshold value T _2B smaller than the second correction threshold value T _{2A as the pitch angle AMP described later becomes larger.} The pitch angle A _MP while turning angle A _FS is not 0 ° is increased, because a failure occurs in smaller rolls angle difference A _Diff.

The transmission unit 96 is configured to transmit a predetermined alarm signal based on the result of the above determination in the processing unit 94. Specifically, the transmission unit 96 is configured to transmit a fall sign signal as an alarm signal when the processing unit 94 determines that the traveling device 10 has a fall sign. Further, the transmission unit 96 is configured to transmit a failure sign signal as an alarm signal when the processing unit 94 determines that the traveling device 10 has a failure sign.

The notification device 80 is configured to receive an alarm signal transmitted from the transmission unit 96 of the control device 90 and notify a predetermined alarm based on the alarm signal. Specifically, the notification device 80 is a visual information issuing means (for example, a liquid crystal monitor) configured to issue a warning by visual information, and an auditory information configured to issue a warning by auditory information. It is configured to include at least one of an alarm means (for example, a speaker) and a tactile information alarm means (for example, a vibration generator) configured to issue a warning by tactile information.

11 to 13 show an example of a case where the notification device 80 is a liquid crystal display (visual information issuing means). In this case, the notification device 80 may constantly display the posture of the traveling device 10, or the traveling device only when it is determined by _{the control device 90 that a predetermined threshold value (for example, the first threshold value T 1) has been exceeded.} 10 postures may be displayed. The posture of the traveling device 10 is constantly displayed, and when the control device 90 determines that a predetermined threshold value (for example, the first threshold value T ₁ ) has been exceeded, the display may be blinked or the like.

As shown in FIG. 11, when the traveling device 10 is in the neutral position, the notification device 80 has a front-rear axis L ₀ passing through the center of gravity of the traveling device 10 in the neutral position and an axis L indicating the direction of the front traveling device 20. _{In the} state where 1 is in agreement (right side in FIG. 11), the left-right axis W _{0 passing through the center of gravity of the traveling device 10 in the neutral position, and the axis W 1} indicating the inclination of the front traveling device 20 in the roll direction. state in which the axis W ₂ showing the inclination in the roll direction of the rear driving device 30 are coincident (upper left side in FIG. 11), and traveling the longitudinal axis L ₀ passing through the center of gravity of the traveling device 10 in the neutral position A state (lower left side in FIG. 11) that coincides with the _{axis L 2} indicating the inclination of the device 10 in the pitch direction is displayed.

Further, as shown in FIG. 12, according to the state of a road surface on which compacting machine 1 travels, the notification device 80, the axis L ₀ to the axis L ₁ is are state or front traveling device tilted rightward 20 state, that is the front but the condition being steered in the right direction (right side in FIG. 12), the axis W ₁ to the axis W ₀ is the axis W ₂ and inclined upper right direction is inclined to the upper left oblique direction state running device 20 and the rear driving device 30 is rolled in the opposite directions (left upper side in FIG. 12), the axis L ₀ axis L ₂ is inclined to have state or traveling apparatus to the lower front 10 to the front The state (lower left side in FIG. 12) is displayed.

Further, as shown in FIG. 13, in accordance with the state of a road surface on which compacting machine 1 travels, the notification device 80, the axis L ₀ to the axis L ₁ is are state or front traveling device tilted leftward 20 state but which is steered in the left direction (the right side in FIG. 13), the axis W ₀ to the axis W ₁ and axial W ₂ is inclined to the left obliquely upward together are state or front running device 20 and a rear driving device A state in which both 30 are rolled to the right (upper left side in FIG. 13), a state in which the axis L _{2 is inclined forward and upper with respect to the axis L 0,} that is, a state in which the traveling device 10 is raised forward (FIG. 13). 13) is displayed.

Next, with reference to FIG. 14, when a sign of a fall occurs in the traveling device 10, a process for causing the operator to grasp the sign (hereinafter, also referred to as “first fall sign grasping process”) will be described. .. FIG. 14 is a flowchart showing a process for grasping a fall sign in the posture grasping device 60 according to the first embodiment of the present invention.

The posture grasping device 60 executes the first fall sign grasping process at a predetermined cycle during the operation of the compaction machine 1. First, the receiving unit 92 receives the front roll angle signal from the first angle sensor 72, and receives the rear roll angle signal from the second angle sensor 74. As a result, the control device 90 _{acquires the front roll angle A FR} and the rear roll angle A _RR (S200). Next, the processing unit 94 calculates the roll angle difference A _{Diff of the front roll angle A FR} and the rear roll angle A _RR (S210), and compares the roll angle difference A _Diff with the pre-stored first threshold value T _1. (S220), when the roll angle difference A _Diff is larger than the first threshold value T ₁ (Yes in S220), it is determined that the traveling device 10 has a sign of tipping over. After that, the transmission unit 96 transmits a fall sign signal as an alarm signal to the notification device 80, and the notification device 80 gives a predetermined alarm (for example, display on a liquid crystal monitor) based on the fall sign signal transmitted from the transmission unit 96. (S330), and the process is terminated.

On the other hand, when the processing unit 94 determines that the roll angle difference A _Diff is not larger than the first threshold value T ₁ (No in S220), the receiving unit 92 receives the steering angle signal from the third angle sensor 76. and, the controller 90 obtains the steering angle _{a FS} (S230). Next, the processing unit 94 _{determines whether or not the steering angle AFS} is equal to 0 ° (S240). When the processing unit 94 _{determines that the steering angle A FS} is 0 ° (Yes in S240), the processing unit 94 has a _{fifth threshold value T 5 in which the front roll angle A FR} or the rear roll angle A _RR is stored in advance. It is determined whether or not it is larger (S320). When the processing unit 94 determines that the front roll angle A _FR or the rear roll angle A _RR is larger than the fifth threshold value T ₅ (Yes in S320), it is determined that the traveling device 10 has a sign of tipping over. After that, the transmission unit 96 transmits a fall sign signal as an alarm signal to the notification device 80, and the notification device 80 gives a predetermined alarm (for example, display on a liquid crystal monitor) based on the fall sign signal transmitted from the transmission unit 96. (S330), and the process is terminated.

On the other hand, if the steering angle _{A FS} by the processing unit 94 is determined not to be 0 ° (No in S240), the processing unit 94 first corrects the first thresholds _{T 1} based on the steering angle _{A FS} The 1 correction threshold value T _1A is calculated (S250), the roll angle difference A _Diff is compared with the first correction threshold value T _1A (S260), and the roll angle difference A _Diff is larger than the first correction threshold value T _1A (S260). Yes), it is determined that the traveling device 10 has a sign of a fall. After that, the transmission unit 96 transmits a fall sign signal as an alarm signal to the notification device 80, and the notification device 80 gives a predetermined alarm (for example, display on a liquid crystal monitor) based on the fall sign signal transmitted from the transmission unit 96. (S330), and the process is terminated.

On the other hand, when the processing unit 94 determines that the roll angle difference A _Diff is not larger than the first correction threshold value T _1A (No in S260), the receiving unit 92 receives the front pitch angle signal and the rear pitch angle signal. , The control device 90 _{acquires the front pitch angle A FP} and the _{rear pitch angle A RP} (S270). Thereafter, the processing unit 94, the front pitch angle _{A FP} and Riapitchi angle _{A RP} calculates the pitch angle _{A MP} of the traveling device 10 (S280), the pitch angle _{A MP} is a determination whether a 0 ° (S290). When the processing unit 94 determines that the pitch angle A _MP is 0 ° (Yes in S290), the processing unit 94 has a _{fifth threshold value T 5 in which the front roll angle A FR} or the rear roll angle A _RR is stored in advance. It is determined whether or not it is larger (S320). When the processing unit 94 determines that the front roll angle A _FR or the rear roll angle A _RR is larger than the fifth threshold value T ₅ (Yes in S320), it is determined that the traveling device 10 has a sign of tipping over. After that, the transmission unit 96 transmits a fall sign signal as an alarm signal to the notification device 80, and the notification device 80 gives a predetermined alarm (for example, display on a liquid crystal monitor) based on the fall sign signal transmitted from the transmission unit 96. (S330), and the process is terminated.

On the other hand, when the processing unit 94 _{determines that the pitch angle AMP} is not 0 ° (No in S290), the processing unit 94 corrects the first correction threshold value T _{1A based on the pitch angle AMP.} The first correction threshold value T _1B is calculated (S300), the roll angle difference A _Diff is compared with another first correction threshold value T _1B (S310), and the roll angle difference A _Diff is another first correction threshold value T _1B. If it is larger than (Yes in S310), it is determined that the traveling device 10 has a sign of tipping over. After that, the transmission unit 96 transmits a fall sign signal as an alarm signal to the notification device 80, and the notification device 80 gives a predetermined alarm (for example, display on a liquid crystal monitor) based on the fall sign signal transmitted from the transmission unit 96. (S330), and the process is terminated.

On the other hand, when the processing unit 94 determines that the roll angle difference A _Diff is not larger than another first correction threshold value T _1B (No in S310), the processing unit 94 determines that the front roll angle A _FR or the rear roll angle A. _RR is determined whether the fifth threshold _{T 5} is larger than that stored in advance (S320). When the processing unit 94 determines that the front roll angle A _FR or the rear roll angle A _RR is larger than the fifth threshold value T ₅ (Yes in S320), it is determined that the traveling device 10 has a sign of tipping over. After that, the transmission unit 96 transmits a fall sign signal as an alarm signal to the notification device 80, and the notification device 80 gives a predetermined alarm (for example, display on a liquid crystal monitor) based on the fall sign signal transmitted from the transmission unit 96. (S330), and the process is terminated.

On the other hand, when the processing unit 94 determines that the front roll angle A _FR or the rear roll angle A _RR is not larger than the fifth threshold value T ₅ (No in S320), the processing ends without notifying the warning (No). End).

Next, with reference to FIG. 15, when a sign of failure occurs in the traveling device 10, a process for causing the operator to grasp the sign (hereinafter, also referred to as “first failure sign grasping process”) will be described. .. FIG. 15 is a flowchart showing a process for grasping a failure sign in the posture grasping device 60 according to the first embodiment of the present invention. Regarding the first failure sign grasping process, the same process as the above-mentioned first fall sign grasping process is designated with the same reference numerals and the description thereof is omitted, and the part different from the first fall sign grasping process. Will be explained only. Specifically, the description of S200, S210, S230, S240, and S270 to S290 shown in FIG. 15 will be omitted.

The posture grasping device 60 executes the first failure sign grasping process at a predetermined cycle during the operation of the compaction machine 1. The processing unit 94 compares the roll angle difference A _Diff with the pre-stored second threshold value T ₂ (S420), and when the roll angle difference A _Diff is larger than the second threshold value T ₂ (Yes in S420), the vehicle travels. It is determined that the device 10 has a sign of failure. After that, the notification device 80 issues a predetermined alarm (for example, display on the liquid crystal monitor) based on the failure sign signal transmitted from the transmission unit 96 (S530), and the process ends.

Next, when the processing unit 94 _{determines that the steering angle AFS} is 0 ° (Yes in S240), the processing ends without notifying the warning. On the other hand, if the steering angle _{A FS} by the processing unit 94 is determined not to be 0 ° (No in S240), the processing unit 94 first corrects the second threshold value _{T 2} based on the steering angle _{A FS} 2 The correction threshold value T _2A is calculated (S450), the roll angle difference A _Diff is compared with the second correction threshold value T _2A (S460), and the roll angle difference A _Diff is larger than the second correction threshold value T _2A (S460). Yes), it is determined that the traveling device 10 has a sign of failure. After that, the transmission unit 96 transmits a failure sign signal as an alarm signal to the notification device 80, and the notification device 80 receives a predetermined alarm (for example, display on a liquid crystal monitor) based on the failure sign signal transmitted from the transmission unit 96. (S530), and the process is terminated.

Next, when the processing unit 94 determines that the pitch angle _AMP is 0 ° (Yes in S290), the processing ends without notifying the warning. On the other hand, when the processing unit 94 _{determines that the pitch angle AMP} is not 0 ° (No in S290), the processing unit 94 corrects the second correction threshold value T _{2A based on the pitch angle AMP.} The second correction threshold value T _2B is calculated (S500), the roll angle difference A _Diff is compared with another second correction threshold value T _2B (S510), and the roll angle difference A _Diff is another second correction threshold value T _2B. If it is larger than (Yes in S510), it is determined that the traveling device 10 has a sign of failure. After that, the transmission unit 96 transmits a failure sign signal as an alarm signal to the notification device 80, and the notification device 80 receives a predetermined alarm (for example, display on a liquid crystal monitor) based on the failure sign signal transmitted from the transmission unit 96. (S530), and the process is terminated.

On the other hand, when the processing unit 94 determines that the roll angle difference A _Diff is not larger than another second correction threshold value T _2B (No in S510), the processing ends without notifying a warning (end). ).

Next, the operation and effect of the compaction machine 1 according to the first embodiment of the present invention will be described.

The compaction machine 1 of the present invention receives a roll angle signal based on the roll angle of the traveling device 10 from the angle detecting device 70, determines the posture of the traveling device 10 based on the roll angle signal, and determines the posture of the traveling device 10 based on the determination result. Attitude grasping including a control device 90 configured to transmit a predetermined alarm signal based on the alarm signal, and a notification device 80 configured to receive the alarm signal and notify the predetermined alarm based on the alarm signal. The device 60 is provided. Therefore, when it is determined that the compaction machine 1 traveling on an inclined road surface or a rough road surface having large irregularities is excessively inclined in the roll direction, the control device 90 warns the posture of the compaction machine 1. It is transmitted to the notification device 80 as a signal. As a result, the operator can grasp the current posture of the compaction machine 1 through the notification device 80, for example, perform an operation to alleviate the inclination of the compaction machine 1 in the roll direction, and roll by the compaction machine 1. Pressure work can be performed safely.

Further, according to the compaction machine 1 according to the first embodiment of the present invention, the control device 90 indicates that the traveling device 10 has a sign of tipping over when _{the roll angle difference A Diff} is larger than the first threshold value T _1. It is configured to make a judgment and transmit a fall sign signal as an alarm signal. Therefore, when it is determined that the compaction machine 1 during the compaction work _{is traveling with an excessively large roll angle difference A Diff} , the control device 90 predicts that the posture of the compaction machine 1 is overturned. It is transmitted to the notification device 80 as a signal. As a result, the operator can grasp that the rolling machine 1 has a sign of tipping through the notification device 80, and for example, performs an operation of reducing _{the roll angle difference A Diff of the rolling machine 1 to roll the rolling machine 1.} The rolling compaction work by the machine 1 can be safely performed.

Further, according to the compaction machine 1 according to the first embodiment of the present invention, the control device 90, the first thresholds T ₁ calculates a first correction threshold T _1A is corrected based on the steering angle signal, When the roll angle difference A _Diff is larger than the first correction threshold value T _1A , it is determined that the traveling device 10 has a sign of a fall, and a fall sign signal is transmitted as an alarm signal. Therefore, it is possible to determine on the basis of a sign of a fall in the compacting machine 1 in rolling compaction work, the turning angle A _FS in addition to the roll angle difference A _Diff. Therefore, the operator can surely grasp the sign of the overturning of the compaction machine 1 through the notification device 80 in accordance with the current posture of the compaction machine 1, for example, the roll angle of the compaction machine 1. difference do like to reduce the a _Diff and steered angle a _FS, can be safely performing rolling compaction operation by compacting machine 1.

Further, according to the compaction machine 1 according to the first embodiment of the present invention, the control device 90 has a sign of failure in the traveling device 10 when _{the roll angle difference A Diff} is larger than the second threshold value T _2. It is configured to make a judgment and transmit a failure sign signal as an alarm signal. Therefore, when it is determined that the compaction machine 1 during the compaction work _{is traveling with an excessively large roll angle difference A Diff} , the control device 90 causes the posture of the compaction machine 1 to be a sign of failure. It is transmitted to the notification device 80 as a signal. As a result, the operator can grasp that the rolling machine 1 has a sign of failure through the notification device 80, and for example, performs an operation of reducing _{the roll angle difference A Diff of the rolling machine 1 to roll the rolling machine 1.} The rolling compaction work by the machine 1 can be safely performed.

Further, according to the compaction machine 1 according to the first embodiment of the present invention, the control device 90 _{corrects the second threshold value T 2} based on the steering angle signal to calculate the second correction threshold value T _2A. When the roll angle difference A _Diff is larger than the second correction threshold value T _2A , it is determined that the traveling device 10 has a sign of failure, and a failure sign signal is transmitted as an alarm signal. Therefore, it is possible to determine on the basis of a sign of failure in the compacting machine 1 in rolling compaction work, the turning angle A _FS in addition to the roll angle difference A _Diff. Therefore, the operator can surely grasp the sign of failure of the compaction machine 1 through the notification device 80 in accordance with the current posture of the compaction machine 1, for example, the roll angle of the compaction machine 1. difference do like to reduce the a _Diff and steered angle a _FS, can be safely performing rolling compaction operation by compacting machine 1.

Further, according to the compaction machine 1 according to the first embodiment of the present invention, the notification device 80 is a visual information issuing means (for example, a liquid crystal display or the like) configured to issue a warning by visual information, a warning. Of an auditory information alerting means (eg, a speaker, etc.) configured to alert by auditory information, and a tactile information alerting means (eg, a vibration generator, etc.) configured to alert a warning by tactile information. It is configured to include at least one of them. Therefore, the operator can visually confirm the warning regarding the posture of the compaction machine 1, for example, by visually confirming it through the liquid crystal display, by hearing it through the speaker, and by checking it with the skin through the vibration generator. It can be recognized by checking. As a result, the operator can grasp the current posture of the compaction machine 1 through the notification device 80, for example, perform an operation to alleviate the inclination of the compaction machine 1 in the roll direction, and roll by the compaction machine 1. Pressure work can be performed safely.

Next, a second embodiment of the present invention will be described. The second embodiment of the present invention is different from the angle detection device 70 and the control device 90 of the first embodiment in the angle detection method in the angle detection device 70a and the processing method in the control device 90a. Hereinafter, configurations having the same or similar functions as the components of the first embodiment are designated by the same reference numerals as those of the first embodiment, the description thereof will be omitted, and different parts will be described.

FIG. 16 is a functional block diagram showing the configuration of the posture grasping device 60a according to the second embodiment of the present invention. As shown in FIG. 16, the posture grasping device 60a includes an angle detecting device 70a, a notification device 80, and a control device 90a.

The angle detection device 70a according to the second embodiment is a fourth angle sensor 72a, _{which is attached to the front traveling device 20 and is configured to detect the front roll relative angle AFR1} of the front traveling device 20 with respect to the rear traveling device 30. or attached to the rear travel unit 30, a fifth angle sensor 74a configured to detect Riaroru relative angle a _RR1 of the rear traveling device 30 for the front running device 20. The fourth angle sensor 72a includes an encoder and the like that can detect the relative rotation position of the front traveling device 20 with respect to the rear traveling device 30. The fourth angle sensor 72a is not limited to the above-mentioned encoder type as long as it can detect the relative rotation position of the front traveling device 20 with respect to the rear traveling device 30. Further, the fifth angle sensor 74a includes an encoder and the like that can detect the relative rotation position of the rear traveling device 30 with respect to the front traveling device 20. The fifth angle sensor 74a is not limited to the above-mentioned encoder type as long as it can detect the relative rotation position of the rear traveling device 30 with respect to the front traveling device 20.

The control device 90a according to the second embodiment receives the front roll relative angle signal based on the _{front roll relative angle A FR1} or the rear roll relative angle signal based on the rear _{roll relative angle A RR1 and receives the front roll relative angle A FR1.} or Riaroru compares the relative angle _{a RR1} third threshold _{T 3,} which is previously stored, the front roll relative angle _{a FR1} or Riaroru relative angle _{a RR1} is tipping the traveling device 10 is greater than the third threshold value _{T 3} It is configured to determine that there is a sign and transmit a fall sign signal as an alarm signal. Here, the third threshold value T ₃ is stored in advance in the storage unit 98a, and the traveling device 10 actually falls over based on various specifications such as the weight, the position of the center of gravity, and the power performance of the traveling device 10. The front roll relative angle A _FR1 or the rear roll relative angle A _RR1 is set smaller than the relative angle A FR1.

Furthermore, the control device 90a according to the second embodiment, the third angle sensor 76 receives a steering angle signal based on the steering angle A _FS (FIG. 3), the third threshold value T based on the steering angle signal ₃ is corrected to calculate the third correction threshold T _3A , the front roll relative angle A _FR or the rear roll relative angle A _RR is compared with the third correction threshold T _3A, and the front roll relative angle A _FR or the rear roll relative angle A is compared. _{When the RR} is larger than the third correction threshold value T _3A , it is determined that the traveling device 10 has a sign of a fall, and a fall sign signal is transmitted as an alarm signal. Here, the processing unit 94a is configured to make the third correction threshold value T _{3A smaller as the steering angle AFS is larger.} This is because as the steering angle _AFS increases, a fall occurs at a smaller front roll relative angle A _FR1 or rear roll relative angle A _RR1. The processing unit 94a is configured to separate third correction threshold T _3B larger the pitch angle A _MP to be described later so as to be smaller than the third correction threshold T _3A. The pitch angle A _MP while turning angle A _FS is not 0 ° is increased, because a fall occurs with a smaller front roll relative angle A _FR1 or Riaroru relative angle A _RR1.

Further, the control device 90a according to the second embodiment receives the front roll relative angle signal based on the _{front roll relative angle A FR1} or the rear roll relative angle signal based on the rear _{roll relative angle A RR1 and receives the front roll relative angle.} comparing the fourth threshold value _{T 4,} which is previously stored a _FR1 or Riaroru relative angle _{a RR1,} front roll relative angle _{a FR1} or Riaroru relative angle _{a RR1} is the travel device 10 is greater than the fourth threshold value _{T 4} It is configured to determine that there is a sign of failure and transmit a failure sign signal as an alarm signal. Here, the fourth threshold value T ₄ is stored in the storage unit 98a in advance, and is based on various specifications such as the weight, the position of the center of gravity, and the movable range of the components (for example, the front traveling device) of the traveling device 10. Therefore, the traveling device 10 is set to be smaller than _{the front roll relative angle A FR1} or the rear roll relative angle A _{RR1 in} which the traveling device 10 actually fails.

Furthermore, the control device 90a according to the second embodiment receives a steering angle signal based on the steering angle A _FS from the third angle sensor (Fig. 3), the fourth threshold value T ₄ on the basis of the steering angle signal calculates a fourth correction threshold _{T 4A} to correct the front roll relative angle _{a FR1} or Riaroru relative angle _{a RR1} and comparing the fourth correction threshold _{T 4A,} the front roll relative angle _{a FR1} or Riaroru relative angle _{a RR1} Is larger than the fourth correction threshold value T _4A , it is determined that the traveling device 10 has a sign of failure, and a failure sign signal is transmitted as an alarm signal. Specifically, the processing unit 94a is configured to make the fourth correction threshold value T _{4A smaller as the steering angle AFS is larger.} This is because as the steering angle _AFS increases, a failure occurs at a smaller front roll relative angle A _FR1 or rear roll relative angle A _RR1. The processing unit 94a is configured to separate the fourth correction threshold T _4B larger the pitch angle A _MP to be described later so as to be smaller than the fourth correction threshold T _4A. The pitch angle A _MP while turning angle A _FS is not 0 ° is increased, because a failure occurs in a smaller front roll relative angle A _FR1 or Riaroru relative angle A _RR1.

Next, with reference to FIG. 17, when a sign of a fall occurs in the traveling device 10, a process for causing the operator to grasp the sign (hereinafter, also referred to as “second fall sign grasping process”) will be described. .. FIG. 17 is a flowchart showing a process for grasping a fall sign in the posture grasping device 60a according to the second embodiment of the present invention. Regarding the second fall sign grasping process, the same processing as the first fall sign grasping process described above is designated with the same reference numerals and the description thereof is omitted, and the part different from the first fall sign grasping process. Will be explained only. Specifically, the description of S230, S240, S270, S280, and S290 shown in FIG. 17 will be omitted.

The posture grasping device 60a executes the second fall sign grasping process at a predetermined cycle during the operation of the compaction machine 1. First, the receiving unit 92a receives the front roll relative angle signal from the fourth angle sensor 72a. As a result, the control device 90a _{acquires the front roll relative angle A FR1} (S600). Next, the processing unit 94a _{compares the front roll relative angle A FR1} with the pre-stored third threshold value T ₃ (S620), and when the front roll relative angle A _FR1 is larger than the third threshold value T ₃ (S620). Yes), it is determined that the traveling device 10 has a sign of a fall. After that, the transmission unit 96a transmits a fall sign signal as an alarm signal to the notification device 80, and the notification device 80 gives a predetermined alarm (for example, display on a liquid crystal monitor) based on the fall sign signal transmitted from the transmission unit 96a. (S730), and the process ends.

On the other hand, the processing unit 94a, when the front roll relative angle _{A FR1} is not greater than the third threshold _{T 3} (No in S620), the processing to S230 proceeds. Then, if the steering angle _{A FS} by the processing unit 94a is determined not to be 0 ° (No in S240), the processing unit 94a includes a first corrects the third threshold _{T 3} on the basis of the steering angle _{A FS} 3 The correction threshold T _3A is calculated (S650), the front roll relative angle A _FR1 is compared with the third correction threshold T _3A (S660), and the front roll relative angle A _FR1 is larger than the third correction threshold T _3A. (Yes in S660), it is determined that the traveling device 10 has a sign of a fall. The notification device 80 issues a predetermined alarm (for example, display on the liquid crystal monitor) based on the fall sign signal transmitted from the transmission unit 96a (S730), and the process ends.

On the other hand, when the processing unit 94a determines that the front roll relative angle A _FR1 is not larger than the third correction threshold value T _3A (No in S660), the processing proceeds to S270. Then, (No in S290) if the pitch angle _{A MP} by the processing unit 94a is 0 ° judged not, the processing unit 94a is different by correcting the third correction threshold _{T 3A} based on the pitch angle _{A MP} The third correction threshold T _3B is calculated (S700), the front roll relative angle A _FR1 is compared with another third correction threshold T _3B (S710), and the front roll relative angle A _FR1 is another third correction threshold T. _{If it is larger than 3B} (Yes in S710), it is determined that the traveling device 10 has a sign of tipping over. The notification device 80 issues a predetermined alarm (for example, display on the liquid crystal monitor) based on the fall sign signal transmitted from the transmission unit 96a (S730), and the process ends. Here, it has been explained that the second fall sign grasping process determines the fall sign of _{the traveling device based on the front roll relative angle A FR1} , but the second fall sign grasping process is the rear roll relative angle A. A sign of a fall of the traveling device may be determined based on _RR1.

Next, with reference to FIG. 18, when a sign of failure occurs in the traveling device 10, a process for causing the operator to grasp the sign (hereinafter, also referred to as “second failure sign grasping process”) will be described. .. FIG. 18 is a flowchart showing a process for grasping a failure sign in the posture grasping device 60a according to the second embodiment of the present invention. Regarding the second failure sign grasping process, the same processes as the above-mentioned first fall sign grasping process and the second fall sign grasping process are designated by the same reference numerals and the description thereof is omitted. Only the part that is different from the fall sign grasping process will be explained. Specifically, the description of S600, S230, S240, and S270 to S290 shown in FIG. 17 will be omitted.

The posture grasping device 60a executes the second failure sign grasping process at a predetermined cycle during the operation of the compaction machine 1. The processing unit 94a compares the front roll relative angle A _FR1 with the pre-stored fourth threshold value T ₄ (S820), and when the front roll relative angle A _FR1 is larger than the fourth threshold value T ₄ (Yes in S820). , It is determined that the traveling device 10 has a sign of failure. After that, the notification device 80 issues a predetermined alarm (for example, display on the liquid crystal monitor) based on the failure sign signal transmitted from the transmission unit 96a (S930), and the process ends.

On the other hand, the processing unit 94a, when the front roll relative angle _{A FR1} is not greater than the fourth threshold value _{T 3} (No in S820), the processing to S230 proceeds. Then, if the steering angle _{A FS} by the processing unit 94a is determined not to be 0 ° (No in S240), the processing unit 94a includes a first corrects the fourth threshold value _{T 3} on the basis of the steering angle _{A FS} 4 When the correction threshold value T _4A is calculated (S850), the front roll relative angle A _FR1 is compared with the fourth correction threshold value T _4A (S860), and the front roll relative angle A _FR1 is larger than the fourth correction threshold value T _4A. (Yes in S860), it is determined that the traveling device 10 has a sign of failure. The notification device 80 issues a predetermined alarm (for example, display on the liquid crystal monitor) based on the fall sign signal transmitted from the transmission unit 96a (S930), and the process ends.

On the other hand, when the processing unit 94a determines that the front roll relative angle A _FR1 is not larger than the fourth correction threshold value T _4A (No in S860), the processing proceeds to S270. Then, (No in S290) if the pitch angle _{A MP} is 0 ° judged not by the processing unit 94a, processing unit 94a is different by correcting the fourth correction threshold _{T 4A} based on the pitch angle _{A MP} The fourth correction threshold T _4B is calculated (S900), the front roll relative angle A _FR1 is compared with another fourth correction threshold T _4B (S910), and the front roll relative angle A _FR1 is another fourth correction threshold T. _{If it is larger than 3B} (Yes in S910), it is determined that the traveling device 10 has a sign of failure. The notification device 80 issues a predetermined alarm (for example, display on a liquid crystal monitor) based on the failure sign signal transmitted from the transmission unit 96a (S930), and the process ends. Here, it has been explained that the second failure sign grasping process is _{to determine the failure sign of the traveling device 10 based on the front roll relative angle AFR1} , but the second fall sign grasping process is the rear roll relative angle. A sign of failure of the traveling device 10 may be determined based on _RR1.

Next, the operation and effect of the compaction machine 1 according to the second embodiment of the present invention will be described.

According to compaction machine 1 according to a second embodiment of the present invention, the control unit 90a, the front roll relative angle A _FR1 or Riaroru relative angle A _RR1 overturning the traveling device 10 is greater than the third threshold value T ₃ It is configured to determine that there is a sign of a fall and transmit a fall sign signal as an alarm signal. Therefore, when it is determined that the compaction machine 1 during the compaction operation _{is traveling with an excessively large front roll relative angle A FR1} or rear roll relative angle A _RR1 , the control device 90a controls the compaction. The posture of the machine 1 is transmitted to the notification device 80 as a fall sign signal. As a result, the operator can grasp that the compaction machine 1 has a sign of tipping through the notification device 80, and for example, reduce _{the front roll relative angle A FR1} or the rear roll relative angle A _{RR1 of the compaction machine 1.} It is possible to safely perform the compaction work by the compaction machine 1 by performing an operation or the like.

Further, according to the compaction machine 1 according to the second embodiment of the present invention, the control device 90a _{corrects the third threshold value T 3} based on the steering angle signal to calculate the third correction threshold value T _3A. When the front roll relative angle A _FR1 or the rear roll relative angle A _RR1 is larger than the third correction threshold value T _3A , it is determined that the traveling device 10 has a sign of a fall, and a fall sign signal is transmitted as an alarm signal. ing. Therefore, it is possible to determine the sign of a fall in the compacting machine 1 in compaction operations, in addition to the front roll relative angle A _FR1 or Riaroru relative angle A _RR1 based on steered angle A _FS. Therefore, the operator can surely grasp the sign of the overturning of the rolling machine 1 through the notification device 80 in accordance with the current posture of the rolling machine 1, for example, the front roll of the rolling machine 1. relative angle a _FR1 or perform Riaroru relative angle a _RR1 and steered angle a _FS a smaller operation, etc., can be safely performing rolling compaction operation by compacting machine 1.

Further, according to the compaction machine 1 according to a second embodiment of the present invention, the control device 90a may travel device when the front roll relative angle _{A FR1} or Riaroru relative angle _{A RR1} is larger than the fourth threshold value _{T 4} 10 It is configured to determine that there is a sign of failure and transmit a failure sign signal as an alarm signal. Therefore, when it is determined that the compaction machine 1 during the compaction operation _{is traveling with an excessively large front roll relative angle A FR1} or rear roll relative angle A _RR1 , the control device 90a controls the compaction. The posture of the machine 1 is transmitted to the notification device 80 as a failure sign signal. As a result, the operator can grasp that the compaction machine 1 has a sign of failure through the notification device 80, and for example, reduce _{the front roll relative angle A FR1} or the rear roll relative angle A _{RR1 of the compaction machine 1.} It is possible to safely perform the compaction work by the compaction machine 1 by performing an operation or the like.

Further, according to the compaction machine 1 according to the second embodiment of the present invention, the control device 90a _{corrects the fourth threshold value T 4} based on the steering angle signal to calculate the fourth correction threshold value T _4A. When the front roll relative angle A _FR1 or the rear roll relative angle A _RR1 is larger than the fourth correction threshold value T _4A , it is determined that the traveling device 10 has a sign of failure, and a failure sign signal is transmitted as an alarm signal. ing. Therefore, it is possible to determine the sign of failure in the compacting machine 1 in compaction operations, in addition to the front roll relative angle A _FR1 or Riaroru relative angle A _RR1 based on steered angle A _FS. Therefore, the operator can surely grasp the sign of failure of the compaction machine 1 through the notification device 80 in accordance with the current posture of the compaction machine 1, for example, the front roll of the compaction machine 1. relative angle a _FR1 or perform Riaroru relative angle a _RR1 and steered angle a _FS a smaller operation, etc., can be safely performing rolling compaction operation by compacting machine 1.

Although the preferred embodiment of the present invention has been described above, the present invention is not limited to the compaction machine 1 according to the above embodiment, and includes all aspects included in the concept of the present invention and the scope of claims. .. In addition, each configuration may be selectively combined as appropriate so as to achieve the above-mentioned problems and effects. For example, the shape, material, arrangement, size, etc. of each component in the above embodiment can be appropriately changed depending on the specific embodiment of the present invention.

1 Rolling machine 10 Traveling device 20 Front traveling device 24 Front wheel 30 Rear traveling device 36 Rear wheel 40 Coupling device 60, 60a Attitude grasping device 70, 70a Angle detection device 72 First angle sensor 74 Second angle sensor 76 Third angle sensor 72a 4th angle sensor 74a 5th angle sensor 80 Notification device 90a Control device A _FR Front roll angle A _FR1 Front roll relative angle A _RR Rear roll angle A _RR1 Rear roll relative angle A _Diff roll angle difference A _FS Steering angle T ₁ 1st Threshold T _1A 1st correction threshold T ₂ 2nd threshold T _2A 2nd correction threshold T ₃ 3rd threshold T _3A 3rd positive threshold T ₄ 4th threshold T _4A 4th correction threshold

Claims (10)

The front traveling device including the front wheels, the rear traveling device including the rear wheels, the front traveling device and the rear traveling device are connected so as to be relatively rotatable in the roll direction, and the front traveling device is connected to the rear traveling device. In a rolling machine provided with a traveling device including a coupling device that is rotatably connected in the steering direction.
Further equipped with a posture grasping device configured to grasp the posture of the traveling device,
The posture grasping device is
An angle detection device attached to the traveling device and configured to detect the angle of the traveling device, and an angle detecting device.
A roll angle signal based on the roll angle of the traveling device is received from the angle detecting device, the posture of the traveling device is determined based on the roll angle signal, and a predetermined alarm signal is transmitted based on the result of the determination. With a control device configured to
A compaction machine comprising a notification device configured to receive the alarm signal and notify a predetermined alarm based on the alarm signal. The angle detecting device is attached to the front traveling device, and is attached to the rear traveling device and a first angle sensor configured to detect the front roll angle of the front traveling device included in the roll angle. Including a second angle sensor configured to detect the rear roll angle of the rear traveling device included in the roll angle.
The control device receives the front roll angle signal based on the front roll angle and the rear roll angle signal based on the rear roll angle, calculates the roll angle difference between the front roll angle and the rear roll angle, and calculates the roll angle difference. Is compared with the first threshold stored in advance, and when the roll angle difference is larger than the first threshold, it is determined that the traveling device has a sign of a fall, and a fall sign signal is transmitted as the warning signal. The compaction machine according to claim 1, wherein the compaction machine is configured as follows. The angle detection device further comprises a third angle sensor attached to the coupling device and configured to detect the steering angle of the front traveling device with respect to the rear traveling device.
The control device receives a steering angle signal based on the steering angle from the third angle sensor, corrects the first threshold value based on the steering angle signal, and calculates the first correction threshold value. The roll angle difference is compared with the first correction threshold value, and when the roll angle difference is larger than the first correction threshold value, it is determined that the traveling device has a sign of a fall, and the fall sign signal is used as the warning signal. 2. The compaction machine according to claim 2, wherein the compaction machine is configured to transmit. The angle detecting device is attached to the front traveling device, and is attached to the rear traveling device and a first angle sensor configured to detect the front roll angle of the front traveling device included in the roll angle. Including a second angle sensor configured to detect the rear roll angle of the rear traveling device included in the roll angle.
The control device receives the front roll angle signal based on the front roll angle and the rear roll angle signal based on the rear roll angle, calculates the roll angle difference between the front roll angle and the rear roll angle, and calculates the roll angle difference. Is compared with the second threshold value stored in advance, and when the roll angle difference is larger than the second threshold value, it is determined that the traveling device has a sign of failure, and a failure sign signal is transmitted as the warning signal. The compaction machine according to claim 1, wherein the compaction machine is configured as follows. The angle detection device further comprises a third angle sensor attached to the coupling device and configured to detect the steering angle of the front traveling device with respect to the rear traveling device.
The control device receives a steering angle signal based on the steering angle from the third angle sensor, corrects the second threshold value based on the steering angle signal, and calculates the second correction threshold value. The roll angle difference is compared with the second correction threshold value, and when the roll angle difference is larger than the second correction threshold value, it is determined that the traveling device has a sign of failure, and the failure sign signal is used as the warning signal. 4. The compaction machine according to claim 4, wherein the compaction machine is configured to transmit. The angle detecting device is a fourth angle sensor attached to the front traveling device and configured to detect the front roll relative angle of the front traveling device with respect to the rear traveling device included in the roll angle, or the said. Includes a fifth angle sensor attached to the rear travel device and configured to detect the rear roll relative angle of the rear travel device with respect to the front travel device included in the roll angle.
The control device receives the front roll relative angle signal based on the front roll relative angle or the rear roll relative angle signal based on the rear roll relative angle, and is stored in advance as the front roll relative angle or the rear roll relative angle. When the front roll relative angle or the rear roll relative angle is larger than the third threshold value, it is determined that the traveling device has a sign of a fall, and a fall sign signal is used as the warning signal. The compaction machine according to claim 1, wherein the compaction machine is configured to transmit. The angle detection device further comprises a third angle sensor attached to the coupling device and configured to detect the steering angle of the front traveling device with respect to the rear traveling device.
The control device receives a steering angle signal based on the steering angle from the third angle sensor, corrects the third threshold value based on the steering angle signal, and calculates the third correction threshold value. The front roll relative angle or the rear roll relative angle is compared with the third correction threshold value, and when the front roll relative angle or the rear roll relative angle is larger than the third correction threshold value, the traveling device shows a sign of tipping over. The rolling compaction machine according to claim 6, wherein the rolling compaction machine is configured to determine that the presence is present and transmit a fall sign signal as the warning signal. The angle detecting device is a fourth angle sensor attached to the front traveling device and configured to detect the front roll relative angle of the front traveling device with respect to the rear traveling device included in the roll angle, or the said. Includes a fifth angle sensor attached to the rear travel device and configured to detect the rear roll relative angle of the rear travel device with respect to the front travel device included in the roll angle.
The control device receives the front roll relative angle signal based on the front roll relative angle or the rear roll relative angle signal based on the rear roll relative angle, and is stored in advance as the front roll relative angle or the rear roll relative angle. When the front roll relative angle or the rear roll relative angle is larger than the fourth threshold value, it is determined that the traveling device has a sign of failure, and a failure sign signal is used as the warning signal. The compaction machine according to claim 1, wherein the compaction machine is configured to transmit. The angle detection device further comprises a third angle sensor attached to the coupling device and configured to detect the steering angle of the front traveling device with respect to the rear traveling device.
The control device receives a steering angle signal based on the steering angle from the third angle sensor, corrects the fourth threshold value based on the steering angle signal, and calculates the fourth correction threshold value. The front roll relative angle or the rear roll relative angle is compared with the fourth correction threshold value, and when the front roll relative angle or the rear roll relative angle is larger than the fourth correction threshold value, there is a sign of failure in the traveling device. The compaction machine according to claim 8, wherein the compaction machine is configured to determine that there is a failure sign signal and transmit a failure sign signal as the alarm signal. The notification device includes a visual information issuing means configured to issue the warning by visual information, an auditory information issuing means configured to issue the warning by auditory information, and a tactile sense of the warning. The compaction machine according to any one of claims 1 to 9, wherein the compaction machine comprises at least one of tactile information reporting means configured to be alerted by information.

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