JPS62146303A - Turning pressure recording system of compacting machine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] [Industrial application field]

The present invention relates to a system for managing constant pressure data by recording the constant pressure range and compaction work from the traveling locus of a compaction machine such as a compactor or a road roller.

[Conventional technology]

As conventional pressure recording systems for compaction machines, various configurations have been proposed for systems that use sensors to detect the forward and backward movement of wheels, count the number of reciprocations, calculate the number of constant pressures, and perform work management. . However, with the above configuration, although it is possible to simply record and manage the number of constant pressures, it is necessary to manually record the constant pressure range in which areas the pressure has been constant, which is a burden for the operator and a burden on the operator. Due to management reasons, it was not possible to obtain objective data.

[Problems to be solved by the invention]

This invention was created as a result of intensive research in view of the above circumstances, and its main problem is to detect the travel trajectory of a compaction machine and recognize the constant pressure range based on the travel trajectory. It is possible to provide a compaction machine pressure recording system. Another object of the present invention is to provide a compaction machine pressure recording system capable of recording the constant pressure range and the number of constant pressures from the traveling locus of the compaction machine.

[Means to solve the problem]

In order to solve the above-mentioned problems, this invention has the following features as shown in the functional block diagram of FIG. (b) providing a position detecting means 6 consisting of an absolute position detecting means for detecting the absolute position of the compaction machine 5 based on a reference point at a predetermined position on the ground; Alternatively, a speed calculation means 111A is provided to detect the traveling speed of the compaction machine based on the signal detected from the speed detection means 6'. (C) The compaction machine is operated based on the signal detected from the position detection means 6. (d) recording the speed data calculated by the speed calculation means and the data of the travel path calculated by the travel path calculation means; A technical measure is taken in which recording control means 4 is provided for outputting data to external storage 7 or data communication means 40A or 40B. Moreover, as shown in the functional block diagram of FIG. 2, (al,!
(b) providing a data input means M for inputting indenter fixed range and other work schedule condition data; (b) relative position detection means mounted on the compaction machine 5 to detect the relative position of the compaction machine 5; and/or (C) A position detecting means 6 consisting of an absolute position detecting means for detecting the absolute position of the compaction machine 5 based on a reference point at a predetermined position on the ground is provided; (C) The above position detecting means 6 or speed detection. (d) A speed calculation means IA is provided for detecting the running speed of the compaction machine 5 based on the signal detected from the position detection means 6. (e) A driving trajectory calculating means IB for calculating a position or a steering trajectory is provided. (f) providing a pressure testing completion confirmation means 3 for determining whether or not the pressure work at the determined pressure point has been completed; (g) the above. Data writing means 40A for recording data on pressure work or travel trajectory at pressure points and writing the data into an external storage body 40A
Alternatively, a technical measure is taken to provide a recording control means 4 that outputs to the data communication means 40B.

[For use]

In the functional block diagram of FIG. 1, the running speed of the compaction machine 5 is first detected in time series by the speed calculating means IA based on the signals detected from the position detecting means 6 to the speed detecting means 6', and then Time-series position data of the compaction machine 50 is calculated by the trajectory calculation means IB to obtain a travel trajectory consisting of continuous position data. The traveling speed data and the traveling trajectory data are then sent to the recording control means 4 and written to the data writing device 4 into the external storage body 7.
It is output to 0A or data communication means 40B. It is preferable to provide a data input means for manually inputting data such as the code number of the operator and the model of the compaction machine 5 and sending it to the recording control means 4 so that the above data can be recorded together. The data stored in the external storage 7 and the data sent via data communication are input to a data processing device such as a host computer on the administrator's side, and the travel locus data is analyzed to determine the range where constant pressure has been applied. The locus of reciprocation) and the number of reciprocations (the number of reciprocations described above) can be determined, and the traveling speed data corresponding to the pressure point can be determined based on time (sampling interval, etc.). In addition to the above configuration, the functional block diagram in Figure 2 includes data on the planned pressure testing range, data on pressure testing work conditions (number of pressure tests, pressure testing speed, and soil properties such as the required design compaction density and soil moisture content). data (such as weight data of the compaction machine) is input via the data input means 12. Based on this input data, the pressure detection point determining means 2 compares the planned pressure detection range data with the current position data calculated as the travel trajectory to determine whether or not it is a pressure point. Moreover, the pressure completion confirmation means 3 can determine whether or not pressure testing is completed based on whether or not the pressure testing work actually performed satisfies the pressure testing scheduled work conditions inputted in advance. The rest of the configuration is the same as the functional block diagram of FIG. 1, so the explanation will be omitted.

【Example】

Hereinafter, a preferred embodiment in which the pressure recording system for a compaction machine according to the present invention is used in a compactor will be described based on the block diagram of FIG. 3. Rotary encoders 60.61 are attached to the left and right driving wheels 50.51 of the compactor 5 as relative position detection sensors 6, respectively. The rotational speed data of the left and right driving wheels 50.51 detected from the rotational encoder 60.61 is input to the pressure detection work recording device 10 having a microcomputer configuration. This pressure testing work recording device 10 includes an I10 boat, a memory,
It has an ordinary microcomputer configuration consisting of a CPU, and includes a rotary encoder 60, 61, which is an example of the above-mentioned relative position detection means, an absolute position detection sensor 11, and is stored in an external storage body 7' via appropriate means. A data input device 12 consisting of a data reading section and a manual switch for reading data, an external display device 13, and a writing device 40A or a data communication device 40B for writing data to the external storage 7 are connected. There is. Here, the data reading section of the data input device 12 can input the expected pressure testing range, constriction work condition data, etc. stored in the external storage 7 in advance. The scheduled pressure testing range data is a map (expressed in two-dimensional coordinates) of the scheduled pressure testing range that is scheduled to be performed in a work unit time (for example, one day).
It consists of data. Next, the pressure testing schedule data includes the design required compaction density for each shivering pressure point, soil data such as soil moisture content, data for determining the number and speed of pressure testing, or directly the number of pressure testing. and speed data. Further, a manual switch of the data input device 12 allows manual input of an operator's identification number, model code, and other data. The arithmetic processing section 10A of the pressure holding work recording device 10 includes a speed calculation means IA, a travel locus calculation means 1B, a pressure detection point determination means 2, a pressure detection completion confirmation means 3, and a recording control means 4.
, a position confirmation means 8, and a position data correction means 9. Therefore, the operation of the arithmetic processing section 10A will be explained with reference to the flowchart shown in FIG. First, in step (2), the pressure testing scheduled range data and pressure testing work condition data stored in the external storage 7'' are inputted via the data reading section of the data input device 12.Next, in step (2), the pressure testing scheduled range data and pressure testing work condition data stored in the external memory 7'' are inputted via the data reading section of the data input device 12. The rotational speed data of the left and right driving wheels 50.51 detected from 60°61 is input.Based on this rotational speed data, in step
Based on the rotation speed data per unit time, the traveling speed is calculated by averaging both rotation speed data. In this embodiment, the running speed is detected by the position detection sensor, but instead of the above configuration, a speed sensor may be provided and the running speed may be calculated using the speed calculating means IA. Next, in step (2), position coordinates are calculated by the travel trajectory calculating means IB. In other words, the distance traveled from the calculation starting point is calculated by integrating the above-mentioned average rotational speed with the length of the outer circumference of the driving wheels, and then the difference between the left and right rotational speeds is determined, and the steering angle is calculated based on that. do. Further, it is possible to determine whether the vehicle is moving forward or backward based on the direction of rotation (forward or reverse direction). However, in the case of a sensor that cannot determine whether the vehicle is moving forward or backward based on the rotational speed alone, a forward or backward motion determination sensor 65 that determines whether the driving wheels 50, 51 are moving forward or backward may also be provided. For example, the forward/reverse motion determination sensor 65 may be one that detects forward or backward motion based on the rotational direction of the driving wheels, one that issues a detection signal depending on whether or not the rear clutch is engaged, one that detects the drive of a reversing device, and other sensors that detect the movement of the wheels or vehicle. Any configuration may be used as long as it detects forward and backward movement of the vehicle. In this way, the travel distance, travel speed, and steering angle can be calculated from the rotation speed data of the left and right driving wheels 50, 51. For example, the map of the work area is captured in advance as two-dimensional coordinates, and the location (x, y
), the travel distance and steering angle can be determined to calculate the position of the compactor 5 on the coordinates, and by connecting the positions in consecutive order, the travel trajectory can be determined on the map coordinates. In this invention, it goes without saying that the configuration for determining the traveling trajectory of the compaction machine is not limited to the above embodiment. In this embodiment, the left and right driving wheels 50 and 51 of the front wheels that perform steering are used as relative position detection sensors as the position detection sensor 6.
Although a configuration using a sensor (a rotary encoder as an example) for detecting the number of rotations of the rotor is illustrated, other configurations using a relative position detection sensor include the following configurations. (1) As the 0 position detection sensor 6, a sensor for detecting the speed of the compaction machine (data from a speedometer may be used) and a sensor for detecting the steering angle are provided, and the speed is determined by the traveling trajectory calculation means. A configuration that calculates a travel distance by integrating speed data detected from a sensor over time, and calculates a travel trajectory by combining the travel distance and the detected steering angle. Next, absolute position detection sensor 1 is used as a position detection sensor.
1 is used in the following configuration. (1) As the 1-position detection sensor 11, electromagnetic waves, light, FM
A sensor that receives waves, microwaves, etc. is used. Then, it becomes a reference point within the work area and transmits electromagnetic waves, light, and FM.
A fixed object (standard position pole, etc.) that emits waves, microwaves, etc. is installed in advance, the direction in which the electromagnetic waves, etc. are received is detected by the sensor every unit time, and the detected angle data is collected by the traveling trajectory calculation means. Based on the distance between the compaction machine and the fixed object, calculate the absolute position of the compaction machine,
A configuration that calculates a travel trajectory by linking this continuous position data. (2) As the 1-position detection sensor 11, a sensor that emits ultrasonic waves or infrared rays from the vehicle side and measures the reflection time is used. A fixed object (such as a standard position ball) is installed in advance as a reference point on the ground within the work area, and the time it takes for the ultrasonic waves emitted from the sensor at fixed time intervals to reflect back to the fixed object is measured, The traveling trajectory calculation means calculates the distance between the compaction machine and the fixed object based on the reflection time, calculates the absolute position of the compaction machine, and connects this continuous position data to calculate the traveling trajectory. There are configurations that calculate . There is also a configuration in which the relative position detection sensor 6 and the absolute position detection sensor 11 are used together. In addition, check points are set up, and calculations are usually made using the relative position detection sensor 6 by the traveling trajectory calculation means, and the position is calculated using the absolute position detection sensor 11 at the check point position. It compares whether or not it matches the trajectory data calculated by the relative traveling trajectory calculation means, that is, the current position data, and if it does not match, it is corrected to the position data detected using the absolute position detection sensor 11 and then replaced. This is a configuration in which the traveling trajectory is calculated relatively again by the traveling trajectory calculation means as a starting point for calculation (this has the advantage of requiring fewer fixed objects (checkpoints)). The traveling locus data (latest position coordinate data) of the compactor 5 calculated in this way is then determined in step (3) as to whether or not there is a reference point for position coordinate calculation by the absolute position detecting means 11. If there is no reference point, the process jumps to step (2), whereas if there is a reference point, the position coordinates are calculated by the position confirming means 8 based on the detection signal of the absolute position detecting means 11 in step (2). The calculated position coordinates and the position coordinates calculated by the traveling trajectory calculation means IB are input to the position data correction means 9. If both data match, the process proceeds to step (2), and if they do not match, step In (2), the position data inputted from the position confirmation means 8 is replaced with correct position data, and the calculation of the travel trajectory calculation means 1 is continued based on it. Next, in step (3), the pressure detection point determining means 2 determines whether the compactor 5 has entered a pressure point based on the position coordinate data and the pressure detection scheduled range data input from the data input device 12. . Here, if the pressure detection point is determined, the next step [phase] is
The blast pressure completion confirmation means 3 determines whether or not the predetermined pressure testing work has been performed at the cough pressure point. That is, this pressure test completion confirmation means 3 determines the number of constant pressure tests, that is, the number of forward and backward movements of the traveling trajectory, when the number of pressure tests or the speed is preset based on data input from the data input device 12, for example. It is configured to count and determine that the constant pressure has ended when the number of pressure tests under the preset conditions is reached, or the operator can manually operate the pressure test end switch by turning on the pressure test end switch when the pressure test work at the relevant location is completed, and the work is completed. There are configurations to be determined. When the pressure testing completion confirmation means 3 confirms the completion of the pressure holding work at the pressure testing point, the traveling speed at the pressure testing point (pressure testing speed) is sent to the recording control means 4 via the speed calculation means IA. . In addition, the position data of the pressure testing point is provided by the pressure testing completion confirmation means 3.
It is sent to the recording control means 4 together with the number of constant pressures confirmed in . Further, the compaction machine model data or vehicle weight data can be entered by the operator using a manual switch, or if they have been written in advance in the external storage 7, they can be input via a reading device or in the pressure inspection work recording device 10 (not shown). If it is stored in a memory in advance, it is sent to the recording control means 4 via the memory or the like. This recording control means 4 outputs management data such as the traveling trajectory of the compactor 5, the pressure suppression range, the number of constant pressures, the pressure detection speed, the identification code of the operator, and the compactor vehicle type to the writing device 40A and stores it in the external storage 7. or data communication device 4
This allows data to be input directly to an external data processing device such as a host computer via the 0B. Next, in step 0, it is determined whether the work is finished. This is determined by, for example, turning on a work end switch (not shown) by the operator. If the work is completed, the above procedure is completed, and if the work is to be continued, the process returns to step (2) and the above procedure is repeated. The external storage device 7 in which the data is stored is removed from the suppression work recording device 10 when the work is completed, and the data is input to a data processing device located at an external management office or the like via a reproducing means. This external storage 7 can be used regardless of the type of storage medium, such as a card type storage such as an IC card or a laser card, or a storage device such as a RAM bag. Reference numeral 13 in the figure is an external display device, which displays the scheduled pressure testing range data input through the data reading device of the data input device 12, the latest position data calculated by the traveling trajectory calculation means, and the completion of the pressure testing. Confirmation means 3 displays map data such as the range where the completion of the pressure test work has been confirmed, or conversely the planned range of constant pressure work where the pressure test work has not yet been performed, on an image, or displays the number of times the pressure test work has been performed or the remaining pressure work. The number of pressure tests can be displayed externally. In the above embodiment, a compactor is used as the compaction machine, but any machine that performs compaction work such as a road loader, tire roller, etc. is within the technical scope of the present invention. Here, since a road roller consists of a driving wheel (front wheel) and a guide wheel (rear wheel, there are one-wheel, two-wheel, etc.) Since the direction cannot be calculated, in order to relatively calculate the traveling trajectory, a sensor, a steering control device, a steering device (kingpin), etc. that detect the deviation of the left and right end positions of the front wheels that perform steering are required. It is preferable to use a sensor that detects the steering angle from the steering angle. In addition, since the tire roller has tires on the left and right, when calculating the trajectory from the rotation speed of the tires, it is preferable to provide a sensor for detecting the rotation speed on the outermost tire (in the left-right direction). .

【Effect of the invention】

Since this invention has the above configuration, it is possible to detect the travel trajectory of the compaction machine and automatically detect and record the constant pressure range and pressure testing work, reducing the burden on the operator and improving reliability. Able to manage work under high pressure.

[Brief explanation of drawings]

FIG. 1 is a first functional block diagram of a pressure recording system for a compaction machine according to the present invention, FIG. 2 is a second functional block diagram thereof, FIG. 3 is a block diagram showing an embodiment of the present invention, and FIG.
The figure is a flowchart. IA...speed calculation means 1B...traveling trajectory calculation means 2...constant pressure point determination means 3...pressure test completion confirmation means 4...recording control means 5...compactor 6...position detection means 7... External memory 8... Position confirmation means 9... Position data correction means 10... Constriction work recording device 12... Data input device 13... External display device

Claims (2)

[Claims] (1) Relative position detection means mounted on the compaction machine to detect the relative position of the compaction machine and/or a means for detecting the absolute position of the compaction machine based on a reference point at a predetermined position on the ground. position detection means comprising absolute position detection means; speed calculation means for detecting the running speed of the compaction machine based on the signal detected from the position detection means or speed detection means; and detection from the position detection means. a traveling locus calculating means for calculating the position or steering locus of the compaction machine based on the signal; and recording the speed data calculated by the speed calculating means and the data of the traveling locus calculated by the traveling locus calculating means. 1. A compaction pressure recording system for a compaction machine, comprising: a recording control means for writing to an external storage medium or for outputting to a data communication means. (2) A data input means for inputting the scheduled compaction pressure range and other scheduled work condition data, and a relative position detection means mounted on the compaction machine to detect the relative position of the compaction machine and/or a predetermined position on the ground. a position detection means comprising an absolute position detection means for detecting the absolute position of the compaction machine based on a reference point located in the compaction machine; a speed calculating means for detecting the traveling speed of the compaction machine; a traveling trajectory calculating means for calculating the position or steering trajectory of the compaction machine based on the signal detected from the position detecting means; and a position calculated by the traveling trajectory calculating means. a pressure point determining means for determining whether or not the data is included in the planned pressure range inputted by the data input means; and a pressure point determining means for determining whether or not the pressure work at the determined pressure point has been completed. Comprised of a pressure completion confirmation means, and a recording control means for recording data of the pressure work or traveling trajectory at the pressure-loading point and outputting the data to a writing means to an external storage body or to a data communication means. A compaction machine pressure recording system featuring: