WO2022210623A1 - アスファルトフィニッシャ、運搬車両、及びアスファルトフィニッシャの施工支援システム - Google Patents
アスファルトフィニッシャ、運搬車両、及びアスファルトフィニッシャの施工支援システム Download PDFInfo
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- WO2022210623A1 WO2022210623A1 PCT/JP2022/015231 JP2022015231W WO2022210623A1 WO 2022210623 A1 WO2022210623 A1 WO 2022210623A1 JP 2022015231 W JP2022015231 W JP 2022015231W WO 2022210623 A1 WO2022210623 A1 WO 2022210623A1
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- Prior art keywords
- asphalt finisher
- dump truck
- control command
- hopper
- controller
- Prior art date
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- 239000010426 asphalt Substances 0.000 title claims abstract description 172
- 238000010276 construction Methods 0.000 title claims description 21
- 238000001514 detection method Methods 0.000 claims abstract description 66
- 239000000463 material Substances 0.000 claims abstract description 36
- 238000004891 communication Methods 0.000 claims description 72
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- 238000003384 imaging method Methods 0.000 description 85
- 238000000034 method Methods 0.000 description 29
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- 239000010720 hydraulic oil Substances 0.000 description 1
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Images
Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/48—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/004—Devices for guiding or controlling the machines along a predetermined path
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C2301/00—Machine characteristics, parts or accessories not otherwise provided for
- E01C2301/02—Feeding devices for pavers
- E01C2301/04—Independent shuttles
Definitions
- the present invention relates to an asphalt finisher, a transport vehicle, and an asphalt finisher construction support system.
- a tractor Conventionally, a tractor, a hopper installed on the front side of the tractor to receive the pavement material, a conveyor for feeding the pavement material in the hopper to the rear side of the tractor, and a pavement material fed by the conveyor on the rear side of the tractor.
- An asphalt finisher is known which includes a spreading screw and a screed for spreading the pavement material spread by the screw behind the screw.
- the transportation vehicle for example, dump truck
- the driver of the transport vehicle contacts the asphalt finisher by the visual steering operation by the driver of the transport vehicle and the guidance/instruction by the guide.
- the transport vehicle driver may not be able to bring the transport vehicle into contact with the asphalt finisher properly.
- the asphalt finisher includes a tractor, a hopper installed on the front side of the tractor, a conveyor that conveys the pavement material in the hopper to the rear side of the tractor, and a conveyor that conveys the pavement material and spreads it on the road surface.
- a screw that spreads the pavement material in the width direction of the vehicle;
- a screed device that evenly spreads the pavement material spread by the screw on the rear side of the screw; , to generate a control command for controlling the transport vehicle detected by the detection device.
- the burden on the driver of the transportation vehicle is reduced by guiding the transportation vehicle.
- FIG. 1A is a left side view showing an asphalt finisher and a dump truck, which are examples of road machinery according to the first embodiment.
- FIG. 1B is a top view showing an asphalt finisher and a dump truck, which are examples of road machinery according to the first embodiment.
- FIG. 2 is a block diagram showing configurations of an asphalt finisher and a dump truck according to the first embodiment.
- FIG. 3 is a diagram illustrating a processing procedure performed between an asphalt finisher and a dump truck according to the first embodiment;
- FIG. 4 is a diagram illustrating the positional relationship when the dump truck is deviated to the right with respect to the asphalt finisher in the first embodiment.
- FIG. 1A is a left side view showing an asphalt finisher and a dump truck, which are examples of road machinery according to the first embodiment.
- FIG. 1B is a top view showing an asphalt finisher and a dump truck, which are examples of road machinery according to the first embodiment.
- FIG. 2 is a block diagram showing configurations of an asphalt finisher and
- FIG. 5 is a diagram illustrating the positional relationship when the dump truck according to the first embodiment has retreated to the vicinity of the asphalt finisher.
- FIG. 6 is a block diagram showing the configuration of the dump truck of the second embodiment.
- FIG. 7 is a diagram illustrating a processing procedure performed by the dump truck according to the second embodiment;
- FIG. 1 is a diagram showing an asphalt finisher 100 and a dump truck 200, which are examples of road machinery according to the first embodiment. Specifically, FIG. 1A is a left side view and FIG. 1B is a top view. FIG. 1 shows an example in which the dump truck 200 approaches the asphalt finisher 100 while reversing.
- the asphalt finisher 100 is mainly composed of a tractor 1, a hopper 2, and a screed device 3.
- the screed device 3 is a mechanism for spreading pavement material evenly.
- the screed device 3 is a floating screed device that is towed by the tractor 1 and is connected to the tractor 1 via leveling arms 3a.
- the hopper 2 is provided on the front side of the tractor 1 as a mechanism for receiving pavement material.
- the hopper 2 of this embodiment has a mechanism that can be opened and closed in the vehicle width direction by the hopper cylinder 2a about the movable mechanism portions 81a and 81b.
- the asphalt finisher 100 fully opens the hopper 2 and fills the pavement material (for example, asphalt mixture) from the loading platform 201 of the dump truck 200 as a pavement material transport vehicle. be acceptable.
- the pavement material is supplied from the loading platform 201 of the dump truck 200 to the hopper 2 while the dump truck 200 is in contact with the asphalt finisher 100 .
- the asphalt finisher 100 continues traveling (construction) while pushing the dump truck forward.
- a conveyor transports the paving material received in the hopper 2 to the rear side of the tractor 1 .
- the screw spreads the pavement material conveyed by the conveyor and scattered on the road surface in the width direction of the vehicle.
- the screed device 3 evenly spreads the pavement material spread by the screw behind the screw.
- the operator of the asphalt finisher 100 After receiving the pavement material from the loading platform 201 of the dump truck 200, the operator of the asphalt finisher 100 gradually closes the hopper 2 so that the pavement material loaded on the hopper 2 can be placed on the conveyor. After that, when the hopper 2 is fully opened again, the hopper 2 can receive pavement material from the dump truck 200 . Therefore, it is preferable that the driver of the dump truck 200 brings the dump truck 200 into contact with the hopper 2 after confirming that the hopper 2 is fully opened.
- the asphalt finisher 100 is equipped with a roller 2b.
- the roller 2b is installed in front of the hopper 2. As shown in FIG.
- the roller 2b is configured to contact the rear wheel 202 of the dump truck 200, and can rotate together with the rear wheel 202 when the rear wheel 202 of the dump truck 200 is in contact.
- the tractor 1 is a mechanism for running the asphalt finisher 100.
- the tractor 1 moves the asphalt finisher 100 by rotating the front wheels and the rear wheels using the traveling hydraulic motor.
- the travel hydraulic motor rotates by being supplied with hydraulic oil from the hydraulic source.
- the tractor 1 may have crawlers instead of wheels.
- the tractor 1 is equipped with a controller 30, a wireless communication device 40, a main monitor 60, a driver's seat 61, an imaging device 62, an audio output device 63, and the like.
- a cab including a main monitor 60 and a driver's seat 61 is installed on the upper surface of the tractor 1 .
- the imaging device 62 and the audio output device 63 are installed in the center of the front end of the upper surface of the tractor 1 .
- the wireless communication device 40 performs short-range wireless communication directly with devices existing around the asphalt finisher 100, such as the dump truck 200 and the like.
- Wi-Fi registered trademark
- the wireless communication standard of the wireless communication device 40 may be used as the wireless communication standard of the wireless communication device 40 .
- the wireless communication of the present embodiment is not limited to the method using Wi-Fi (registered trademark), and wireless LAN, Bluetooth (registered trademark), or the like may be used.
- the main monitor 60 is a device that displays various information to the operator of the asphalt finisher 100 .
- the main monitor 60 is a liquid crystal display and can display various information according to commands from the controller 30 .
- the main monitor 60 also includes an input device 60 a that receives an operation input from an operator of the asphalt finisher 100 .
- the imaging device 62 is a device that acquires an image of the space in front of the asphalt finisher 100 .
- the imaging device 62 is a camera, and outputs the acquired image to the controller 30 .
- the imaging device 62 may be a distance image camera, an infrared camera, a stereo camera, or the like.
- an example using an imaging device 62 as an example of a device capable of recognizing space will be described.
- this embodiment does not limit the space recognition device to the imaging device 62 .
- any space recognition device that can recognize the space based on the asphalt finisher 100 may be used, and for example, a laser sensor or the like may be used.
- An imaging device 62 (an example of a detection device) according to the present embodiment photographs a space within an imaging area RA1 (an example of a detection range) that exists in front of the asphalt finisher 100 and is indicated by a dashed line in FIGS. 1A and 1B. .
- the imaging device 62 then outputs image information (an example of detection information) regarding the captured image to the controller 30 .
- image information an example of detection information
- the imaging device 62 can image the dump truck 200 existing in the imaging area RA1.
- the audio output device 63 is a device that outputs audio to the surroundings of the asphalt finisher 100 .
- the audio output device 63 is a speaker that outputs audio toward the front of the asphalt finisher 100 , and can output an alarm according to a command from the controller 30 .
- the voice output device 63 may output a voice message.
- the controller 30 is a control device that controls the asphalt finisher 100 .
- the controller 30 is composed of a computer, for example, and has a CPU (Central Processing Unit), an internal memory, and a storage medium.
- the controller 30 performs various controls by causing the CPU to execute programs stored in a storage medium.
- the dump truck 200 is composed of a loading platform 201, a hoist cylinder 270 (see FIG. 5), a first imaging device 261, a second imaging device 262, a controller 230, and a wireless communication device 240.
- the loading platform 201 can be loaded with pavement material to be supplied to the hopper 2 of the asphalt finisher 100 .
- the hoist cylinder 270 is a mechanism for tilting the loading platform 201 rearward, and is provided on the chassis frame of the dump truck 200 .
- the hoist cylinder 270 expands and contracts according to a command from the controller 230 to switch between a tilted state in which the loading platform 201 is tilted rearward and a horizontal state in which the loading platform 201 is horizontal.
- the first imaging device 261 is a device that acquires an image of the space in front of the dump truck 200 .
- the second imaging device 262 is a device that acquires an image of the space behind the dump truck 200 .
- the first imaging device 261 and the second imaging device 262 are cameras, and output the acquired images to the controller 230 .
- the first imaging device 261 and the second imaging device 262 may be a distance image camera, an infrared camera, a stereo camera, or the like.
- an example using a first imaging device 261 and a second imaging device 262 as an example of a device capable of recognizing space will be described.
- this embodiment does not limit the space recognition device to the first imaging device 261 and the second imaging device 262 .
- any space recognition device capable of recognizing the space with the dump truck 200 as a reference may be used.
- a laser sensor or the like may be used.
- the first imaging device 261 captures an image of the space in the imaging region RT1 that exists in front of the dump truck 200 and is indicated by the chain double-dashed lines in FIGS. 1A and 1B.
- the first imaging device 261 outputs image information regarding the captured image to the controller 230 .
- the second image capturing device 262 captures an image of the space within the image capturing area RT2 indicated by the two-dot chain line in FIGS. 1A and 1B, which exists behind the dump truck 200.
- FIG. The second imaging device 262 outputs image information regarding the captured image to the controller 230 .
- the wireless communication device 240 wirelessly communicates with devices existing around the dump truck 200, such as the asphalt finisher 100 and the like.
- Wi-Fi registered trademark
- the wireless communication of the present embodiment is not limited to the method using Wi-Fi (registered trademark), and wireless LAN, Bluetooth (registered trademark), or the like may be used.
- the controller 230 is a control device that controls the dump truck 200 .
- the controller 230 is configured by, for example, a computer, and has a CPU (Central Processing Unit), internal memory, and a storage medium.
- the controller 230 performs various controls by causing the CPU to execute programs stored in a storage medium.
- CPU Central Processing Unit
- the controller 230 Based on the image information received from the first imaging device 261, the image information received from the second imaging device 262, and the detection signals received from various detection sensors (not shown), the controller 230 according to the present embodiment performs ADAS detection. (Advanced driver-assistance systems) can assist driving operations.
- the driving operation assistance system used by the controller 230 according to this embodiment is not limited to the driving operation assistance system using ADAS, and may be another driving operation assistance system.
- the controller 230 may use AD (Autonomous Driving).
- the controller 230 may use any system as long as it can control the movement of the dump truck 200 to the vicinity of the hopper 2 of the asphalt finisher 100 .
- the controller 230 implements control to stop the dump truck 200 near the hopper 2 of the asphalt finisher 100 by ADAS parking assistance. At that time, the controller 230 of the present embodiment may receive a control command from the asphalt finisher 100 via the wireless communication device 240 and perform drive control of the dump truck 200 based on the received control command.
- the hopper 2 and the loading platform 201 In order for the dump truck 200 to supply the pavement material to the hopper 2, the hopper 2 and the loading platform 201 must be aligned. For example, when the hopper 2 of the asphalt finisher 100 and the loading platform 201 of the dump truck 200 are displaced in the left-right direction, the steering angle of the dump truck 200 needs to be adjusted.
- the deviation in the left-right direction can be determined, for example, from the image captured by the imaging device 62 of the asphalt finisher 100 .
- the controller 30 of the asphalt finisher 100 generates a control command for adjusting the steering angle of the dump truck 200 based on the image information from the imaging device 62.
- FIG. 2 is a block diagram showing the configurations of the asphalt finisher 100 and the dump truck 200 according to this embodiment.
- the dump truck 200 includes a first imaging device 261, a second imaging device 262, an input device 263, a controller 230, a wireless communication device 240, and a drive system controller 250.
- the controller 30 detects the steering angle of the dump truck 200 based on the image information from the imaging device 62. This is an example of generating a control command for adjusting
- the controller 230 generates a control command for drive control based on image information from the first imaging device 261, image information from the second imaging device 262, control signals from detection sensors (not shown), and the like. Controller 230 then outputs the generated control command to drive system controller 250 . As a result, the controller 230 realizes support for driving operation by ADAS.
- controller 230 performs various controls by accepting operations by the driver of the dump truck 200 via the input device 263 .
- the controller 230 when receiving a control command from the asphalt finisher 100 via the wireless communication device 240 , the controller 230 outputs the received control command to the driving system controller 250 . As a result, the controller 230 realizes support for driving operation of the dump truck 200 by ADAS in response to a request from the asphalt finisher 100 .
- the asphalt finisher 100 includes an imaging device 62, an input device 60a, a controller 30, and a wireless communication device 40.
- the controller 30 performs control based on image information and the like from the imaging device 62 .
- Controller 30 also transmits a control command for controlling dump truck 200 to dump truck 200 via wireless communication device 40 .
- the controller 30 performs various controls according to the operation by the operator of the asphalt finisher 100 through the input device 60a.
- each functional block included in the controller 30 shown in FIG. 2 is conceptual and does not necessarily need to be physically configured as shown. All or part of each functional block may be functionally or physically distributed and integrated in arbitrary units. Each processing function performed in each functional block is implemented by a program executed by the CPU, in whole or in part. Alternatively, each functional block may be implemented as hardware by wired logic. As shown in FIG. 2, the controller 30 includes a dump truck identification information storage unit 31, an acquisition unit 32, a detection unit 33, a determination unit 34, a generation unit 35, and a communication control unit 36.
- the dump truck identification information storage unit 31 is provided in the storage medium within the controller 30 .
- the dump truck identification information storage unit 31 stores information for identifying the dump truck 200 with which the asphalt finisher 100 communicates.
- the dump truck identification information storage unit 31 stores license plate information of the dump truck 200 and identification information (for example, SSID) of the wireless communication device 240 mounted on the dump truck 200 in association with each other.
- the controller 30 can specify the wireless communication device 240 to be communicated with based on the captured license plate when the imaging device 62 captures an image of the rear portion of the dump truck 200 .
- the acquisition unit 32 acquires image information related to the image captured by the imaging device 62 .
- the acquisition unit 32 also acquires operation information regarding the operation of the asphalt finisher 100 by the operator via the input device 60a.
- the detection unit 33 detects whether or not a transport vehicle such as the dump truck 200 exists in the space ahead of the asphalt finisher 100 based on the acquired image information. Any technique, including known image processing techniques, may be used as the technique for detecting the transportation vehicle such as the dump truck 200 from the image indicated by the image information.
- the detection unit 33 may detect other objects when detecting a transportation vehicle or the like from the image. Other objects may include, for example, road cones, people (such as workers), and small machines (rammers, tampers, etc.). Further, the determination unit 34 recognizes (detects) an object existing around the asphalt finisher 100 (an example of a working machine) based on the image information (output value) of the imaging device 62, which is a type of space recognition device.
- the determination unit 34 may be configured to identify at least one of the type, position, shape, and the like of the object. For example, the determination unit 34 may be configured to distinguish between the dump truck 200 and objects other than the dump truck.
- the determination unit 34 makes various determinations based on image information (an example of detection information) from an imaging device 62 (an example of a detection device). For example, after detecting the dump truck 200 from the image captured by the imaging device 62, the determination unit 34 determines whether or not the loading platform 201 of the dump truck 200 can be positioned at the designated position.
- the specified position is the position of the platform 201 suitable for transferring the pavement material on the platform 201 into the hopper 2, and the position partially overlapping the position of the hopper 2 of the asphalt finisher 100 in the vertical direction. Information about the specified position is typically pre-stored in the storage medium of the controller 30 .
- the information about the specified position is information about a rectangular area having substantially the same size (area) as the loading platform 201 when viewed from above.
- the information about the designated position is information about a rectangular parallelepiped space having substantially the same size (volume) as the loading platform 201 . Therefore, "positioning the bed 201 of the dump truck 200 at the specified position" means, for example, matching the rectangular area corresponding to the actual bed 201 with the rectangular area corresponding to the specified position.
- a rectangular area ZN indicated by a dotted line in FIG. 1B is an example of a rectangular area corresponding to the specified position.
- the imaging device 62 is provided in the asphalt finisher 100 so that the optical axis of the imaging device 62 overlaps the center line of the asphalt finisher 100 in the traveling direction when viewed from above.
- the loading platform 201 of the dump truck 200 is positioned at the designated position.
- the determination unit 34 determines whether or not the image portion corresponding to the center position of the dump truck 200 is shifted rightward or leftward from the center of the image captured by the imaging device 62 . Thereby, the determination unit 34 can determine whether or not the loading platform 201 of the dump truck 200 can be positioned at the designated position.
- Any method may be used to identify the center position of dump truck 200 shown in the image. may
- the determination method described above is shown as an example of a method for determining whether or not the dump truck 200 is positioned at the specified position, in other words, whether or not the dump truck 200 is displaced in the left-right direction. It is. Therefore, other techniques may be used. For example, when both ends of the hopper 2 and both ends of the dump truck 200 are captured by the imaging device 62, the detector 33 detects both ends of the hopper 2 and both ends of the dump truck 200 from the image information. and may be detected. Then, the determination unit 34 determines whether or not the difference between the left end of the dump truck 200 and the left end of the hopper 2 is equal to the difference between the right end of the dump truck 200 and the right end of the hopper 2. good. Thereby, the determination unit 34 can determine whether or not the loading platform 201 of the dump truck 200 can be positioned at the specified position.
- the determination unit 34 also determines the distance between the dump truck 200 and the asphalt finisher 100 .
- the determination unit 34 according to the present embodiment has a correspondence relationship between the size of the dump truck 200 shown in the image and the distance between the rear wheel 202 of the dump truck 200 and the roller 2b of the asphalt finisher 100. there is Thereby, the determination unit 34 can identify the distance between the rear wheel 202 of the dump truck 200 and the roller 2b of the asphalt finisher 100 from the image information acquired by the acquisition unit 32 .
- the determination unit 34 determines the license plate information of the dump truck 200 located in front of the asphalt finisher 100.
- the generating unit 35 generates a control command for controlling the transport vehicle (for example, the dump truck 200) detected from the image captured by the imaging device 62 (an example of the detection information).
- the generated control command is, for example, a rightward or leftward steering command, a deceleration command, a braking command, or the like.
- the control command generated by the generation unit 35 is not limited to the above-described command, and may be various other control commands.
- the control command generated by the generation unit 35 may be a command that can be executed by ADAS or the like, such as turning on/off the headlights or warning the driver.
- the generation unit 35 of this embodiment generates a control command based on the determination result of the determination unit 34 .
- the control command includes, for example, a control command for steering to position the loading platform 201 of the dump truck 200 at a specified position.
- Other control commands include, for example, a control command instructing the dump truck 200 to reverse or stop in order to bring the rear wheels 202 of the dump truck 200 into contact with the rollers 2b.
- the generating unit 35 issues a control command to steer the dump truck 200 to move backward to the left. Generate. Further, when the determining unit 34 determines that the dump truck 200 has shifted leftward, the generating unit 35 generates a control command for steering the dump truck 200 to move backward rightward. do. In this manner, the generation unit 35 generates a control command for steering the dump truck 200 based on the image information from the imaging device 62, thereby correcting the shift in the left-right direction.
- the generating unit 35 generates a control command for stopping or decelerating based on the positional relationship between the rear wheel 202 of the dump truck 200 and the roller 2b of the asphalt finisher 100 specified by the determining unit 34.
- the determination unit 34 determines that the distance between the rear wheel 202 of the dump truck 200 and the roller 2b of the asphalt finisher 100 (hereinafter referred to as "detection distance") is within a first distance (for example, 2 m).
- the generator 35 generates a control command for decelerating the dump truck 200 (brake control).
- the generation unit 35 when the determination unit 34 determines that the rear wheel 202 of the dump truck 200 is positioned near the roller 2b of the asphalt finisher 100, the generation unit 35 generates a control command for stopping the dump truck 200. In this embodiment, the determination unit 34 determines that the rear wheel 202 is positioned near the roller 2b of the asphalt finisher 100 when the detected distance is within a second distance (for example, 10 cm).
- a second distance for example, 10 cm.
- the determination unit 34 of the controller 30 determines whether the hopper 2 is the loading platform 201 based on the positional relationship between the rear wheels of the dump truck 20 and the rollers 2b of the asphalt finisher 100 (the positional relationship between the components of each vehicle). and whether or not the overlap state is maintained. However, in this embodiment, it is not necessary to use the rear wheel as a component of the dump truck 20 or the roller 2b as a component of the asphalt finisher 100 for determining whether or not the overlapping state is maintained. good too. For example, based on the positional relationship between the front end of the hopper 2 and the rear end of the loading platform 201, it may be determined whether or not the hopper 2 maintains an overlapping state with the loading platform 201. In other words, the controller 30 according to this embodiment may perform control so as to maintain the overlapping state based on the positional relationship between the front end of the hopper 2 and the rear end of the loading platform 201 .
- the generation unit 35 generates a control command according to the state of the asphalt finisher 100 .
- the generator 35 generates a control command for the dump truck 200 when the hopper 2 is open. That is, the controller 30 can guide the dump truck 200 to the specified position only when the hopper 2 is open. As a result, even though the dump truck 200 is approaching the asphalt finisher 100, it is possible to prevent a situation in which the pavement material cannot be supplied because the hopper 2 is not open.
- the communication control unit 36 performs communication control with a transportation vehicle such as the dump truck 200 via the wireless communication device 240 .
- the communication control unit 36 controls communication with the wireless communication device 240 indicated by the identification information associated with the license plate information determined by the determination unit 34 . This allows the controller 30 to transmit control commands to the dump truck 200 .
- the communication control unit 36 transmits the control command generated by the generation unit 35 to the wireless communication device 240 .
- FIG. 3 is a diagram showing a processing procedure performed between the asphalt finisher 100 and the dump truck 200 according to this embodiment.
- the asphalt finisher 100 has already started construction.
- a driver is on board the dump truck 200 .
- the dump truck 200 may be driven by a driver, or may be automatically steered by ADAS or the like.
- the controller 30 determines whether or not a button depression has been accepted based on an operation signal from the input device 60a operated by the operator of the asphalt finisher 100 (S351). This button is for starting automatic control to guide the dump truck 200 to a specified position. If it is determined that the button has not been pressed (S351: No), the controller 30 waits until the button is pressed.
- the acquisition unit 32 acquires an image from the imaging device 62 (S352). In addition, the acquisition unit 32 may acquire various control signals including whether or not the hopper 2 is open.
- the controller 30 determines whether the hopper 2 is open based on the image or various control signals (S353). When the controller 30 determines that the hopper 2 is not open (S353: No), an alert screen indicating that the hopper 2 is not open (that the hopper 2 needs to be opened) is displayed on the main monitor 60. (S354), and the process ends.
- the acquisition unit 32 acquires an image from the imaging device 62 (S355).
- the detection unit 33 determines whether or not the dump truck 200 exists in front of the asphalt finisher 100 (S356). When the detection unit 33 determines that the dump truck 200 does not exist (S356: No), the controller 30 ends the process.
- the communication control unit 36 identifies the identification information of the wireless communication device 240 from the license plate information of the dump truck 200. Then, the communication control unit 36 transmits a control command for starting automatic control to the dump truck 200 equipped with the wireless communication device 240 indicated by the identified identification information (S357).
- the controller 230 of the dump truck 200 determines whether or not a control command for starting automatic control has been received via the wireless communication device 240 (S301). If the control command for starting automatic control has not been received (S301: No), the controller 230 waits until the control command is received.
- the controller 230 of the dump truck 200 receives a control command for starting automatic control (S301: Yes), it notifies the driver that the command has been received. Based on the output of the input device 263, the controller 230 determines whether or not the driver's approval operation for automatic control has been received (S302). If it is determined that the approval operation has not been received (S302: No), it waits until the approval operation is received.
- the controller 230 determines that the approval operation has been received (S302: Yes)
- the controller 230 transmits a response signal to the wireless communication device 40 of the asphalt finisher 100 via the wireless communication device 240 to the effect that the automatic control is approved. (S303).
- the communication control unit 36 of the asphalt finisher 100 determines whether or not a response signal has been received via the wireless communication device 40 (S358). If it is determined that the reply signal has not been received (S358: No), the communication control unit 36 waits until it is received.
- the generation unit 35 issues a control command to reverse the dump truck 200 at the speed V1.
- Generate (S359). Note that the speed V1 is a speed suitable for approaching the asphalt finisher 100 and is set according to the embodiment.
- the communication control unit 36 transmits to the wireless communication device 240 of the dump truck 200 a control command to reverse the dump truck 200 at the speed V1 (S360).
- the controller 230 of the dump truck 200 determines whether or not a reverse control command has been received via the wireless communication device 240 (S304). If the reverse control command has not been received (S304: No), the dump truck 200 continues to operate according to the steering by the driver or according to the automatic steering by ADAS until it is received.
- the controller 230 determines that it has received a reverse control command via the wireless communication device 240 (S304: Yes), it starts reverse control at speed V1 (S305).
- the acquisition unit 32 of the controller 30 acquires image information from the imaging device 62 (S361). Then, the determination unit 34 determines whether the dump truck 200 is shifted rightward or leftward based on the acquired image (S362).
- the generation unit 35 steers the dump truck 200 rightward or leftward to correct the deviation.
- a control command is generated (S364).
- the generation unit 35 generates a control command to move the dump truck 200 straight backward (S363). That is, the generation unit 35 generates a steering control command to set the steering angle to "0" and cause the dump truck 200 to move backward straight.
- the communication control unit 36 transmits the steering control command generated in S363 or S362 to the wireless communication device 240 of the dump truck 200 (S365).
- FIG. 4 is a diagram showing the positional relationship when the dump truck 200 is shifted to the right compared to the asphalt finisher 100 when viewed from above (in the vehicle width direction).
- 400A is a left side view
- 400B is a top view.
- the centerline 401 of the dump truck 200 is shifted to the right by a distance A from the centerline 402 of the asphalt finisher 100 when viewed from above. Therefore, the determination unit 34 can detect that the dump truck 200 is deviated to the right based on the image information acquired by the acquisition unit 32 .
- the generator 35 generates a steering control command for moving the center of the body of the dump truck 200 leftward.
- the communication control unit 36 transmits a steering control command for moving the body center of the dump truck 200 leftward to the wireless communication device 240 of the dump truck 200 via the wireless communication device 40 .
- the communication control unit 36 sets the steering angle to "0" and causes the dump truck 200 to move straight backward.
- the controller 30 can position the dump truck 200 at the designated position.
- the controller 230 of the dump truck 200 determines whether or not a steering control command has been received via the wireless communication device 240 (S306). If the steering control command has not been received (S306: No), the controller 230 executes the process of S308.
- the controller 230 determines that it has received a steering control command via the wireless communication device 240 (S306: Yes), it instructs the driving system controller 250 to perform steering control according to the control command (S307). .
- the determination unit 34 determines whether or not the distance (detection distance) to the dump truck 200 is within the first distance based on the image information (S366). If it is determined that the distance (detection distance) to the dump truck 200 is longer than (not within) the first distance (S366: No), the determination unit 34 executes the process of S369.
- the determining unit 34 determines that the distance (detection distance) to the dump truck 200 is within the first distance (S366: Yes)
- the generating unit 35 issues a control command to reverse the dump truck 200 at the speed V2.
- the speed V2 is a speed lower than the speed V1. That is, since deceleration control is performed when the speed V1 is switched to the speed V2, the control command to reverse the dump truck 200 at the speed V2 is also regarded as a deceleration control command.
- the communication control unit 36 transmits the reverse control command generated at S366 to the wireless communication device 240 of the dump truck 200 (S368).
- the controller 230 of the dump truck 200 determines whether or not a reverse control command at speed V2 has been received via the wireless communication device 240 (S308). If the controller 230 has not received a control command to reverse at the speed V2 (S308: No), the controller 230 executes the process of S310.
- the controller 230 determines that it has received a control command to move the dump truck 200 back at speed V2 via the wireless communication device 240 (S308: Yes)
- the controller 230 causes the drive system controller 250 to perform deceleration control (the dump truck 200 moves to the speed V2) according to the control command.
- V2 (retreat control) is instructed (S309). Note that when the dump truck 200 is already at the speed V2, the controller 230 does not perform any particular control.
- the determination unit 34 determines whether or not the dump truck 200 (detection distance) is within the second distance based on the image information (S369). When it is determined that the dump truck 200 (detected distance) is longer than (not within) the second distance (S369: No), the determination unit 34 executes the process of S361.
- the generation unit 35 generates a control command to stop the dump truck 200 from moving backward ( S370).
- the communication control unit 36 transmits the reverse stop control command generated in S369 to the wireless communication device 240 of the dump truck 200 (S370), and the control in the asphalt finisher 100 ends.
- the controller 230 determines whether or not a control command to stop reverse movement has been received via the wireless communication device 240 (S310). If the control command to stop reverse movement has not been received (S310: No), the controller 230 executes the process of S306.
- controller 230 determines that it has received a control command to stop reverse movement via wireless communication device 240 (S310: Yes), controller 230 instructs drive system controller 250 to stop reverse control in accordance with the control command (S311). ), the control in the dump truck 200 ends. After that, the dump truck 200 is switched to neural and pushed forward by the asphalt finisher 100 . Also, the dump truck 200 may perform forward control according to a command from the asphalt finisher 100 .
- FIG. 5 is a diagram showing the positional relationship when the dump truck 200 according to the present embodiment has retreated to the vicinity of the asphalt finisher 100. As shown in FIG. 500A is a left side view and 500B is a top view. In the example shown in FIG. 5, the asphalt finisher 100 moves the dump truck 200 to the specified position by performing the control described above.
- the determination unit 34 determines that the dump truck 200 (detected distance) is within the second distance. Then, the generation unit 35 generates a stop control command, and the communication control unit 36 transmits the generated stop control command to the wireless communication device 240 of the dump truck 200 . The dump truck 200 is thereby stopped. Then, the controller 230 of the dump truck 200 tilts the loading platform 201 rearward by extending the hoist cylinder 270 after performing stop control. As a result, the pavement material is supplied from the loading platform 201 of the dump truck 200 to the hopper 2 .
- the controller 30 controlled the dump truck 200 .
- this embodiment is not limited to the case where the transport vehicle to be controlled exists in front of the asphalt finisher 100 .
- the controller 30 may control transport vehicles existing around the asphalt finisher 100 .
- the asphalt finisher 100 further includes an imaging device capable of imaging in the horizontal direction
- the controller 30 may control the dump truck detected by the imaging device.
- the controller 30 of the asphalt finisher 100 transmits a control command to the detected dump truck so that it moves forward and then moves backward. Subsequent control is the same as that of the embodiment described above.
- a detection device such as an image pickup device may set the detection range as long as it is around the asphalt finisher 100 .
- the controller 30 may then control the transport vehicle detected within the detection range.
- the imaging device 62 detects a transportation vehicle such as the dump truck 200 .
- the detection device may be a sensor or the like that can detect the position of the dump truck 200 .
- the detection device may be a distance sensor such as LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) or millimeter wave radar.
- the asphalt finisher 100 and the dump truck 200 are provided with the configurations described above, so that the dump truck 200 can be moved so that the dump truck 200 is positioned at the specified position.
- Modification 1 of the first embodiment In the above example, the case where the asphalt finisher 100 controls the dump truck 200 has been described, but the present invention is not limited to the above embodiment. In Modification 1 of the first embodiment described below, instead of the dump truck 200 assisting the driving operation such as ADAS, the driver on board the dump truck 200 performs the driving operation. explain.
- the generator 35 of the controller 30 of the asphalt finisher 100 generates a control command as in the above-described embodiment.
- the communication control unit 36 then transmits the generated control command to a terminal device (for example, a smartphone or the like) possessed by the driver (an example of a person) of the dump truck 200 .
- the control command is not a control command for controlling the dump truck 200, but a control command for the terminal device to output information.
- the terminal device to which the control command is transmitted may be any device including a terminal that can be carried by a person such as a driver.
- the mobile terminal when the mobile terminal receives a steering angle control command, the mobile terminal outputs information instructing the driver to turn the steering wheel left or right. Further, when the mobile terminal receives the stop control command, the mobile terminal outputs information instructing the driver to step on the brake.
- the mobile terminal outputs information to the driver according to the control command.
- the output information may be displayed on the display panel of the mobile terminal as screen information.
- the information to be output may be output from the speaker of the mobile terminal as sound information.
- Modification 2 of the first embodiment In the embodiment described above, an example has been described in which the process of guiding the dump truck 200 to the specified position is started on condition that the operator presses the button on the asphalt finisher 100 . However, the embodiments described above do not limit the conditions for initiating guidance. Therefore, in Modified Example 2 of the first embodiment, an example in which guidance is automatically started when another condition is satisfied will be described.
- the controller 30 of this modified example determines whether or not to start guidance based on image information from the imaging device 62 and control signals from detection sensors (not shown). Specifically, the controller 30 determines whether the hopper 2 is open based on the control signal. Then, when the controller 30 determines that the hopper 2 is open, it determines whether or not the detector 33 has detected the dump truck 200 in the image acquired from the imaging device 62 .
- the determination unit 34 determines that the distance (detection distance) between the dump truck 200 and the asphalt finisher 100 is predetermined. It is determined whether or not the distance is within the distance of The predetermined distance may be a reference distance for starting guidance control, and is set to 20 m, for example.
- the communication control unit 36 issues a control command for starting automatic control to the wireless communication device 240 corresponding to the detected dump truck 200. Send. Subsequent processing is the same as in the first embodiment.
- control is automatically started when another condition is satisfied, so that the burden on the driver of the dump truck 200 can be further reduced. is brought.
- Modification 3 of the first embodiment In the embodiment described above, an example of detecting the dump truck 200 based on the image data captured by the imaging device 62 of the asphalt finisher 100 has been described. However, the method of grasping the relative positional relationship between the asphalt finisher 100 and the dump truck 200 is not limited to the method of detecting the dump truck 200 with the imaging device 62 of the asphalt finisher 100 . Therefore, in Modification 3 of the first embodiment, a method using image information captured by the second imaging device 262 provided in the dump truck 200 will be described.
- the wireless communication device 240 of the dump truck 200 transmits image information captured by the second imaging device 262 to the wireless communication device 40 of the asphalt finisher 100 .
- the detection unit 33 of the asphalt finisher 100 detects the asphalt finisher 100 appearing in the image input from the wireless communication device 40 .
- the determination unit 34 determines whether the loading platform 201 of the dump truck 200 is shifted to the right or left with respect to the position of the hopper 2 of the asphalt finisher 100. determine whether or not Subsequent processing is the same as in the first embodiment.
- the dump truck 200 is controlled by the asphalt finisher 100, but the control target is not limited to the dump truck 200.
- the controlled object may be another transport vehicle capable of supplying pavement material or the like to the asphalt finisher 100 .
- the asphalt finisher having the above-described configuration can position the loading platform of the transportation vehicle at a designated position, thereby reducing the steering burden on the driver of the transportation vehicle.
- the asphalt finisher stops the transport vehicle at a desired position with reference to the hopper of the asphalt finisher, it is possible to prevent contact between the transport vehicle and the asphalt finisher while the transport vehicle is retreating. As a result, the asphalt finisher can reduce the load such as the impact of the transportation vehicle on the asphalt finisher. Furthermore, since the asphalt finisher can suppress impact during construction, it is possible to suppress deterioration of the quality of the asphalt being constructed.
- the controller 330 of the dump truck 200 controls the image information captured by the second imaging device 262 to An example of generating a control command for moving the dump truck 200 to a specified position is taken as an example.
- FIG. 6 is a block diagram showing the configuration of the dump truck 200 of the second embodiment.
- the dump truck 200 includes a first imaging device 261, a second imaging device 262, an input device 263, a controller 330, and a driving system controller 250.
- the dump truck 200 also includes a loading platform 201 and a hoist cylinder 270 (see FIG. 5), as in the first embodiment.
- the information about the specified position is stored in advance in the storage medium of the controller 330 .
- Each functional block included in the controller 330 shown in FIG. 6 is conceptual and does not necessarily need to be physically configured as shown. All or part of each functional block can be functionally or physically distributed and integrated in arbitrary units. Each processing function performed in each functional block is implemented by a program executed by the CPU, in whole or in part. Alternatively, each functional block may be implemented as hardware by wired logic. Also, as shown in FIG. 6 , the controller 330 includes an acquisition unit 331 , a detection unit 332 , a determination unit 333 , a generation unit 334 and an output control unit 335 .
- the acquisition unit 331 acquires image information captured by the first imaging device 261 .
- the acquisition unit 331 acquires image information captured by the second imaging device 262 .
- the acquisition unit 331 also acquires operation information regarding the operation of the asphalt finisher 100 by the operator via the input device 263 .
- the detection unit 332 detects the asphalt finisher 100 existing behind the dump truck 200 based on the acquired image information.
- the determination unit 333 makes various determinations based on the image information of the first imaging device 261 and the second imaging device 262 . For example, after detecting the asphalt finisher 100 from the image information of the second imaging device 262, the determination unit 333 determines whether or not the loading platform 201 of the dump truck 200 can be positioned at the designated position.
- the first imaging device 261 and the second imaging device 262 of the present embodiment are provided on the dump truck 200 so that their optical axes are superimposed on the center line of the dump truck 200 in the traveling direction when viewed from above. Accordingly, the determination unit 333 can determine whether or not the loading platform 201 of the dump truck 200 can be positioned at the designated position by the same procedure as in the first embodiment.
- the generator 334 generates various control commands for controlling the dump truck 200 .
- the generation unit 334 generates a control command for controlling the dump truck 200 based on the determination result of the determination unit 333 .
- the determination unit 333 determines whether the dump truck 200 is shifted in the left-right direction.
- the generation unit 334 then generates a control command for controlling the dump truck 200 based on the determination result of the determination unit 333 .
- the controller 330 of the dump truck 200 of the present embodiment performs control until the loading platform 201 of the dump truck 200 is positioned at a specified position when the driver presses a predetermined button.
- the determination unit 333 determines whether or not the hopper 2 of the asphalt finisher 100 is open based on the image information. . Then, when the determination unit 333 determines that the hopper 2 is open, the generation unit 334 generates a control command for positioning the loading platform 201 of the dump truck 200 at the designated position.
- the output control unit 335 outputs various information (for example, control commands) to the internal configuration of the dump truck 200 .
- the output control unit 335 controls driving of the dump truck 200 by outputting the control command generated by the generating unit 334 to the driving system controller 250 .
- FIG. 7 is a diagram showing a processing procedure performed by the dump truck 200 according to this embodiment.
- the asphalt finisher 100 has already started construction.
- a driver is on board the dump truck 200 .
- the dump truck 200 may be driven by a driver, or may be automatically steered by ADAS or the like.
- the controller 330 determines whether or not a button press has been received based on an operation signal from the input device 263 operated by the driver of the dump truck 200 (S701). This button is a button for starting control to guide the dump truck 200 to a specified position. If it is determined that the button has not been pressed (S701: No), the controller 330 waits until the button is pressed.
- the acquisition unit 331 acquires an image from the second imaging device 262 that captures an image behind the dump truck 200 (S702).
- the detection unit 332 detects whether or not the asphalt finisher 100 exists behind the dump truck 200 based on the acquired image (S703). When the detection unit 332 determines that the asphalt finisher 100 does not exist (S703: No), the output control unit 335 causes the display device of the dump truck 200 to display that the asphalt finisher 100 is not detected (S704), and the process is started. finish.
- the determination unit 333 determines whether the hopper 2 of the asphalt finisher 100 is open based on the acquired image information. (S705).
- the output control unit 335 causes the display device of the dump truck 200 to indicate that the hopper 2 of the asphalt finisher 100 is not open (Hopper 2 is open). necessary) is displayed (S706), and the process ends.
- the generation unit 334 when the determination unit 333 determines that the hopper 2 of the asphalt finisher 100 is open (S705: Yes), the generation unit 334 generates a control command to move the dump truck 200 backward at the speed V1 (S707). .
- the output control unit 335 starts reverse control by outputting to the driving system controller 250 a control command to reverse at the speed V1 (S708).
- the acquisition unit 331 acquires image information from the second imaging device 262 that is capturing an image behind the dump truck 200 (S709).
- the determination unit 333 determines whether the loading platform 201 of the dump truck 200 is shifted to the right or left with respect to the specified position (S710).
- the generation unit 334 controls steering to the right or left to correct the deviation.
- a command is generated (S712).
- the generation unit 334 when the determination unit 333 determines that the dump truck 200 is not displaced rightward or leftward (S710: No), the generation unit 334 generates a control command to move the dump truck 200 straight back ( S711). That is, in S711, the generation unit 334 generates a steering control command to set the steering angle to "0" and cause the dump truck 200 to move backward straight.
- the output control unit 335 performs steering control by outputting the control command generated in S711 or S712 to the driving system controller 250 (S713).
- the determination unit 333 determines whether or not the distance (detection distance) between the asphalt finisher 100 and the dump truck 200 is within the first distance based on the image information (S714). When the determination unit 333 determines that the detected distance is not within the first distance (S714: No), the controller 330 executes the process of S709 again.
- the generation unit 35 issues a control command to reverse the dump truck 200 at speed V2 (speed V2 ⁇ speed V1). Generate (S715).
- the output control unit 335 outputs a reverse control command at speed V2 to the driving system controller 250, and instructs deceleration control to reduce the current speed to speed V2 (S716). Note that when the dump truck 200 has already moved backward at the speed V2, the output control unit 335 does not perform any particular control.
- the determination unit 333 determines whether or not the detection distance is within the second distance based on the image information (S717).
- the controller 330 executes the process of S709 again.
- the generation unit 334 generates a control command to stop the backward movement of the dump truck 200 (S718). Then, the output control unit 335 outputs a control command to the drive system controller 250 to instruct the stop of the backward control (S719), and the control in the dump truck 200 ends. After that, the dump truck 200 is switched to neural and pushed forward by the asphalt finisher 100 . Also, the dump truck 200 may perform forward control according to a command from the asphalt finisher 100 .
- any device included in the asphalt finisher construction support system may generate a control command for controlling the dump truck (transportation vehicle) based on the detection result of the detection device.
- the asphalt finisher construction support system is not limited to the asphalt finisher and the dump truck (transportation vehicle), and may include an external information processing device.
- the loading platform of the transportation vehicle can be positioned at the designated position, so the steering burden on the driver of the transportation vehicle can be reduced.
- the transport vehicle stops at a desired position with the hopper of the asphalt finisher as a reference, it is possible to prevent contact between the transport vehicle and the asphalt finisher while the transport vehicle is retreating. As a result, the transportation vehicle can reduce the load such as impact on the asphalt finisher. Furthermore, since the transport vehicle can suppress the impact on the asphalt finisher during construction, it is possible to suppress deterioration of the quality of the asphalt being constructed.
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Abstract
Description
図1は、第1の実施形態に係る道路機械の一例であるアスファルトフィニッシャ100及びダンプトラック200を示した図である。具体的には、図1Aは左側面図であり、図1Bは上面図である。図1は、ダンプトラック200が、後退しながらアスファルトフィニッシャ100に接近する例を示す。
上述の例では、アスファルトフィニッシャ100がダンプトラック200の制御を行う場合について説明されたが、本発明は上記実施形態に限定されない。以下に説明される第1の実施形態の変形例1では、ダンプトラック200がADASのような運転操作の支援を行う代わりに、ダンプトラック200に搭乗している運転者が運転操作を行う場合について説明する。
上述した実施形態においては、アスファルトフィニッシャ100で操作者がボタンを押下したことを条件として、ダンプトラック200を指定位置まで誘導する処理を開始する例が説明された。しかしながら、上述した実施形態は、誘導を開始する条件を制限するものではない。そこで、第1の実施形態の変形例2では、別の条件が満たされた場合に自動的に誘導を開始する例について説明する。
上述した実施形態においては、アスファルトフィニッシャ100の撮像装置62で撮影された画像データに基づいて、ダンプトラック200を検出する例が説明された。しかしながら、アスファルトフィニッシャ100とダンプトラック200との間の相対的な位置関係を把握する手法は、アスファルトフィニッシャ100の撮像装置62でダンプトラック200を検出する手法に限定されない。そこで、第1の実施形態の変形例3においては、ダンプトラック200に設けられた第2撮像装置262で撮像された画像情報を用いる手法について説明する。
第1の実施形態、及びその変形例では、アスファルトフィニッシャ100から送信される制御指令に基づいて、ダンプトラック200の操舵、減速、及び停止制御が行われる例が説明された。しかしながら、制御指令に基づいた制御は、アスファルトフィニッシャ100からの制御指令に基づいた操舵、減速、及び停止制御に限定されない。そこで、第2の実施形態では、第2撮像装置262で撮像された画像情報に基づいてダンプトラック200を指定位置に移動させる制御をダンプトラック200が行う例について説明する。つまり、本実施形態では、アスファルトフィニッシャ100と、ダンプトラック200と、を備えたアスファルトフィニッシャの施工支援システムにおいて、ダンプトラック200のコントローラ330が、第2撮像装置262で撮像された画像情報に基づいてダンプトラック200を指定位置に移動させるための制御指令を生成する例とする。
Claims (12)
- トラクタと、
前記トラクタの前側に設置されたホッパと、
前記ホッパ内の舗装材を前記トラクタの後側へ搬送するコンベアと、
前記コンベアによって搬送されて路面上に撒かれた舗装材を車幅方向に敷き拡げるスクリュと、
前記スクリュによって敷き拡げられた舗装材を前記スクリュの後側で敷き均すスクリード装置と、
当該アスファルトフィニッシャの周囲を検出範囲とした検出装置と、を備え、
前記検出装置で検出された運搬車両を制御する制御指令を生成する、
アスファルトフィニッシャ。 - 前記制御指令を、前記運搬車両、又は前記運搬車両に搭乗している人物の端末装置に送信する通信装置をさらに備える、
請求項1に記載のアスファルトフィニッシャ。 - 前記検出装置で検出された検出情報に基づいて、前記運搬車両を操舵させるための前記制御指令を生成する、
請求項1に記載のアスファルトフィニッシャ。 - 前記ホッパより前方に設置され、前記運搬車両の後輪に接触可能なローラをさらに備え、
前記検出装置で検出された検出情報から、前記ローラと前記運搬車両との位置関係に基づいた前記運搬車両を停止させるための前記制御指令を生成する、
請求項1に記載のアスファルトフィニッシャ。 - 前記ホッパと前記運搬車両の荷台とが鉛直方向において重なり、且つ前記運搬車両の後輪が前記ローラの近傍に位置する場合に、前記運搬車両を停止させるための前記制御指令を生成する、
請求項4に記載のアスファルトフィニッシャ。 - 前記ホッパは、開閉可能な機構を備え、
前記ホッパが開いている場合に、前記制御指令を生成する、
請求項1に記載のアスファルトフィニッシャ。 - 荷台と、
前記荷台を後方に傾ける機構と、
当該運搬車両の周囲を検出範囲とした検出装置と、を備え、
前記検出装置で検出されたアスファルトフィニッシャの位置に基づいて、前記運搬車両を制御する制御指令を生成する、
運搬車両。 - 前記検出装置によって検出された前記アスファルトフィニッシャが備えているホッパが開いている状態の場合に、前記制御指令を生成する、
請求項7に記載の運搬車両。 - トラクタと、前記トラクタの前側に設置されたホッパと、前記ホッパ内の舗装材を前記トラクタの後側へ搬送するコンベアと、前記コンベアによって搬送されて路面上に撒かれた舗装材を車幅方向に敷き拡げるスクリュと、前記スクリュによって敷き拡げられた舗装材を前記スクリュの後側で敷き均すスクリード装置と、当該アスファルトフィニッシャの周囲を検出範囲とした検出装置と、を備えるアスファルトフィニッシャに用いられるアスファルトフィニッシャの施工支援システムであって、
前記検出装置で検出された運搬車両を制御する制御指令を生成するように構成されている制御装置を有する、
アスファルトフィニッシャの施工支援システム。 - 前記制御指令を、前記運搬車両、又は前記運搬車両に搭乗している人物の端末装置に送信する通信装置をさらに備える、
請求項9に記載のアスファルトフィニッシャの施工支援システム。 - 前記制御装置は、前記検出装置で検出された検出情報に基づいて、前記運搬車両を操舵させるための前記制御指令を生成する、
請求項9に記載のアスファルトフィニッシャの施工支援システム。 - 前記ホッパより前方に設置され、前記運搬車両の後輪に接触可能なローラをさらに備え、
前記制御装置は、前記検出装置で検出された検出情報から、前記ローラと前記運搬車両との位置関係に基づいた前記運搬車両を停止させるための前記制御指令を生成する、
請求項9に記載のアスファルトフィニッシャの施工支援システム。
Priority Applications (3)
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EP22780834.2A EP4317586A1 (en) | 2021-03-29 | 2022-03-28 | Asphalt finisher, transport vehicle, and system for assisting construction of asphalt finisher |
CN202280021125.5A CN116981809A (zh) | 2021-03-29 | 2022-03-28 | 沥青滚平机、运输车辆及沥青滚平机的施工支援系统 |
JP2023511320A JPWO2022210623A1 (ja) | 2021-03-29 | 2022-03-28 |
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PCT/JP2022/015231 WO2022210623A1 (ja) | 2021-03-29 | 2022-03-28 | アスファルトフィニッシャ、運搬車両、及びアスファルトフィニッシャの施工支援システム |
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EP (1) | EP4317586A1 (ja) |
JP (1) | JPWO2022210623A1 (ja) |
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WO (1) | WO2022210623A1 (ja) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6457110U (ja) * | 1987-10-06 | 1989-04-10 | ||
JPH0731908U (ja) * | 1993-04-09 | 1995-06-16 | 建設省東北地方建設局長 | 舗装工事車両におけるダンプカーの誘導装置 |
WO2017010541A1 (ja) | 2015-07-15 | 2017-01-19 | 住友建機株式会社 | 道路機械 |
JP2018190228A (ja) * | 2017-05-09 | 2018-11-29 | 鹿島道路株式会社 | 車両誘導システム |
JP2021056022A (ja) | 2019-09-27 | 2021-04-08 | 株式会社小野測器 | 自動車試験システム |
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2022
- 2022-03-28 WO PCT/JP2022/015231 patent/WO2022210623A1/ja active Application Filing
- 2022-03-28 JP JP2023511320A patent/JPWO2022210623A1/ja active Pending
- 2022-03-28 EP EP22780834.2A patent/EP4317586A1/en active Pending
- 2022-03-28 CN CN202280021125.5A patent/CN116981809A/zh active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6457110U (ja) * | 1987-10-06 | 1989-04-10 | ||
JPH0731908U (ja) * | 1993-04-09 | 1995-06-16 | 建設省東北地方建設局長 | 舗装工事車両におけるダンプカーの誘導装置 |
WO2017010541A1 (ja) | 2015-07-15 | 2017-01-19 | 住友建機株式会社 | 道路機械 |
JP2018190228A (ja) * | 2017-05-09 | 2018-11-29 | 鹿島道路株式会社 | 車両誘導システム |
JP2021056022A (ja) | 2019-09-27 | 2021-04-08 | 株式会社小野測器 | 自動車試験システム |
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EP4317586A1 (en) | 2024-02-07 |
JPWO2022210623A1 (ja) | 2022-10-06 |
CN116981809A (zh) | 2023-10-31 |
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