WO2023190355A1

WO2023190355A1 - Road machine

Info

Publication number: WO2023190355A1
Application number: PCT/JP2023/012226
Authority: WO
Inventors: 裕彦増田
Original assignee: 住友建機株式会社
Priority date: 2022-03-31
Filing date: 2023-03-27
Publication date: 2023-10-05

Abstract

An asphalt finisher (100) comprises: a tractor (1); a hopper (2) that is installed in front of the tractor (1) and receives a paving material (PV); a conveyor (CV) that feeds the paving material (PV) within the hopper (2) to the rear of the tractor (1); a screw (SC) that spreads out the paving material (PV) fed by the conveyor (CV) at the rear of the tractor (1); a screed (3) that levels the paving material (PV) spread out by the screw (SC) at the rear of the screw (SC); an illuminating device (LS) that illuminates a wall surface or a road surface with light and conveys information; and a controller (50) that controls the illuminating device (LS).

Description

road machinery

The present disclosure relates to road machines.

Conventionally, an asphalt finisher is known that is equipped with an indicator that is installed facing forward of the asphalt finisher so that it can be seen by the driver of a dump truck that supplies paving material into the hopper of the asphalt finisher (see Patent Document 1). ). The indicator is configured to display instructions to the driver of the dump truck.

International Publication No. 2017/010541

With the above configuration, the driver of the dump truck can reverse the dump truck toward the asphalt finisher according to the instructions displayed on the indicator.

As described above, it is desirable to provide a road machine that can provide useful information to construction workers such as dump truck drivers who work together with road machines such as asphalt finishers.

A road machine according to an embodiment of the present disclosure includes a tractor, a hopper installed in front of the tractor to receive paving material, a conveyor that feeds the paving material in the hopper to the rear of the tractor, and a conveyor configured to A screw that spreads the fed paving material behind the tractor, a screed that spreads the paving material spread by the screw evenly behind the screw, and transmits information by irradiating light onto the road surface. It includes an irradiation device and a control device that controls the irradiation device.

The above-mentioned road machines can provide useful information to construction personnel.

FIG. 2 is a side view of an asphalt finisher and a dump truck during construction. FIG. 2 is a top view of an asphalt finisher and a dump truck during construction. FIG. 1 is a block diagram showing an example of the configuration of a control system. 3 is a flowchart of an example of irradiation control processing. FIG. 2 is a side view of an asphalt finisher and a dump truck during construction. FIG. 2 is a top view of an asphalt finisher and a dump truck during construction.

FIG. 1 is a side view of an asphalt finisher 100 and a dump truck 200, which are examples of road machines according to an embodiment of the present disclosure. The road machine may be a base paver, a tack paver, a multi-asphalt paver, or the like. The dump truck 200 is an example of a transport vehicle for replenishing the hopper 2 of the asphalt finisher 100 with paving material PV. FIG. 2 is a top view of the asphalt finisher 100 and the dump truck 200. Specifically, FIG. 2 is a top view of the asphalt finisher 100 and the dump truck 200 during construction (while laying the paving material PV). The asphalt finisher 100 mainly includes a tractor 1, a hopper 2, and a screed 3. In the following, for convenience, the direction of the hopper 2 as seen from the tractor 1 (+X direction) is referred to as the front, and the direction of the screed 3 as seen from the tractor 1 (-X direction) as the rear.

The tractor 1 is a mechanism for driving the asphalt finisher 100. In the illustrated example, the tractor 1 rotates the rear wheels 5 using the hydraulic motor for running the rear wheels, and rotates the front wheels 6 using the hydraulic motor for running the front wheels to move the asphalt finisher 100. The hydraulic motor for running the rear wheels and the hydraulic motor for running the front wheels are supplied with hydraulic oil from the hydraulic pump and rotate. The rear wheels 5 and front wheels 6 may be replaced by crawlers.

The controller 50 is a control device that controls the asphalt finisher 100. In the illustrated example, the controller 50 is configured with a microcomputer including a CPU, a memory, a volatile storage device, a nonvolatile storage device, and the like, and is mounted on the tractor 1. Various functions of the controller 50 are realized by the CPU executing programs stored in a nonvolatile storage medium.

Hopper 2 is a mechanism for receiving paving material PV. In the illustrated example, the hopper 2 is installed in front of the tractor 1 and includes a hopper wing 2W. The hopper wing 2W is configured to be openable and closable in the Y-axis direction (width direction, vehicle width direction) by the hopper cylinder 7. Specifically, the hopper wing 2W includes a left hopper wing 2WL that can be opened and closed to the left by a left hopper cylinder 7L, and a right hopper wing 2WR that can be opened and closed to the right by a right hopper cylinder (not shown).

The asphalt finisher 100 normally receives the paving material PV from the loading platform 201 of the dump truck 200 with the hopper wing 2W fully open. In the illustrated example, the paving material PV is an asphalt mixture, also referred to as an "asphalt mixture." In FIGS. 1 and 2, the hopper wing 2W is fully open. In addition, in FIG. 2, illustration of the paving material PV received in the hopper 2 is omitted for clarity. The paving material PV received in the hopper 2 is fed to the rear of the tractor 1 by a conveyor CV located in the center of the hopper 2. When the paving material PV in the hopper 2 decreases, the hopper wing 2W is closed, and the paving material PV that was near the inner wall of the hopper 2 is collected in the center of the hopper 2. This is to enable the conveyor CV to feed the paving material PV to the rear of the tractor 1. The paving material PV fed to the rear of the tractor 1 is spread in the vehicle width direction behind the tractor 1 and in front of the screed 3 by the screw SC. In the illustrated example, the screw SC is in a state where the left extension screw SCL and the right extension screw SCR are connected. Furthermore, in FIGS. 1 and 2, the paving material PV spread by the screw SC is shown in a coarse dot pattern, and the newly installed pavement NP spread evenly by the screed 3 is shown in a fine dot pattern.

The screed 3 is a mechanism for leveling the paving material PV. In the illustrated example, the screed 3 includes a front screed 30 and a rear screed 31. The screed 3 is a floating screed that is pulled by the tractor 1, and is connected to the tractor 1 via a leveling arm 3A. The rear screed 31 includes a left rear screed 31L configured to be able to expand and contract to the left, and a right rear screed 31R that is configured to be able to expand and contract to the right. In FIGS. 1 and 2, the screed 3 is in its most expanded (widened) state.

A side plate 41 is attached to the distal end of the rear screed 31. In the illustrated example, a left side plate 41L is attached to the left end of the left rear screed 31L, and a right side plate 41R is attached to the right end of the right rear screed 31R.

A footboard 32 is attached to the rear of the screed 3. Specifically, the footboard 32 is attached to the rear of the screed 3 so that a worker can move back and forth in the vehicle width direction without stepping on the newly installed pavement NP. In the illustrated example, the footboards 32 include a central footboard 32C attached to the rear of the front screed 30, a left footboard 32L attached to the rear of the left rear screed 31L, and a right footboard 32R attached to the rear of the right rear screed 31R. include.

A moldboard 42 is attached to the front of the rear screed 31. The mold board 42 is configured to be able to move up and down so that the amount of paving material PV retained in front of the rear screed 31 can be adjusted. The paving material PV passes through the gap between the lower end of the mold board 42 and the roadbed RB and reaches under the screed 3.

Specifically, the moldboard 42 includes a left moldboard 42L arranged in front of the left rear screed 31L, and a right moldboard 42R arranged in front of the right rear screed 31R.

A screw SC is arranged in front of the mold board 42, and a retaining plate 43 is arranged in front of the screw SC. Specifically, the retaining plate 43 includes a left retaining plate 43L disposed in front of the left extension screw SCL and a right retaining plate 43R disposed in front of the right extension screw SCR. Note that the retaining plate 43 may be omitted.

An imaging device 51 is attached to the top of the tractor 1. The imaging device 51 is configured to image the surroundings of the asphalt finisher 100. In the illustrated example, the imaging device 51 is a monocular camera that can image the surroundings of the asphalt finisher 100. Note that a lighting device may be attached to the asphalt finisher 100. The lighting device is a device for illuminating the area around the asphalt finisher 100 during nighttime work or the like.

In the illustrated example, the imaging device 51 includes a rear camera 51B for imaging the rear of the asphalt finisher 100, a front camera 51F for imaging the front of the asphalt finisher 100, and a left camera 51F for imaging the left side of the asphalt finisher 100. It includes a camera 51L and a right camera 51R for capturing an image of the right side of the asphalt finisher 100.

The irradiation device LS is configured so that it can irradiate light onto walls, road surfaces, etc. around the asphalt finisher 100 to visually convey information to people nearby. The wall surface may be a vertical surface such as a block wall or the side of a building, or may be a slope such as a slope. In the illustrated example, the irradiation device LS is a visible light semiconductor laser, is positioned so as to irradiate the road surface in front of the asphalt finisher 100, and is connected to the controller 50 wirelessly or by wire. Note that the irradiation device LS may be a device using another light source such as a light emitting diode, as long as it can irradiate a linear region in a limited manner.

Specifically, the irradiation device LS includes a first irradiation device LS1 and a second irradiation device LS2 that irradiate the road surface in front of the hopper 2 with laser light.

In the illustrated example, the irradiation device LS is located at the front of the hopper 2 in order to convey information that guides the operation of the dump truck 200 to the driver of the dump truck 200 that transports the paving material PV to be replenished into the hopper 2 of the asphalt finisher 100. It is configured to irradiate a set irradiation range IR on the road surface. Specifically, the irradiation range IR includes a first irradiation range IR1 and a second irradiation range IR2. In FIG. 2, a cross pattern is attached to the irradiation range IR for clarity.

The first irradiation device LS1 is configured to irradiate a rectangular first irradiation range IR1 set on the road surface in front of the hopper 2 in order to visualize the rectangular no-entry area NE set in front of the hopper 2. It is composed of In FIG. 2, for clarity, the prohibited area NE is shown as an area surrounded by a dashed line. In the illustrated example, the first irradiation range IR1 is set to include the entire area of the prohibited area NE. In the illustrated example, the length (width) of the first irradiation range IR1 in the vehicle width direction (Y-axis direction) is the same as the length (width) of the dump truck 200 in the vehicle width direction (Y-axis direction). However, the length (width) of the first irradiation range IR1 in the vehicle width direction (Y-axis direction) may be longer than the length (width) of the dump truck 200 in the vehicle width direction (Y-axis direction). Further, in the illustrated example, the first irradiation device LS1 is attached to the front surface of the front frame F1 that constitutes the lower structure of the hopper 2. The front frame F1 is a member to which the push roller PR is fixed. However, the first irradiation device LS1 may be attached to another part.

The first irradiation range IR1 may be a rectangular annular irradiation range composed of four linear irradiation ranges. Moreover, the irradiation of the first irradiation range IR1 by the first irradiation device LS1 may be omitted. In this case, the first irradiation device LS1 may be omitted.

The second irradiation device LS2 is a linear second irradiation range IR2 extending along the X-axis on the road surface in front of the hopper 2 in order to visualize the passable range TR, which is the range where the dump truck 200 moving backward can pass. is configured to irradiate. In FIG. 2, the passable range TR is represented as a range between two dashed lines extending in the longitudinal direction (vehicle length direction, X-axis direction). Specifically, the second irradiation device LS2 includes a second left irradiation device LS2L and a second right irradiation device LS2R, and the second irradiation range IR2 includes a second left irradiation range IR2L and a second right irradiation range IR2R. The second left irradiation device LS2L irradiates a linear second left irradiation range IR2L extending along the X-axis on the road surface in front of the hopper 2 in order to visualize the left boundary of the passable range TR. The second right irradiation device LS2R irradiates a linear second right irradiation range IR2R extending along the X axis on the road surface in front of the hopper 2 in order to visualize the right boundary of the passable range TR. is configured to do so. The distance between the second left irradiation range IR2L and the second right irradiation range IR2R corresponds to the width of the passable range TR, and typically corresponds to the width of the dump truck 200.

Note that the lengths of the second left irradiation range IR2L and the second right irradiation range IR2R in the longitudinal direction (vehicle length direction, X-axis direction) can be set arbitrarily. In the illustrated example, the length of each of the second left irradiation range IR2L and the second right irradiation range IR2R in the longitudinal direction (vehicle length direction, X-axis direction) is the length of the dump truck 200 in the longitudinal direction (X-axis direction). Although the length is 1.5 times the length (fixed value), it may be a length that changes depending on the traveling speed of the asphalt finisher 100 (variable value). In the illustrated example, the second left irradiation device LS2L is attached to the left side of the left frame F2 that constitutes the lower structure of the hopper 2, and the second right irradiation device LS2R is attached to the right side that constitutes the lower structure of the hopper 2. It is attached to the right side of the frame (not shown). However, the second irradiation device LS2 may be attached to another part. For example, the second left irradiation device LS2L may be attached to the left end of the front surface of the front frame F1, and the second right irradiation device LS2R may be attached to the right end of the front surface of the front frame F1. Moreover, the irradiation of the second irradiation range IR2 by the second irradiation device LS2 may be omitted. In this case, the second irradiation device LS2 may be omitted.

The second irradiation device LS2 is configured to irradiate a linear second irradiation range IR2 extending along the X-axis on the road surface in front of the hopper 2 in order to visualize the course of the advancing asphalt finisher 100. Good too. In this case, the distance between the second left irradiation range IR2L and the second right irradiation range IR2R corresponds to the width of the asphalt finisher 100 or the pavement width. The width of the asphalt finisher 100 is, for example, the width of the tractor 1, the width of the hopper 2, the width of the screed 3, the front tread width (the distance between the left and right front wheels 6), or the rear tread width (the distance between the left and right rear wheels 5). distance) etc.

The irradiation device LS is configured to irradiate a linear irradiation range IR set on the road surface around the asphalt finisher 100, but it also visualizes characters, figures, or a combination thereof on the road surface. It may be configured so that it can be done. Further, the irradiation device LS may be configured to be able to simultaneously irradiate a plurality of lights that differ in at least one of light intensity (brightness), wavelength (color), and the like. FIG. 2 shows an example in which the irradiation device LS irradiates a linear irradiation range IR extending parallel to the front-rear direction of the asphalt finisher 100. However, if the road to be constructed is curved to the left or right, the irradiation device LS directs the light toward the road surface in the direction in which the dump truck 200 approaches the hopper 2 to match the curvature of the road. may be irradiated. That is, the irradiation device LS may irradiate a curved irradiation range IR along the curvature of the road. In this case, the direction of the position of the road surface to which the light is irradiated is inclined with respect to the front-rear direction of the asphalt finisher 100 by a predetermined angle corresponding to the curvature of the road. By irradiating the road surface with light in this manner, the driver of the dump truck 200 can approach the asphalt finisher 100 while visually checking the irradiation range IR using the door mirror of the dump truck 200. .

Next, with reference to FIG. 3, the control system SYS installed in the asphalt finisher 100 will be described. FIG. 3 is a block diagram showing an example of the configuration of the control system SYS. The control system SYS mainly includes a controller 50, an imaging device 51, an information acquisition device 53, an irradiation device LS, and the like. In the illustrated example, the controller 50, the imaging device 51, the information acquisition device 53, and the irradiation device LS receive power from the power supply device 60. The power supply device 60 converts AC power generated by a generator 62 driven by an engine 61 as a power source into DC power. The power supply device 60 may receive power from a battery (not shown). The thick dotted line in FIG. 3 represents a power line, the thin solid line represents a signal line, and the double line represents that the engine 61 and the generator 62 are mechanically connected. The power source may be a hydrogen engine, an electric motor, or the like. Further, the asphalt finisher 100 may be an electric road machine equipped with a fuel cell or a driving battery, or may be a road machine that uses artificial liquid fuel such as E-fuel, and may be a road machine that uses an artificial liquid fuel such as E-fuel. It may also be a road machine operated by.

The controller 50 includes an irradiation control section 50a as a functional element. The irradiation control unit 50a is composed of software, hardware, firmware, or a combination thereof, and controls the irradiation device LS. In the illustrated example, the irradiation control unit 50a determines whether or not irradiation is necessary based on the outputs of the imaging device 51, the information acquisition device 53, and the like. When the irradiation control unit 50a determines that irradiation is necessary, it outputs a command regarding the start of irradiation to the irradiation device LS. The irradiation device LS may be configured to be able to change at least one of the light amount (brightness), wavelength (color), etc. in accordance with a command from the irradiation control unit 50a.

The information acquisition device 53 is configured to acquire information and output the acquired information to the controller 50. The information acquisition device 53 includes, for example, at least one of a traveling speed sensor, a steering angle sensor, a pavement width sensor, and the like. The traveling speed sensor detects the traveling speed of the asphalt finisher 100. The steering angle sensor detects the steering angle of the asphalt finisher 100. The pavement width sensor detects the amount of expansion of the rear screed 31 and calculates the pavement width. Note that the information acquisition device 53 may be an input device such as a touch panel or a switch.

Next, with reference to FIG. 4, an example of a process in which the irradiation control unit 50a controls the irradiation device LS (hereinafter referred to as "irradiation control process") will be described. FIG. 4 is a flowchart of an example of the irradiation control process. In the example shown in FIG. 4, the irradiation control unit 50a repeatedly executes this irradiation control process at a predetermined control cycle while the asphalt finisher 100 is in operation. The irradiation control unit 50a starts executing the irradiation control process, for example, when the power supply device 60 receives power supply or when the engine 61 is activated. Note that the irradiation control unit 50a may be configured to execute this irradiation control process only once when a predetermined operation such as a switch operation is performed via an input device or the like.

First, the irradiation control unit 50a determines whether irradiation start conditions are satisfied (step ST1). In the illustrated example, the irradiation control unit 50a determines that the irradiation start condition is satisfied when the information acquisition device 53 acquires information regarding the approach of the dump truck 200 to the asphalt finisher 100. Specifically, when a predetermined irradiation start switch is operated by the operator of the asphalt finisher 100, the irradiation control unit 50a determines that the irradiation start condition has been acquired based on the information regarding the approach of the dump truck 200 to the asphalt finisher 100. It is determined that it is satisfied.

Further, the irradiation control unit 50a may determine that the irradiation start condition is satisfied when the dump truck 200 located in front of the asphalt finisher 100 is detected. In this case, the controller 50 may be configured to be able to detect the dump truck 200 present in front of the asphalt finisher 100 based on the image acquired by the front camera 51F. That is, the imaging device 51 may be configured to function as an object detection device.

Further, the controller 50 may be configured to be able to distinguish between the dump truck 200 and objects other than the dump truck 200 by performing various image processing on the images acquired by the front camera 51F.

Further, the controller 50 may be configured to be able to distinguish between humans and non-human objects by performing various image processing on the images acquired by the imaging device 51. In this case, the worker may wear an armband, a helmet, or the like on which a predetermined marker is drawn. This is to make it easier to recognize in image recognition processing. In this case, the controller 50 can detect the position of the worker by finding an image of a predetermined marker.

Further, the controller 50 may be configured to be able to detect the position of the dump truck 200 that exists in front of the asphalt finisher 100, and may be configured to be able to detect the position of a person that is present around the asphalt finisher 100. It's okay. In this case, the controller 50 may be configured to be able to calculate the distance between the detected person and the prohibited area NE.

Further, the controller 50 detects the dump truck 200 or It may be configured to be able to detect an object such as a person, or it may be configured to be able to calculate the distance between the detected object and the asphalt finisher 100 or the prohibited area NE.

If it is determined that the irradiation start condition is satisfied (YES in step ST1), the irradiation control unit 50a operates the irradiation device LS (step ST2), and then executes step ST3. In the illustrated example, the irradiation control unit 50a outputs a command regarding the start of irradiation to each of the first irradiation device LS1 and the second irradiation device LS2. As a result, the first irradiation device LS1 irradiates the first irradiation range IR1 to visualize the boundary of the prohibited area NE, as shown in FIG. Further, as shown in FIG. 2, the second irradiation device LS2 irradiates the second irradiation range IR2 to visualize the boundary of the passable range TR. Specifically, as shown in FIG. 2, the second left irradiation device LS2L irradiates the second left irradiation range IR2L to visualize the left boundary of the passable range TR, and the second right irradiation device LS2R irradiates the second left irradiation range IR2L. The right irradiation range IR2R is irradiated to visualize the right boundary of the passable range TR.

Note that, in areas where right-hand drive dump trucks 200 are used, the irradiation control unit 50a may be configured to visualize only the right boundary of the passable range TR. On the other hand, the irradiation control unit 50a may be configured to visualize only the left boundary of the passable range TR in an area where a left-hand drive dump truck 200 is used.

The irradiation control unit 50a also controls the first irradiation device LS1 when the distance between the person detected based on the image acquired by the imaging device 51 and the prohibited area NE becomes a predetermined value or less. It may also be configured to output a command regarding the start of irradiation. That is, the first irradiation device LS1 may be configured not to output a command regarding the start of irradiation to the first irradiation device LS1 until the distance becomes equal to or less than a predetermined value.

On the other hand, if it is determined that the irradiation start condition is not satisfied (NO in step ST1), the irradiation control unit 50a executes step ST3 without operating the irradiation device LS.

In step ST3, the irradiation control unit 50a determines whether the irradiation stop condition is satisfied. In the illustrated example, the irradiation control unit 50a determines that the irradiation stop condition is satisfied when the information acquisition device 53 acquires information regarding the separation of the dump truck 200 from the asphalt finisher 100. Specifically, when a predetermined irradiation stop switch is operated by the operator of the asphalt finisher 100, the irradiation control unit 50a determines that the irradiation stop condition is determined based on the fact that information regarding the separation of the dump truck 200 from the asphalt finisher 100 has been acquired. It is determined that it is satisfied.

Further, the irradiation control unit 50a may determine that the irradiation stop condition is satisfied when the dump truck 200 that was detected by the controller 50 is no longer detected. Specifically, the irradiation control unit 50a may determine that the irradiation stop condition is satisfied when the dump truck 200 located in front of the asphalt finisher 100 leaves a predetermined range. The predetermined range is, for example, a range set in front of the asphalt finisher 100.

Further, the irradiation control unit 50a may omit execution of step ST3 and step ST4 when the irradiation device LS is not operating.

If it is determined that the irradiation stop condition is satisfied (YES in step ST3), the irradiation control unit 50a stops the operation of the irradiation device LS (step ST4), and ends the current irradiation control process. In the illustrated example, the irradiation control unit 50a outputs a command regarding stopping irradiation to each of the first irradiation device LS1 and the second irradiation device LS2. As a result, the first irradiation device LS1 stops irradiating the first irradiation range IR1 and ends the visualization of the boundary of the prohibited area NE. Further, the second irradiation device LS2 stops irradiation of the second irradiation range IR2 and ends the visualization of the boundary of the passable range TR.

On the other hand, if it is determined that the irradiation stop condition is not satisfied (NO in step ST3), the irradiation control unit 50a ends the current irradiation control process without stopping the operation of the irradiation device LS.

With the above configuration, the asphalt finisher 100 can make the workers working around the asphalt finisher 100 visually aware of the existence of the no-entry area NE.

Specifically, the asphalt finisher 100 irradiates a first irradiation range IR1 set on the road surface in front of the hopper 2 using the first irradiation device LS1, thereby visually informing the operator of the existence of the prohibited area NE. can be recognized. Therefore, the asphalt finisher 100 can prevent the operator from entering the prohibited area NE without noticing the existence of the prohibited area NE.

Furthermore, the asphalt finisher 100 allows the driver of the dump truck 200 to visually recognize the position of the passable range TR.

Specifically, the asphalt finisher 100 irradiates the second irradiation range IR2 set on the road surface in front of the hopper 2 with the second irradiation device LS2, thereby changing the position of the passable range TR to the position where the dump truck 200 is operating. can be visually recognized by people. Therefore, the asphalt finisher 100 can prevent the driver of the dump truck 200 from going out of the passable range TR and causing the dump truck 200 to move backward.

Further, the irradiation control unit 50a controls the irradiation device LS according to the distance between the dump truck 200 approaching the asphalt finisher 100 and the asphalt finisher 100, or the distance between the detected person and the prohibited area NE. It may be configured to change the light irradiation mode.

Changing the irradiation mode of light by the irradiation device LS means, for example, changing the wavelength (color) of the light irradiated by the irradiation device LS, blinking the light irradiated by the irradiation device LS, or changing the light irradiation mode by the irradiation device LS. This includes changing the amount of light (brightness) emitted by the camera.

Specifically, as shown in FIG. 2, when the controller 50 detects the worker WK in the left front of the hopper 2 based on the image acquired by the front camera 51F, the controller 50 separates the no-entry area NE from the worker WK. The distance DS between them is calculated. Then, when the value of the distance DS is less than or equal to a predetermined threshold value, the controller 50 outputs a blinking command to the first irradiation device LS1 to cause the light emitted by the first irradiation device LS1 to blink. That is, the controller 50 causes the first irradiation device LS1 to irradiate the first irradiation range IR1 at predetermined time intervals.

With this configuration, the worker WK can recognize the boundary of the prohibited area NE by looking at the first irradiation range IR1 visualized on the road surface, and can recognize that he should not enter the prohibited area NE. Furthermore, since the first irradiation range IR1 is intermittently irradiated, the worker WK easily notices that the first irradiation range IR1 is being irradiated.

Note that in the example shown in FIG. 2, the controller 50 causes the first irradiation device LS1 to continuously irradiate the first irradiation range IR1 regardless of whether there is a person in front of the asphalt finisher 100.

However, the controller 50 causes the first irradiation device LS1 to start irradiation of the first irradiation range IR1 when a person approaches the prohibited area NE, and when no person approaches the prohibited area NE, The configuration may be such that the first irradiation device LS1 does not irradiate the first irradiation range IR1.

For example, the controller 50 causes the first irradiation device LS1 to start irradiating the first irradiation range IR1 when the distance between the prohibited area NE and the worker becomes less than or equal to a predetermined value. If it exceeds the range, the configuration may be such that the first irradiation device LS1 does not irradiate the first irradiation range IR1.

Alternatively, the controller 50 may be configured to output a command to a sound output device (not shown) and issue a warning to the worker when the worker enters the prohibited area NE. good. This is to notify the worker that the worker has entered the prohibited area NE.

Alternatively, when the distance between the worker and the prohibited area NE falls below a predetermined value, the controller 50 outputs a command to a sound output device (not shown) and issues a warning to the worker. It may be configured as follows. This is to notify the worker that the worker is getting too close to the prohibited area NE.

Next, another example of the irradiation control process will be described with reference to FIGS. 5 and 6. FIG. 5 is a side view of the asphalt finisher 100 and the dump truck 200, and FIG. 6 is a top view of the asphalt finisher 100 and the dump truck 200. 5 and 6, the loading platform 201 of the dump truck 200 is lifted by the hoist cylinder 202, and the paving material PV loaded on the loading platform 201 is replenished into the hopper 2.

The irradiation control process described with reference to FIGS. 5 and 6 is executed when the dump truck 200 is replenishing the hopper 2 of the asphalt finisher 100 with the paving material PV from the loading platform 201. The irradiation control process is different from the above-described irradiation control process that is executed when the vehicle is moving backward toward the asphalt finisher 100.

In this irradiation control process as well, the irradiation control unit 50a first determines whether the irradiation start condition is satisfied. In the example shown in FIG. 6, the irradiation control unit 50a determines that the irradiation start condition is satisfied when the information acquisition device 53 acquires information regarding the dump operation. Specifically, when a predetermined dump-up request switch is operated by the operator of the asphalt finisher 100, the irradiation control unit 50a determines the irradiation start condition as having acquired information regarding dump-up, which is an example of information regarding dump operation. is determined to be satisfied. Note that the dump-up request switch is an example of an operating device that is operated by the operator of the asphalt finisher 100 to start executing a function of transmitting an instruction regarding dump-up to the driver of the dump truck 200.

If it is determined that the irradiation start conditions are satisfied, the irradiation control unit 50a operates the third irradiation device LS3. The third irradiation device LS3 is configured to irradiate a third irradiation range IR3 on the road surface in front of the hopper 2 in order to visualize information regarding the dump operation. In the example shown in FIG. 6, the irradiation control unit 50a outputs a command regarding the start of irradiation to the third irradiation device LS3. As a result, the third irradiation device LS3 irradiates the third irradiation range IR3 to visualize the dump-up request to the driver of the dump truck 200. Specifically, the third irradiation range IR3 is set on the road surface to the right of the driver's seat of the right-hand drive dump truck 200. Then, the third irradiation device LS3 irradiates the third irradiation range IR3 so that the characters "UP" representing a dump-up request are displayed in the third irradiation range IR3. Note that the irradiation of the third irradiation range IR3 by the third irradiation device LS3 may be omitted. In this case, the third irradiation device LS3 may be omitted.

Note that the information regarding the dump operation may be information regarding dump down, information regarding stopping the dump operation, or the like. Further, when the dump truck 200 has a left-hand drive specification, the third irradiation range IR3 may be set on the road surface to the left of the driver's seat of the dump truck 200. Moreover, the irradiation control unit 50a may be configured to operate the second irradiation device LS2 to irradiate the third irradiation range IR3.

With the above configuration, the asphalt finisher 100 can make the driver of the dump truck 200 visually recognize the request regarding the dump operation from the operator of the asphalt finisher 100.

Specifically, the asphalt finisher 100 transmits a request regarding dump operation to the driver of the dump truck 200 by irradiating a third irradiation range IR3 set on the road surface in front of the hopper 2 using the third irradiation device LS3. It can be recognized visually. Therefore, the asphalt finisher 100 can support the dumping operation by the driver of the dump truck 200.

As described above, as shown in FIG. 2, the asphalt finisher 100, which is an example of a road machine, includes a tractor 1, a hopper 2 installed in front of the tractor 1 to receive paving material PV, and a paving material inside the hopper 2. A conveyor CV feeds PV to the rear of the tractor 1, a screw SC spreads the paving material PV fed by the conveyor CV behind the tractor 1, and a screw SC spreads the paving material PV spread by the screw SC. It includes a screed 3 that is leveled at the rear, an irradiation device LS that transmits information by irradiating light onto a wall or road surface, and a controller 50 as a control device that controls the irradiation device LS. In the example shown in FIG. 2, the irradiation device LS is configured to be able to irradiate light onto the road surface in front of the hopper 2 and transmit information for guiding the driving of the dump truck 200 to the driver of the dump truck 200. has been done.

With this configuration, the asphalt finisher 100 has the effect of being able to provide useful information to construction personnel such as the driver of the dump truck 200 or the workers working around the asphalt finisher 100.

In the asphalt finisher equipped with an indicator as disclosed in Patent Document 1, the driver of the dump truck drives the dump truck while alternately looking at the rear wheels and the indicator when reversing the dump truck toward the asphalt finisher. I need to drive. The driver judges whether or not the dump truck is moving backwards correctly based on the position of the rear wheels, while also checking the information displayed on the indicator about the content of instructions from the asphalt finisher, such as deceleration instructions or stop instructions. This is to make judgments based on the following. Therefore, this configuration may impose a heavy burden on the driver who reverses the dump truck toward the asphalt finisher. This is because the driver must frequently move his head (neck) and take his eyes off the rear wheel to check the indicator in order to prevent the driver from overlooking the information displayed on the indicator. In addition, the distance from the driver's eye position to the rear wheel and the distance from the driver's eye position to the indicator are significantly different, so the driver must adjust the focus of his eyes. .

In contrast, the asphalt finisher 100 according to the embodiment of the present application replenishes the paving material PV into the hopper 2 by using, for example, light irradiated on the wall surface or road surface on the side of the rear wheel of the dump truck 200. Various information can be visually conveyed to the driver of the dump truck 200. Therefore, the driver of the dump truck 200 can obtain the information necessary to appropriately reverse the dump truck 200 by simply looking at the wall or road surface on the side of the rear wheels of the dump truck 200. The rear wheels of the truck 200 can be appropriately brought into contact with the push roller PR of the asphalt finisher 100. Furthermore, depending on the position of the wall or road surface that is irradiated with light, the driver can simultaneously see the wall or road surface that is irradiated with light and the rear wheels. Furthermore, information displayed on a wall or road surface has higher visibility than information displayed on an indicator. This is because the vehicle is located closer to the driver than the information displayed on the indicator. As a result, the driver of the dump truck 200 can prevent the loading platform 201 and the hopper 2 from coming into contact with each other. Furthermore, the asphalt finisher 100 can reduce the burden on the driver of the dump truck 200.

In addition, the driver of the dump truck 200 can obtain the information necessary to properly perform a dump operation by simply looking at the side walls or road surface of the dump truck 200, and can properly perform the dump operation. Can be executed. As a result, the asphalt finisher 100 can prevent the driver of the dump truck 200 from performing an inappropriate dump operation. Furthermore, the asphalt finisher 100 can reduce the burden on the driver of the dump truck 200.

Furthermore, in the asphalt finisher 100, the irradiation device LS may be configured to irradiate the road surface in front of the hopper 2 with light to display a straight line extending forward. In the example shown in FIG. 2, the second irradiation device LS2 displays a straight line (boundary line of the passable range TR) extending forward by irradiating the second irradiation range IR2 set on the road surface in front of the hopper 2. is configured to do so.

With this configuration, the asphalt finisher 100 can visually convey information regarding the passable range TR to the driver of the dump truck 200.

Furthermore, in the asphalt finisher 100, the irradiation device LS may be configured to irradiate the road surface in front of the hopper 2 with light to display a plurality of straight lines extending forward. The number of straight lines may be two.

In the example shown in FIG. 2, the second irradiation device LS2 irradiates two straight lines ( The left and right boundaries of the passable range TR are displayed. In this case, the distance between the two straight lines may correspond to the width of the dump truck 200. With this configuration, the asphalt finisher 100 can visually notify the driver of the dump truck 200 of the position and width of the passable range TR. Therefore, the driver of the dump truck 200 can start positioning the dump truck 200 with respect to the asphalt finisher 100 at a position relatively far from the asphalt finisher 100. As a result, the driver can relatively easily align the dump truck 200 with the asphalt finisher 100.

Alternatively, the asphalt finisher 100 can notify construction personnel of the course of the asphalt finisher by displaying two straight lines. In this case, the distance between the two straight lines may correspond to the width of the tractor 1, the width of the hopper 2, the width of the screed 3 or the width of the pavement. With this configuration, workers working around the asphalt finisher 100 can easily recognize the width of the approaching asphalt finisher 100 even if they are working at a distance from the asphalt finisher 100 in front of them. can. Further, the asphalt finisher 100 can call the worker's attention by displaying the route.

Furthermore, the asphalt finisher 100 may further include a controller 50 as a control device that controls the irradiation device LS. The controller 50 may be configured to change the light irradiation mode by the irradiation device LS in accordance with the content of information that guides the operation of the dump truck 200. The information that guides the driving of the dump truck 200 includes, for example, maintaining the reverse speed, decelerating or accelerating, stopping reverse, moving to the left in the vehicle width direction, or moving to the right in the vehicle width direction, etc. be.

With this configuration, the asphalt finisher 100 can, for example, give detailed instructions regarding reversing the dump truck 200 to the driver of the dump truck 200 reversing toward the asphalt finisher 100.

Furthermore, the asphalt finisher 100 may further include another irradiation device (third irradiation device LS3) different from the above-mentioned irradiation devices (first irradiation device LS1 and second irradiation device LS2). The controller 50 may be configured to change the irradiation mode of another irradiation device (third irradiation device LS3) according to the content of information that guides the operation of the dump truck 200. For example, as shown in FIG. 6, the asphalt finisher 100 may further include a third irradiation device LS3 as another irradiation device different from each of the first irradiation device LS1 and the second irradiation device LS2. Then, the controller 50 may change the irradiation mode of the third irradiation device LS3 according to the content of the information that guides the operation of the dump truck 200. Here, the contents of the information that guides the operation of the dump truck 200 include dumping up, dumping down, increasing/decreasing or maintaining the dumping speed, increasing/decreasing or maintaining the dumping speed, or stopping the dumping operation.

With this configuration, the asphalt finisher 100 can, for example, give detailed instructions regarding the dump operation to the driver of the dump truck 200 that performs the dump operation.

Furthermore, the asphalt finisher 100 may further include an imaging device 51, which is an example of an object detection device that detects people around, and a controller 50, which is a control device that controls the irradiation device LS. The controller 50 may be configured to change the light irradiation mode by the irradiation device LS when a person is detected based on the output of the imaging device 51. In the example shown in FIG. 2, the controller 50 may be configured to change the light irradiation mode by the first irradiation device LS1 when the worker WK is detected based on the output of the front camera 51F. For example, the controller 50 may cause the first irradiation device LS1 to start irradiating the first irradiation range IR1 when the worker WK is detected based on the output of the front camera 51F. Alternatively, the controller 50 may cause the light emitted by the first irradiation device LS1 to blink when the distance between the worker WK and the prohibited area NE falls below a predetermined value. Alternatively, the controller 50 changes the color (wavelength) of the light emitted by the first irradiation device LS1 in the order of green, yellow-green, yellow, orange, and red as the distance between the worker WK and the prohibited area NE becomes smaller. It may be changed.

With this configuration, the asphalt finisher 100 can, for example, clearly convey to the worker WK the degree of approach of the worker WK to the prohibited area NE.

Further, in the asphalt finisher 100, the controller 50 causes the irradiation device LS to irradiate light according to the distance between the dump truck 200 and the hopper 2, which is detected based on the output of the imaging device 51, which is an example of an object detection device. It may be configured to change the aspect.

With this configuration, the asphalt finisher 100 can clearly communicate the degree of approach of the dump truck 200 to the asphalt finisher 100 to the driver of the dump truck 200, for example, when the dump truck 200 is moving backward.

Further, in the above-described embodiment, the irradiation device LS irradiates the wall surface or the road surface with light during the construction of the asphalt finisher 100, but during the period when the irradiation device LS irradiates the wall surface or the road surface with light, Not limited to inside. For example, even in an idling state (for example, a state in which the engine 61 is in operation and the asphalt finisher 100 is not running), the wall surface or the road surface can be irradiated with light. In this case, the irradiation device LS may irradiate the wall surface or the road surface with light after the engine 61 as a power source is started and after a predetermined operation is performed on the input device.

The preferred embodiments of the present disclosure have been described above. However, the present invention is not limited to the embodiments described above, nor is it limited to the embodiments described below. Various modifications, substitutions, etc. may be applied to the embodiments described above or below without departing from the scope of the present invention. Moreover, each of the features described with reference to the embodiments described above or below may be combined as appropriate unless technically inconsistent.

For example, in the above embodiment, the second irradiation range IR2 is configured to have a linear shape, but it may be configured to have another shape such as a curved shape, a zigzag shape, or a wavy shape. .

Furthermore, in the embodiment described above, the second irradiation range IR2 is configured to indicate a part of the boundary of the passable range TR. Specifically, the second irradiation range IR2 is configured to indicate the left and right boundaries of the passable range TR. However, the second irradiation range IR2 may be configured to indicate the entire passable range TR. For example, the second irradiation range IR2 may be set to match the passable range TR. That is, the second irradiation device LS2 may be configured to irradiate the entire passable range TR.

This application claims priority based on Japanese patent application No. 2022-061042 filed on March 31, 2022, and the entire contents of this Japanese patent application are incorporated by reference into this application.

1... Tractor 2... Hopper 2W... Hopper wing 2WL... Left hopper wing 2WR... Right hopper wing 3... Screed 3A... Leveling arm 5... Rear wheel 6...・Front wheel 7...Hopper cylinder 7L...Left hopper cylinder 30...Front screed 31...Rear screed 31L...Left rear screed 31R...Right rear screed 32...Tread plate 32C ...Central tread 32L...Left tread 32R...Right tread 41...Side plate 41L...Left side plate 41R...Right side plate 42...Mold board 42L...Left mold board 42R... Right mold board 43... Retaining plate 43L... Left retaining plate 43R... Right retaining plate 50... Controller 50a... Irradiation control unit 51... Imaging device 51B. ... Rear camera 51F... Front camera 51L... Left camera 51R... Right camera 53... Information acquisition device 60... Power supply device 61... Engine 62... Generator 100... ...Asphalt finisher 200...Dump truck 201...Bed 202...Hoist cylinder CV...Conveyor F1...Front frame F2...Left frame IR...Irradiation range IR1...1st Irradiation range IR2...Second irradiation range IR2E...Second front irradiation range IR2L...Second left irradiation range IR2R...Second right irradiation range LS...Irradiation device LS1...First irradiation Device: LS2...Second irradiation device LS2L...Second left irradiation device LS2R...Second right irradiation device NE...No entry area NP...Newly installed pavement PR...Push roller PV...・Paving material RB...Road base SC...Screw SCL...Left extension screw SCR...Right extension screw SYS...Control system TR...Passable range WK...Worker

Claims

tractor and
a hopper installed in front of the tractor to receive paving material;
a conveyor that feeds the paving material in the hopper to the rear of the tractor;
a screw that spreads the paving material fed by the conveyor behind the tractor;
a screed for leveling the paving material spread by the screw behind the screw;
An irradiation device that transmits information by irradiating light onto a wall or road surface;
a control device that controls the irradiation device;
road machinery.
The irradiation device irradiates light onto a road surface in front of the hopper to display a straight line extending forward.
The road machine according to claim 1.
The irradiation device irradiates light onto a road surface in front of the hopper to display a plurality of straight lines extending forward.
The road machine according to claim 1.
The irradiation device irradiates light onto a road surface in front of the hopper to display two straight lines extending forward,
The distance between the two straight lines is determined by the width of the tractor, the width of the hopper, the width of the screed, the front tread width, the rear tread width, the paving width, or the transportation for replenishing the paving material into the hopper. Compatible with the width of the vehicle
The road machine according to claim 1.
The irradiation device transmits information to guide the driving of the transport vehicle by irradiating light onto a wall or road surface,
The control device changes the light irradiation mode by the irradiation device according to the content of information that guides the driving of the transportation vehicle.
The road machine according to claim 1.
Further comprising an object detection device for detecting people around the road machine,
The control device changes a light irradiation mode by the irradiation device when a person is detected based on the output of the object detection device.
The road machine according to claim 1.
The irradiation device transmits information to guide the driving of the transport vehicle by irradiating light onto a wall or road surface,
changing the irradiation mode of light by the irradiation device according to the distance between the transport vehicle and the hopper;
The road machine according to claim 1.
The mode of irradiation of light by the irradiation device includes changing the wavelength of the light irradiated by the irradiation device, blinking the light irradiated by the irradiation device, or changing the amount of light irradiated by the irradiation device. changed by
The road machine according to claim 1.