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CN119571704A - Asphalt rolling machine - Google Patents

Asphalt rolling machine Download PDF

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Publication number
CN119571704A
CN119571704A CN202311134819.2A CN202311134819A CN119571704A CN 119571704 A CN119571704 A CN 119571704A CN 202311134819 A CN202311134819 A CN 202311134819A CN 119571704 A CN119571704 A CN 119571704A
Authority
CN
China
Prior art keywords
tractor
ground
guide line
line
steering
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311134819.2A
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Chinese (zh)
Inventor
寺元陶太
美浓寿保
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sumitomo SHI Construction Machinery Co Ltd
Original Assignee
Sumitomo SHI Construction Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sumitomo SHI Construction Machinery Co Ltd filed Critical Sumitomo SHI Construction Machinery Co Ltd
Priority to CN202311134819.2A priority Critical patent/CN119571704A/en
Publication of CN119571704A publication Critical patent/CN119571704A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • E01C19/4866—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 with solely non-vibratory or non-percussive pressing or smoothing means for consolidating or finishing
    • E01C19/4873—Apparatus designed for railless operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0015—Disposition of motor in, or adjacent to, traction wheel the motor being hydraulic

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Road Paving Machines (AREA)

Abstract

本发明提供一种能够更适当地对牵引机进行自动操纵的沥青滚平机。沥青滚平机(100)具备：牵引机(1)；料斗(2)，设置于牵引机(1)的前侧并且接收铺路材料；输送机(CV)，将料斗(2)内的铺路材料供给至牵引机(1)的后侧；螺杆(SC)，在牵引机(1)的后侧铺展通过输送机(CV)供给的铺路材料；整平机(3)，在螺杆(SC)的后侧铺匀通过螺杆(SC)铺展的铺路材料；物体检测装置(51)，获取与设置于施工对象的地面的物体(AP)相关的信息；及控制器(50)，根据物体(AP)的变化，生成引导线，并且根据引导线及表示牵引机(1)的车长方向的基准线，对牵引机(1)进行操纵。

The present invention provides an asphalt roller that can automatically operate a tractor more appropriately. The asphalt roller (100) comprises: a tractor (1); a hopper (2) disposed at the front side of the tractor (1) and receiving paving materials; a conveyor (CV) that supplies the paving materials in the hopper (2) to the rear side of the tractor (1); a screw (SC) that spreads the paving materials supplied by the conveyor (CV) at the rear side of the tractor (1); a leveler (3) that evenly spreads the paving materials spread by the screw (SC) at the rear side of the screw (SC); an object detection device (51) that acquires information related to an object (AP) disposed on the ground of a construction object; and a controller (50) that generates a guide line according to changes in the object (AP), and operates the tractor (1) according to the guide line and a reference line indicating the vehicle length direction of the tractor (1).

Description

Asphalt rolling machine
Technical Field
The present application claims priority based on japanese patent application No. 2022-064595, filed on day 2022, month 4 and day 8. The entire contents of this japanese application are incorporated by reference into the present specification.
The invention relates to an asphalt roll-leveling machine.
Background
Conventionally, there is known an asphalt roll-leveling machine provided with a tractor, a hopper provided on a front side of the tractor and receiving paving material, a conveyor that supplies the paving material in the hopper to a rear side of the tractor, a screw that spreads the paving material supplied by the conveyor on the rear side of the tractor, and a leveling machine that spreads the paving material spread by the screw on the rear side of the screw.
Asphalt screeds are known in which a tractor is automatically operated so that an end surface in the width direction of a paved body to be paved extends along a running reference line drawn on the ground of a construction target (see patent documents 1 and 2).
The asphalt roll disclosed in patent literature 1 and patent literature 2 includes a rod-shaped member attached to a hopper so as to protrude in the vehicle width direction, and a plurality of optical sensors attached to the tip of the rod-shaped member and outputting light toward the ground. The plurality of light sensors are arranged in the vehicle width direction, and can detect the running reference line by receiving light reflected by the running reference line.
With this configuration, the asphalt roll leveling machine disclosed in patent document 1 and patent document 2 can detect whether the tractor walks along the walk reference line, approaches the walk reference line, or moves away from the walk reference line. When the asphalt roll leveling machine detects that the tractor is close to the walking datum line, the tractor is operated so that the tractor is far away from the walking datum line, and when the tractor is far away from the walking datum line, the tractor is operated so that the tractor is close to the walking datum line.
Patent document 1 Japanese patent publication No. 3-40163
Patent document 2 Japanese patent publication No. 4-32883
However, the asphalt roll disclosed in patent document 1 and patent document 2 can operate the traction machine only after detecting that the traction machine is approaching the running reference line or is moving away from the running reference line.
Disclosure of Invention
In view of the foregoing, it would be desirable to provide an asphalt roll that is capable of more properly automatically maneuvering a tractor.
An asphalt roll leveling machine according to an embodiment of the present invention includes a tractor, a hopper provided on a front side of the tractor and receiving paving material, a conveyor that supplies the paving material in the hopper to a rear side of the tractor, a screw that spreads the paving material supplied by the conveyor on the rear side of the tractor, a leveling machine that spreads the paving material spread by the screw on the rear side of the screw, an object detection device that acquires information on a ground object existing in a predetermined range on a ground of a construction target, and a control device that generates a guide line according to a change of the ground object and operates the tractor according to the guide line and a reference line indicating a longitudinal direction of the tractor.
Effects of the invention
By the means, the asphalt roll-off machine capable of automatically operating the traction machine more appropriately is provided.
Drawings
Fig. 1 is a side view of an asphalt roll according to an embodiment of the present invention.
Fig. 2 is a top view of the asphalt roll of fig. 1.
Fig. 3 is a diagram showing a configuration example of the automatic steering system.
Fig. 4 is a schematic perspective view of the paving mold frame.
Fig. 5 is a diagram showing an example of a distance image generated from the output of the object detection device.
Fig. 6 is a diagram showing an example of a distance image generated from the output of the object detection device.
Fig. 7 is a diagram showing another example of a distance image generated from the output of the object detection device.
Fig. 8 is a top view of a pitch roller that is automatically maneuvered.
Fig. 9 is a top view of a paving site.
In the figure: 1-tractor, 1S-driver' S seat, 2-hopper, 3-leveler, 3A-leveling arm, 3 AL-left leveling arm, 3 AR-right leveling arm, 5-rear wheel, 6-front wheel, 30-front leveler, 30L-left front leveler, 30R-right front leveler, 31-rear leveler, 31L-left rear leveler, 31R-right rear leveler, 43-plow plate, 50-controller, 50 a-guide wire generating part, 50 b-steering control part, 50 c-leveler telescoping control part, 51-object detecting device, 51L-left object detecting device, 51R-right object detecting device, 52-vehicle-mounted display device, 53-steering device, 60-mounting part, 60L-left mounting part, 60R-right mounting part, 100-asphalt roll-up machine, AP-object, APL-left object, APR-right object, APR1, APR 2-paving mold frame, BS-roadbed, CL-center line, CV-conveyor, DM, DMa, DMb, DM 0-DM 3-distance image, DS-automatic steering system, GD-guide line, GDL-left guide line, GDR-right guide line, L1, L2-center line, NP-newly-built pavement, PV-paving material, S1-walking speed sensor, SB, SBa-rotating part, SC-screw, SH-steering wheel, TA-telescoping part, TR-track, WD-widening, 1-1 st widening, WD 2-2 nd widening, WD 3-3 rd widening, ZL-left monitoring range, ZR1, ZR 3-right monitoring range.
Detailed Description
Fig. 1 is a side view of an asphalt roll machine 100 according to an embodiment of the present invention. Fig. 2 is a top view of pitch rolling machine 100. In the present embodiment, the asphalt roll machine 100 is a wheel asphalt roll machine, and is mainly composed of a tractor 1, a hopper 2, and a leveling machine 3. Hereinafter, the direction (+x direction) of the hopper 2 viewed from the tractor 1 is set to the front, and the direction (-X direction) of the leveler 3 viewed from the tractor 1 is set to the rear.
The tractor 1 is a mechanism for moving the asphalt roll 100. In the present embodiment, the traction machine 1 rotates the rear wheels 5 using the rear wheel traveling hydraulic motor, and rotates the front wheels 6 using the front wheel traveling hydraulic motor to move the asphalt roll machine 100. The hydraulic motor for rear wheel travel and the hydraulic motor for front wheel travel are rotated by receiving a supply of hydraulic oil from a hydraulic pump. The front wheel 6 may be a driven wheel.
Asphalt roll 100 may be a tracked asphalt roll. In this case, the combination of the rear wheel 5 and the front wheel 6 may be replaced with a combination of the left crawler belt and the right crawler belt.
Hopper 2 is a mechanism for receiving paving material. In the present embodiment, the hopper 2 is provided on the front side of the tractor 1, and is configured to be openable and closable in the vehicle width direction (Y axis direction) by a hopper cylinder. Typically, asphalt roll 100 receives paving material (e.g., asphalt mixture) from the cargo bed of a dump truck when hopper 2 is in a fully open state. Dump trucks are an example of transport vehicles that transport paving material. Fig. 1 and 2 show the hopper 2 in a fully opened state. When the amount of the paving material in the hopper 2 decreases, the hopper 2 is closed, and the paving material existing near the inner wall of the hopper 2 is concentrated in the center portion of the hopper 2. This is to enable the conveyor CV present in the center of the hopper 2 to supply paving material to the rear side of the tractor 1. Paving material supplied to the rear side of the tractor 1 by the conveyor CV spreads in the vehicle width direction on the rear side of the tractor 1 and the front side of the screed 3 by the screw SC. In the present embodiment, the screw SC is in a state in which the extension screw is connected to the left and right. In fig. 1 and 2, the paving material PV spread by the screw SC is shown in a thick dot pattern, and the newly laid pavement NP spread by the leveling machine 3 is shown in a thin dot pattern, although the paving material present in the hopper 2 is omitted for clarity.
The screed 3 is a mechanism for paving the paving material PV. In this embodiment, the screed 3 includes a front screed 30 and a rear screed 31. The front screeds 30 include a left front screeds 30L and a right front screeds 30R. The rear leveling machine 31 is a leveling machine that can extend and retract in the vehicle width direction, and includes a left rear leveling machine 31L and a right rear leveling machine 31R. The rear screed 31 may be a fixed width screed that is coupled to the left and right sides of the front screed 30. In the case of a fixed width leveler, the left rear leveler 31L and the right rear leveler 31R may be installed at the same position in the front-rear direction. The leveling machine 3 is a floating leveling machine towed by the towing machine 1, and is coupled to the towing machine 1 via a leveling arm 3A. The leveling arm 3A includes a left leveling arm 3AL disposed on the left side of the tractor 1 and a right leveling arm 3AR disposed on the right side of the tractor 1. In addition, an end screed may be provided at the end of the rear screed 31.
A plow plate 43 is mounted on the front of the screed 3. The plow plate 43 is configured to be capable of adjusting the amount of paving material PV that is retained in front of the screed 3. The paving material PV reaches below the screed 3 via the gap between the lower end of the plow plate 43 and the roadbed BS.
The traction machine 1 is provided with a travel speed sensor S1, a controller 50, an object detection device 51, an in-vehicle display device 52, and an operating device 53.
The travel speed sensor S1 is configured to be able to detect the travel speed of the asphalt roll 100. In the present embodiment, the running speed sensor S1 is a wheel speed sensor, and is configured to be able to detect the rotational angular speed and rotational angle of the rear wheel 5, and the running speed and running distance of the asphalt roll 100.
The controller 50 is a control device for controlling the asphalt roll 100. In the present embodiment, the controller 50 is constituted by a microcomputer including a CPU, a volatile memory device, a nonvolatile memory device, and the like. The CPU executes a program stored in the nonvolatile memory device, thereby realizing the functions of the controller 50. However, the functions of the controller 50 may be realized not only by software but also by hardware, and may be realized by a combination of hardware and software.
The object detection device 51 is configured to acquire information on an object existing in a predetermined range on the ground of the construction target, and to output the acquired information to the controller 50. That is, the object detection device 51 is configured to set a predetermined range of the floor surface of the construction target as the monitoring target. The predetermined range on the floor is a range having a front-rear width and a left-right width larger than the width of the paving form, and is, for example, a range of 2 meters square.
The ground objects existing in the predetermined range include, for example, a roadbed BS and objects AP existing outside the roadbed BS. Specifically, the object AP is an object to be used for specifying the position of the end face of the paved body in the width direction. In the example shown in fig. 1 and 2, the object AP is a paving mold frame having a predetermined thickness (height), and includes a left object APL existing on the left side of the asphalt roll 100 and a right object APR existing on the right side of the asphalt roll 100. The object AP may be an L-shaped side groove block, a curb stone block, a cut step portion of an existing pavement, or the like. The cut step of the existing pavement means a step between the surface of the cut portion and the surface of the uncut portion formed when the old pavement is cut and the new pavement is laid. The object AP may be a ground object having little thickness such as a line drawn on the ground, an adhesive tape attached to the ground, or a string extending along the ground. The information related to the ground object includes, for example, the height of the ground object, the color of the surface of the ground object, the reflectance of the surface of the ground object, and the like. In fig. 1, the left object APL is not shown for clarity.
In the present embodiment, the object detection device 51 is a stereo camera configured to be able to monitor a predetermined range. The object detection device 51 may be a monocular camera, LIDAR, millimeter wave radar, laser scanner, range image camera, laser range finder, ultrasonic sensor, or the like configured to be able to monitor a predetermined range.
The stereo camera as the object detection device 51 is preferably configured to have an automatic exposure adjustment function. According to this configuration, the object detection device 51 can acquire information on the ground object existing in the predetermined range regardless of day and night, that is, without special illumination or the like.
In the present embodiment, the object detection device 51 includes a left object detection device 51L provided on the left side of the asphalt roll 100 and a right object detection device 51R provided on the right side of the asphalt roll 100.
The left object detection device 51L is configured to be able to monitor the ground on the left side of the asphalt roll 100. In the present embodiment, the left object detection device 51L is a stereo camera that monitors a left monitoring range ZL (a range surrounded by a one-dot chain line in fig. 2) existing on the ground on the left side of the asphalt roll 100.
The right object detection device 51R is configured to monitor the ground on the right side of the asphalt roll 100. In the present embodiment, the right object detection device 51R is a stereo camera that monitors a right monitoring range ZR (a range surrounded by a one-dot chain line in fig. 2) existing on the ground on the right side of the asphalt roll 100.
The object detection device 51 may be mounted to the asphalt roll 100 via the mounting member 60. The attachment member 60 is a member used for attaching the object detection device 51 to the asphalt roll 100. In the present embodiment, the mounting member 60 includes a left mounting member 60L and a right mounting member 60R. In the example shown in fig. 2, the left object detection device 51L is attached to the left front end portion of the tractor 1 via the left attachment member 60L, and the right object detection device 51R is attached to the right front end portion of the tractor 1 via the right attachment member 60R. The left object detection device 51L may be attached to other parts of the asphalt roll machine 100, such as the left front end portion of the hopper 2, via a left attachment member 60L. Similarly, the right object detecting device 51R may be attached to other parts of the asphalt roll machine 100 such as the right front end portion of the hopper 2 via the right attaching member 60R.
The object detection device 51 may be configured to monitor the telescopic state of the rear leveling machine 31. For example, the object detection device 51 may additionally include a stereo camera configured to monitor the end of the left rear screed 31L and a stereo camera configured to monitor the end of the right rear screed 31R. At this time, the object detecting device 51 may be disposed at the leveler 3. For example, the object detection device 51 may be configured with the rear screed 31. Also, when an end screed is provided at the end of the rear screed 31, the object detecting device 51 may be provided at the end screed.
In the example shown in fig. 2, the object detection device 51 is attached to the attachment member 60 so as to face downward in a vertical direction, but may be attached to the attachment member 60 so as to face downward in another direction, such as obliquely.
In the example shown in fig. 2, the left attachment member 60L is composed of a stretchable member TA stretchable in the width direction and a rotating member SB rotatably coupled to the distal end of the stretchable member TA. The rotating member SBa indicated by a broken line in fig. 2 indicates a state when the rotating member SB rotates. The same applies to the right mounting member 60R.
In this way, the mounting member 60 is configured to be movable within the monitoring range of the object detection device 51 by the telescopic member TA and the rotary member SB. This is to enable coping with a change in the paving width. Specifically, the controller 50 performs expansion and contraction control of the expansion and contraction member TA so that the object detection device 51 follows the object AP. Thus, even if the arrangement position of the object AP changes to the left and right in the traveling direction, the controller 50 can keep the object AP within the monitoring range of the object detecting device 51.
The mounting member 60 may include at least one of a sensor for detecting the amount of expansion and contraction of the expansion and contraction member TA and a sensor for detecting the amount of rotation (rotation angle) of the rotation member SB.
In addition, at least one of the telescopic member TA and the rotary member SB may be omitted. For example, the mounting member 60 may be configured to be non-telescoping and non-rotatable. That is, the mounting member 60 may be a non-telescoping and non-rotatable rod-like member.
The object detection device 51 may be directly attached to the asphalt roll 100 without the attachment member 60.
Further, the asphalt roll machine 100 may be provided with a steering angle sensor configured to be able to detect a steering angle of the asphalt roll machine 100, a screed expansion/contraction amount sensor configured to be able to detect an expansion/contraction amount of the rear screed 31, and the like.
The in-vehicle display device 52 is configured to be able to display information related to the asphalt roll 100. In the present embodiment, the in-vehicle display device 52 is a liquid crystal display provided in front of the driver seat 1S. The in-vehicle display device 52 may include a display device provided to at least one of the left and right end portions of the screed 3.
The manipulator 53 is configured to be able to manipulate the asphalt roll 100. In the present embodiment, the steering device 53 is configured to extend and retract a front wheel steering cylinder provided near the front axle. Specifically, the operating device 53 includes an electromagnetic control valve for controlling the flow rate of hydraulic fluid flowing from the hydraulic pump to the front wheel operating cylinder and the flow rate of hydraulic fluid discharged from the front wheel operating cylinder. The control electromagnetic control valve is configured to be able to control outflow/inflow of the hydraulic oil in the front wheel control cylinder in accordance with rotation of a steering wheel SH (steering wheel) as an operation device. The steering solenoid control valve is configured to be able to control outflow/inflow of the hydraulic oil in the front wheel steering cylinder in accordance with a steering command from the controller 50 regardless of rotation of the steering wheel SH. That is, the controller 50 can automatically operate the asphalt roll 100 regardless of whether the driver operates the steering wheel SH.
When asphalt binder 100 is a track-type asphalt binder, manipulator 53 is configured to be able to control a pair of left and right tracks individually. In addition, the crawler asphalt roll machine has a left operation lever as an operation device for operating the left crawler and a right operation lever as an operation device for operating the right crawler, instead of the steering wheel SH.
Specifically, the steering device 53 includes a left solenoid control valve that controls the flow rate of hydraulic fluid flowing from the hydraulic pump to the left traveling hydraulic motor for rotating the left crawler belt, and a right solenoid control valve that controls the flow rate of hydraulic fluid flowing from the hydraulic pump to the right traveling hydraulic motor for rotating the right crawler belt. The left solenoid control valve is configured to be able to control the outflow/inflow of the hydraulic oil in the left travel hydraulic motor in accordance with the operation amount (inclination angle) of the left operation lever. The left solenoid control valve is configured to be able to control the outflow/inflow of the hydraulic oil in the left travel hydraulic motor in accordance with a manipulation command from the controller 50 regardless of whether the left operation lever is operated by the driver. Similarly, the right solenoid control valve is configured to be able to control the outflow/inflow of the hydraulic oil in the right traveling hydraulic motor in accordance with the operation amount (inclination angle) of the right operation lever. The right solenoid control valve is configured to be able to control the outflow/inflow of the hydraulic oil in the right traveling hydraulic motor in accordance with a manipulation command from the controller 50 regardless of whether the right operation lever is operated by the driver.
Next, a configuration example of the automatic steering system DS mounted on the asphalt roll 100 will be described with reference to fig. 3. Fig. 3 is a block diagram showing a configuration example of the autopilot system DS.
The automatic steering system DS is mainly composed of a controller 50, a left object detection device 51L, a right object detection device 51R, a travel speed sensor S1, an in-vehicle display device 52, a steering device 53, and the like.
In the example shown in fig. 3, the controller 50 includes a guide wire generating section 50a, a steering control section 50b, and a screed extension and retraction control section 50c as functional modules.
The guide line generating unit 50a is configured to generate a guide line GD based on information on the ground object acquired by the object detecting device 51. The guide line GD is an example of a target line, and is a virtual line indicating the guide surface. The guide surface is a virtual surface to be identified as a surface to be matched with the end surface of the paved body in the width direction. In the example shown in fig. 2, the guide lines GD include a left guide line GDL indicating a left guide surface which is a surface to be aligned with the left end surface of the newly installed mat NP, and a right guide line GDR indicating a right guide surface which is a surface to be aligned with the right end surface of the newly installed mat NP.
The guide line generating section 50a generates a left guide line GDL from information on the left object APL acquired by the left object detecting device 51L, and generates a right guide line GDR from information on the right object APR acquired by the right object detecting device 51R.
For example, as shown in fig. 4, the guide line generating unit 50a generates the right guide line GDR such that a virtual line indicating an edge between the left end face LE and the upper end face UE of the right object APR existing in the right monitoring range ZR is the right guide line GDR. Fig. 4 is a schematic perspective view of the paving mold frame as the right object APR, as viewed from the rear of the asphalt roll 100, schematically showing the positional relationship between the right object detection device 51R and the right object APR.
For example, the guide line generating unit 50a generates the right guide line GDR using a distance image related to the right monitoring range ZR generated from the output of the stereo camera as the right object detecting device 51R. The distance image is a data group in which pixel values of two-dimensionally arranged pixel groups are expressed as distances from the right object detection device 51R.
The guide line generating unit 50a extracts pixels having a difference between pixel values of the pixels constituting the distance image and the pixel value of the left adjacent pixel value equal to or greater than a predetermined threshold value, and derives a straight line from the arrangement of the extracted pixels. The method of deriving a single line can use any image recognition technique such as hough transform.
In addition, the guide line generation section 50a can exclude these effects by performing an averaging process on a portion where the position of the extracted pixel is deviated. Specifically, such a deviation may occur in a portion where two paving frames are in contact with each other or in an image portion corresponding to a portion where the cutting step is not uniform.
In this example, the predetermined threshold value is a threshold value TH related to the height of the paving mold frame. At this time, as shown in fig. 4, the guide line generating unit 50a can generate, as the right guide line GDR, a virtual line indicating the upper left edge of the right object APR, which is a frame for pavement having a height H1 equal to or greater than the threshold value TH.
The threshold TH may be set in advance in accordance with the height of the actual paving mold frame. The use of the threshold TH set corresponding to the height of the paving mold frame actually used enables the generation of a guide line based on the edge of the thin layer mold frame. The use of the threshold TH set in accordance with the height of the paving mold frame actually used can prevent the guide wire generating unit 50a from erroneously generating a guide wire in accordance with the shape (edge) of the ground object other than the paving mold frame.
The above description relates to the process of generating the right guide line GDR from the distance image related to the right monitoring range ZR, but is also applicable to the process of generating the left guide line GDL from the distance image related to the left monitoring range ZL.
When the object detection device 51 is a monocular camera, the "distance image" in the above description is replaced with an "image". At this time, the "pixel value" is represented by color information or the like, not by a distance. The color information may be brightness.
The steering control unit 50b is configured to be capable of automatically steering the asphalt roll 100 regardless of the operation device. The steering control unit 50b may be configured to control the traveling speed of the asphalt roll 100 when the asphalt roll 100 is automatically steered.
The screed expansion and contraction control unit 50c is configured to automatically expand and contract the left and right expandable rear screed 31 irrespective of the operation of the operating device. The screed expansion and contraction control unit 50c may be configured to be capable of automatically controlling the asphalt roll 100 in accordance with the traveling speed of the asphalt roll 100 when the asphalt roll 100 is automatically operated.
In the present embodiment, the steering control unit 50b generates a steering command to the steering device 53 based on the guide line GD and the reference line BL generated by the guide line generating unit 50 a. The manipulation instruction includes, for example, information related to a manipulation direction and information related to a manipulation amount. The information related to the steering direction is, for example, information related to whether steering is performed rightward or leftward. The information related to the steering amount is, for example, information related to a steering angle, typically, information related to a change or a magnitude (target steering angle) of the steering angle from the start of the automatic steering to the stop of the automatic steering. The steering control unit 50b can determine information on the steering angle based on the magnitude of the running speed of the asphalt roll machine 100 detected by the running speed sensor S1. Further, the manipulation instruction may include, for example, information related to the manipulation angular velocity (the rate of increase and decrease of the manipulation angle per unit time).
The reference line BL is a virtual straight line used when generating the steering command. In the present embodiment, the reference line BL is a line indicating the vehicle longitudinal direction (longitudinal direction) of the tractor 1. This means that the reference line BL is set in a direction orthogonal to the axis (wheel axis) of the front wheel 6. In this example, the steering control unit 50b is configured to generate a steering command by comparing the guide line GD with the reference line BL.
Specifically, the steering control unit 50b recognizes a deviation between the guide line GD and the reference line BL, and generates a steering command according to the magnitude of the recognized deviation. More specifically, as shown in fig. 5, the steering control unit 50b calculates the distance between the reference line BL and the guide line GD in the vehicle width direction as the deviation amount DF. The steering control unit 50b calculates an angle formed between the reference line BL and the guide line GD as the deviation angle θ. The steering control unit 50b generates a steering command capable of bringing the deviation DF and the deviation angle θ to zero, that is, a steering command capable of matching the reference line BL with the guide line GD.
Fig. 5 shows an example of a distance image DM generated from the output of the stereo camera as the right object detecting device 51R. Fig. 5 shows that the thinner the dot pattern is, the closer the distance is. Specifically, fig. 5 (a) shows an example of a distance image DMa obtained when a deviation occurs between the vehicle length direction of the asphalt roll machine 100 and the extending direction of the paving mold frame as the right object APR. Fig. 5 (B) shows an example of a distance image DMb obtained when the vehicle length direction of the asphalt roll 100 matches the extending direction of the paving frame as the right object APR.
The steering control unit 50B is configured to, for example, generate an appropriate steering command when the distance image DMa as shown in fig. 5 (a) is obtained, and automatically steer the tractor 1to obtain the distance image DMa as shown in fig. 5 (B).
Further, for example, when the distance image DMa as shown in fig. 5 (a) is obtained, the screed expansion and contraction control unit 50c generates an appropriate expansion and contraction command for any one of the left and right expandable rear screeds 31.
In fig. 5, a center line extending in the longitudinal direction indicated by a broken line in the distance image DM corresponds to a reference line BL indicating the vehicle longitudinal direction of the asphalt roll 100 (the tractor 1). In fig. 5, a center line extending in the lateral direction indicated by a broken line in the distance image DM corresponds to an orthogonal line TL indicating the vehicle width direction of the asphalt roll 100 (the tractor 1). Further, the intersection point of the reference line BL and the orthogonal line TL, that is, the center point CP of the distance image DM corresponds to a point on the ground (the surface of the roadbed BS) located directly below the center of the right object detection device 51R.
In the example shown in fig. 5 (a), the deviation DF between the reference line BL and the right guide line GDR is represented by the distance between the point P1, which is the intersection of the orthogonal line TL and the right guide line GDR, and the center point CP, and becomes the value DFa. The deviation angle θ formed between the reference line BL and the right guide line GDR is a value θa. In fig. 5 (B), the deviation DF and the deviation angle θ are both zero.
In this example, the deviation DF becomes a positive value when the point P1 is located outside (right side) the center point CP, and becomes a negative value when the point P1 is located inside (left side) the center point CP. Further, regarding the reference line BL shown in fig. 5 (a), when the guide line GD is inclined to the outside (right), the deviation angle θ becomes positive, and regarding the reference line BL, when the guide line GD is inclined to the inside (left), the deviation angle θ becomes negative.
When the deviation DF is a positive value, the steering control unit 50b outputs a steering command to the steering device 53 to move the asphalt roll 100 rightward. Similarly, when the deviation DF is negative, the steering control unit 50b outputs a steering command to the steering device 53 to move the asphalt roll 100 to the left.
In this example, when the deviation angle θ is a positive value, the steering control unit 50b outputs a steering command to the steering device 53 to turn the asphalt roll 100 rightward. Similarly, when the deviation angle θ is negative, the steering control unit 50b outputs a steering command to the steering device 53 to turn the asphalt roll 100 to the left.
In this example, the steering control unit 50b generates a steering command that enables the tractor 1 to turn right so that the deviation DF and the deviation angle θ approach zero, respectively. In this example, the position of the right end of the right rear screed 31R is adjusted so that the right end surface of the newly installed mat NP is included in the vertical plane including the reference line BL. Therefore, the steering control unit 50b is configured to automatically steer the tractor 1 so that the deviation DF becomes zero.
The screed extension and retraction control unit 50c adjusts the position of the end portion of the retractable rear screed 31 according to the position of the object detection device 51. Specifically, the leveling machine expansion and contraction control unit 50c calculates the position of the object detection device 51 with respect to the tractor 1 based on the expansion and contraction amount of the expansion and contraction member TA on which the object detection device 51 is disposed. Likewise, the screed retraction control portion 50c calculates the position of the screed tip relative to the tractor 1 based on the amount of retraction of the rear screed 31. The screed extension and retraction control unit 50c calculates the position of the end portion of the rear screed 31 with respect to the object detection device 51 using the calculated position of the object detection device 51, the position of the screed end portion, and the length in the front-rear direction between the extension member TA and the rear screed 31. The screed expansion and contraction control unit 50c calculates the time until the end of the rear screed 31 reaches the position detected by the object detection device 51, based on the detected travel speed. Then, the leveling machine expansion and contraction control unit 50c calculates the position of the end portion of the rear leveling machine 31 and performs expansion and contraction control of the rear leveling machine 31 by calculating the posture of the asphalt roll machine 100 at the time when the position detected by the object detection device 51 is reached, based on the steering angle. In this way, even if the arrangement position of the object AP changes to the left and right in the traveling direction, the screed extension and contraction control portion 50c can cause the end portion of the rear screed 31 to follow the arrangement position of the object AP.
Next, another method of generating the manipulation instruction will be described with reference to fig. 6. Fig. 6 is a diagram showing another example of the distance image DM generated from the output of the stereo camera as the right object detecting device 51R, and corresponds to fig. 5. In fig. 6, the right object APR is not shown for clarity. The following description is related to the manipulation instruction generated from the output of the right object detection device 51R, but the same applies to the manipulation instruction generated from the output of the left object detection device 51L.
In fig. 6, the X axis corresponds to the vehicle length direction of the asphalt roll 100. The Y axis corresponds to the vehicle width direction of asphalt roll 100. The front axle FX corresponds to an extension line of the axle of the front wheel 6. That is, in the example shown in fig. 6, the right object detection device 51R is disposed at a position further to the rear side than the front axis FX in the vehicle length direction (X-axis direction). Specifically, the right object detection device 51R is disposed at a position further rearward than the front axis FX by a distance Lc from the center point CP of the image DM. The deviation (deviation amount DF) is a distance between the center point CP in the vehicle width direction (Y-axis direction) and the guide line GD.
In the example shown in fig. 6, the steering control unit 50b generates a steering command (target steering angle δ) to the steering device 53 based on the guide line GD generated by the guide line generating unit 50 a. Specifically, the steering control unit 50b calculates the distance Y 'between the target position TP and the X axis from the distance X' between the target position TP and the front axis FX.
The distance X' is a value set in advance and functions as a control sensitivity parameter. The distance X' may be dynamically set according to the traveling speed of the pitch roller 100. At this time, the distance X' is typically set to be larger as the traveling speed of the asphalt roll 100 is faster.
Specifically, the steering control unit 50b calculates the distance Y' according to the following expression (1). More specifically, the steering control unit 50b calculates the distance Y 'from the deviation DF, the distance X', the distance Lc, and the deviation angle θ.
Y'=DF+(X'+Lc)×tanθ-(1)
On the basis of this, the steering control unit 50b calculates the target steering angle δ according to the following expression (2). The target steering angle δ corresponds to an angle formed by a line segment connecting the position ND and the target position TP with respect to the X axis. The position ND is the intersection of the X axis and the front axis FX.
[ Number 1]
Further, the steering control section 50b performs the automatic steering using the calculated target steering angle δ. In addition, when the target steering angle δr is generated from the output Lc of the right object detection device 51R and the target steering angle δl is generated from the output Lc of the left object detection device 51L, the steering control section 50b may perform the automatic steering with the average of the target steering angle δr and the target steering angle δl as the final target steering angle δ. That is, the steering control section 50b may perform the automatic steering using the target steering angle δr when only the target steering angle δr can be generated, and the steering control section 50b may perform the automatic steering using the target steering angle δl when only the target steering angle δl can be generated. Or even in the case where both the target steering angle δr and the target steering angle δl can be generated, the steering control portion 50b may perform the automatic steering using either one of the target steering angle δr and the target steering angle δl. When the target steering angle δr and the target steering angle δl cannot be generated for some reason, the steering control unit 50b may stop the automatic steering. When at least one of the target steering angle δr and the target steering angle δl is generated again after stopping the automatic steering, the steering control unit 50b may start the automatic steering again.
The steering control unit 50b may calculate an average deviation amount, which is an average of the deviation amounts DF of the left guide line GDL and the right guide line GDR, and calculate an average deviation angle, which is an average of the deviation angles θ of the left guide line GDL and the right guide line GDR, and derive an average guide line from the average deviation amount and the average deviation angle. The average guide line corresponds to an imaginary center line of the construction width. On the basis of this, the steering control section 50b can calculate the target steering angle δ based on the average guide line.
Next, another example of the process of generating the guide line GD by the guide line generating unit 50a will be described with reference to fig. 7 and 8. Fig. 7 shows an example of a distance image DM generated from the output of the stereo camera as the right object detecting device 51R. Specifically, (a) of fig. 7 shows a distance image DM0 generated at time t0, (B) of fig. 7 shows a distance image DM1 generated at time t1 after a predetermined time has elapsed from time t0, (C) of fig. 7 shows a distance image DM2 generated at time t2 after a predetermined time has elapsed from time t1, and (D) of fig. 7 shows a distance image DM3 generated at time t3 after a predetermined time has elapsed from time t2. In fig. 7, reference line BL and orthogonal line TL shown in fig. 5 are omitted for clarity.
Fig. 8 is a top view of an asphalt roll to be laid on a right-hand curved road. Specifically, the centerline CL of pitch roller 100 is shown in dotted lines in fig. 8. Fig. 8 shows that the center line CL of the asphalt roll 100 at the current time, that is, at time t0, coincides with the center of the width of the newly installed pavement NP.
In fig. 8, a right monitoring range ZR0 corresponding to the distance image DM0 generated at time t0 and a right monitoring range ZR3 corresponding to the distance image DM3 generated at time t3 are indicated by broken lines. In fig. 8, the object detection device 51 and the attachment member 60 are not shown for clarity. The right monitoring range ZR1 (not shown) corresponding to the distance image DM1 generated at the time t1 and the right monitoring range ZR2 (not shown) corresponding to the distance image DM2 generated at the time t2 are actually located between the right monitoring range ZR0 and the right monitoring range ZR3, but in fig. 8, illustration of these is omitted for clarity.
In the example shown in fig. 7 and 8, the pitch-roller machine 100 continues to travel straight until the distance image DM3 is generated for convenience of explanation, but may be automatically operated every time the distance image DM is generated.
At time t0, as shown in fig. 7 (a), the guide line generating unit 50a generates a right guide line GDR corresponding to the upper left edge of the paving frame APR1, which is one of the right objects APR, from the distance image DM 0. Then, the steering control section 50b calculates a value DF0 of the deviation amount DF between the reference line BL and the right guide line GDR, and calculates a value zero of the deviation angle θ formed between the reference line BL and the right guide line GDR. Therefore, at time t0, the steering control unit 50b does not need to generate a steering command for turning the tractor 1 in the right or left direction, and continues the tractor 1 straight.
At time t1, as shown in fig. 7 (B), the guide line generating unit 50a generates, from the distance image DM1, a right tentative guide line PG1 corresponding to the upper left edge of the frame for pavement APR1 of one of the right objects APR, and generates a right tentative guide line PG2 corresponding to the upper left edge of the frame for pavement APR2 of the other right object APR. The paving mold frame APR2 is a paving mold frame disposed adjacent to the paving mold frame APR1, and is disposed so as to be inclined with respect to the paving mold frame APR1 in correspondence to a road curved rightward. That is, the right object APR shown in fig. 7 and 8 is provided to be bent at the joint between the paving mold frame APR1 and the paving mold frame APR 2.
The right temporary guide line PG1 is a virtual line corresponding to the upper left edge of a portion of the paving mold frame APR1 that enters the right monitoring range ZR1 (not shown), and is indicated by a one-dot chain line in fig. 7B. Similarly, the right temporary guide line PG2 is a virtual line corresponding to the upper left edge of a portion of the paving frame APR2 that falls within the right monitoring range ZR1 (not shown), and is indicated by a single-dot chain line in fig. 7B.
When the right tentative guide line PG1 is generated, the guide line generation section 50a calculates the midpoint BM1 of the right tentative guide line PG 1. Similarly, when the right tentative guide line PG2 is generated, the guide line generation section 50a calculates the midpoint FM1 of the right tentative guide line PG 2.
In addition, the guide line generating unit 50a generates a virtual line passing through the midpoint BM1 and the midpoint FM1 as the right guide line GDR1. Then, the steering control unit 50b calculates a value DF1 (> value zero) of the deviation DF between the reference line BL and the right guide line GDR1, and calculates a value θ1 (> value zero) of the deviation angle θ formed between the reference line BL and the right guide line GDR1. At this time, the steering control unit 50b can generate a steering command for matching the right guide line GDR1 with the reference line BL based on the deviation DF and the deviation angle θ.
At time t2, as shown in fig. 7 (C), the guide line generating unit 50a generates a right temporary guide line PG1 corresponding to the upper left edge of the frame for pavement APR1 and a right temporary guide line PG2 corresponding to the upper left edge of the frame for pavement APR2 from the distance image DM 2.
The right temporary guide line PG1 is a virtual line corresponding to the upper left edge of a portion of the paving mold frame APR1 that enters the right monitoring range ZR2 (not shown), and is indicated by a one-dot chain line in fig. 7C. Similarly, the right temporary guide line PG2 is a virtual line corresponding to the upper left edge of a portion of the paving frame APR2 that enters the right monitoring range ZR2 (not shown), and is indicated by a single-dot chain line in fig. 7C. In addition, the right provisional guide wire PG1 becomes shorter than that in fig. 7 (B), and the right provisional guide wire PG2 becomes longer than that in fig. 7 (B).
When the right tentative guide line PG1 is generated, the guide line generation section 50a calculates the midpoint BM2 of the right tentative guide line PG 1. Similarly, when the right tentative guide line PG2 is generated, the guide line generation section 50a calculates the midpoint FM2 of the right tentative guide line PG 2.
In addition, the guide line generating unit 50a generates a virtual line passing through the midpoint BM2 and the midpoint FM2 as the right guide line GDR2. Then, the steering control unit 50b calculates a value DF2 (> value DF 1) of the deviation DF between the reference line BL and the right guide line GDR2, and calculates a value θ2 (> value θ1) of the deviation angle θ formed between the reference line BL and the right guide line GDR2. At this time, the steering control unit 50b can generate a steering command for matching the right guide line GDR2 with the reference line BL based on the deviation DF and the deviation angle θ.
At time t3, as shown in fig. 7 (D), the guide line generating unit 50a generates a right temporary guide line PG1 corresponding to the upper left edge of the frame for pavement APR1 and a right temporary guide line PG2 corresponding to the upper left edge of the frame for pavement APR2 from the distance image DM 3.
The right temporary guide line PG1 is a virtual line corresponding to the upper left edge of a portion of the paving mold frame APR1 that enters the right monitoring range ZR3 (see fig. 8), and is indicated by a one-dot chain line in fig. 7D. Similarly, the right temporary guide line PG2 is a virtual line corresponding to the upper left edge of a portion of the paving frame APR2 that falls within the right monitoring range ZR3 (see fig. 8), and is indicated by a single-dot chain line in fig. 7D. In addition, the right provisional guide wire PG1 becomes shorter than that in fig. 7 (C), and the right provisional guide wire PG2 becomes longer than that in fig. 7 (C).
When the right tentative guide line PG1 is generated, the guide line generating section 50a calculates a midpoint BM3 of the right tentative guide line PG 1. Similarly, when the right tentative guide line PG2 is generated, the guide line generation section 50a calculates the midpoint FM3 of the right tentative guide line PG 2.
In addition, the guide line generating unit 50a generates a virtual line passing through the midpoint BM3 and the midpoint FM3 as the right guide line GDR3. Then, the steering control unit 50b calculates a value DF3 (> value DF 2) of the deviation DF between the reference line BL and the right guide line GDR3, and calculates a value θ3 (> value θ2) of the deviation angle θ formed between the reference line BL and the right guide line GDR3. At this time, the steering control unit 50b can generate a steering command for matching the right guide line GDR3 with the reference line BL based on the deviation DF and the deviation angle θ.
In this way, even when the object AP is bent, the guide line generating unit 50a can generate one guide line GD passing through each midpoint by generating two tentative guide lines. The guide line generating unit 50a may generate three or more temporary guide lines, and may generate one guide line GD based on the positions of the midpoints of the three or more temporary guide lines.
In the above example, the guide line GD is generated so as to be a straight line, but may be generated as a curve.
The above description with reference to fig. 5 to 8 relates to the processing performed by the steering control unit 50b when the width of the newly installed pavement NP is unchanged according to the advance of the asphalt roll machine 100. That is, the above description relates to the processing performed by the steering control section 50b when the left guide line GDL extends substantially parallel to the right guide line GDR. This is because, when the width of the newly installed pavement NP changes according to the advancement of the asphalt roll 100, the steering control unit 50b automatically steers the tractor 1 so that the deviation angle θ between the right guide line GDR and the reference line BL approaches zero, and cannot approach the deviation angle θ between the left guide line GDL and the reference line BL to zero.
Therefore, when the width of the newly installed pavement NP changes according to the advance of the asphalt roll machine 100, the steering control unit 50b may be configured to automatically steer the tractor 1 while automatically expanding and contracting the rear leveling machine 31. For example, as shown in fig. 9, when the road to be paved has a widened portion (widened portion WD indicated by a cross pattern) on the left side, the steering control unit 50b may be configured to automatically steer the tractor 1 while automatically expanding and contracting the rear leveling machine 31.
Fig. 9 is a top view of a paving site. Specifically, in fig. 9, a center line L1 of the planned paving region including the width W1 of the widened portion WD is indicated by a one-dot chain line, and a center line L2 of the planned paving region including the width W2 of the widened portion WD is indicated by a two-dot chain line. Fig. 9 shows a track TR following the center point of asphalt roll 100 in order to properly pave such a planned paving area, as a thick solid line. Fig. 9 shows a case where the widened portion WD includes 1 st to 3 rd widened portions WD1 to WD 3. The 1 st widened portion WD1 is a portion where the width of the mat is widened, the 2 nd widened portion WD2 is a portion where the width of the mat is maintained, and the 3 rd widened portion WD3 is a portion where the width of the mat is gradually narrowed. In fig. 9, the object detection device 51 and the attachment member 60 are not shown for clarity.
Specifically, fig. 9 shows a case where when the front end of the rear leveling machine 31 reaches the position indicated by the block arrow AR10, the controller 50 appropriately paves the 1 st widened portion WD1 by moving the asphalt roll machine 100 to the left side (+y side) in the vehicle width direction while extending the left rear leveling machine 31L and the right rear leveling machine 31R according to the positions of the left ground (left object APL) and the right ground (right object APR) detected by the object detection device 51. Fig. 9 shows a case where when the front end of the rear leveling machine 31 reaches the position indicated by the block arrow AR11, the controller 50 stops the extension of the rear leveling machine 31 and then, the asphalt roll machine 100 is caused to move straight, whereby the 2 nd widened portion WD2 is appropriately paved. At this time, the controller 50 may detect the end portions of the left rear screed 31L and the right rear screed 31R based on the detection value of the object detection device 51. The asphalt roll 100 may be provided with an object detection device different from the object detection device 51 in order to detect the end portions of the left rear leveling machine 31L and the right rear leveling machine 31R.
Fig. 9 shows a case where when the front end of the rear leveling machine 31 reaches the position indicated by the block arrow AR12, the controller 50 appropriately paves the 3 rd widened portion WD3 by moving the asphalt roll machine 100 to the right side (-Y side) in the vehicle width direction while contracting the left rear leveling machine 31L and the right rear leveling machine 31R according to the positions of the left and right belongings detected by the object detection device 51.
Fig. 9 shows a case where, when the front end of the rear leveling machine 31 reaches the position indicated by the block arrow AR13, the asphalt roll machine 100 is caused to move straight on the basis of the controller 50 stopping the shrinkage of the rear leveling machine 31, whereby the planned paving region excluding the width W1 of the widened portion WD is properly paved.
In the example shown in fig. 9, the guide line generating section 50a generates the right guide line GDR from a distance image generated from the output of the right object detecting device 51R, and generates the left guide line GDL from a distance image generated from the output of the left object detecting device 51L.
Then, the controller 50 calculates the total width of the predetermined paving region based on the information on the left guide line GDL and the right guide line GDR, respectively. The steering control unit 50b can determine whether the width of the planned paving region has changed based on the calculated change in the total width. The controller 50 may generate the guide line GD according to the positions of the left and right side belongings detected by the object detection device 51, and expand and contract the screed 3 according to the generated guide line GD. At this time, the controller 50 may extend and retract the rear leveler 31 without performing the automatic steering. Alternatively, the controller 50 may extend and retract the rear leveling machine 31 based on the time series data of the deviation (deviation amount DF) and the prediction result of the travel track of the tractor 1. The controller 50 may detect the positions of the ends of the left and right rear screeds 31L and 31R based on the detection value of the object detection device 51, or may detect the positions of the ends of the left and right rear screeds 31L and 31R based on the detection value of the screed extension amount sensor.
The controller 50 may be configured to calculate the total width of the predetermined paving region based on the output of the sensor that detects the amount of expansion and contraction of the telescopic attachment member 60. At this time, the controller 50 may be configured to automatically expand and contract the attachment member 60 so that the center point CP of the distance image DM is positioned on the guide line GD, for example. Further, the controller 50 may calculate the distance between the tractor 1 and the center point of the object detection device 51 from the output of the sensor that detects the amount of expansion and contraction of the mounting member 60. Further, the controller 50 may calculate the total width of the predetermined paving area based on the information about the total width of the tractor 1 stored in advance, the information about the distance between the left end of the tractor 1 and the center point of the left object detection device 51L, and the information about the distance between the right end of the tractor 1 and the center point of the right object detection device 51R.
Or when the object detection device 51 is directly mounted to the tractor 1, the controller 50 may calculate the total width of the predetermined paving area based on the distance between the object detection device 51 and the object AP (ground object) detected by the object detection device 51. Specifically, the controller 50 may calculate the total width of the planned paving region from the information on the total width of the tractor 1 stored in advance, the information on the distance between the left object detection device 51L and the left object APL (left side ground object) detected by the left object detection device 51L, and the information on the distance between the right object detection device 51R and the right object APR (right side ground object) detected by the right object detection device 51R.
When it is determined that the width of the planned paving area has changed, the steering control unit 50b automatically steers the tractor 1 so that the asphalt leveler 100 is positioned at the center of the planned paving area. Specifically, the steering control unit 50b automatically steers the tractor 1 so that the center point of the asphalt roll 100 follows the track TR (see fig. 9). Track TR is a line depicting the midpoint of the width of the paved predetermined area.
Also, the controller 50 may extend and retract the left rear screed 31L such that the left end of the left rear screed 31L coincides with the left end of the predetermined paving region, and extend and retract the right rear screed 31R such that the right end of the right rear screed 31R coincides with the right end of the predetermined paving region. At this time, the controller 50 may expand and contract the left rear screed 31L and the right rear screed 31R so that the expansion and contraction amount (the projecting amount) of the left rear screed 31L is equal to the expansion and contraction amount (the projecting amount) of the right rear screed 31R. This is because the density of the newly laid mat NP is uniform over the entire width, and the flatness of the newly laid mat NP can be ensured.
The controller 50 may be configured to additionally control the expansion/contraction amount of the rear screed 31 by taking into consideration at least one of the difference between the inner and outer wheels of the asphalt roll screed 100 and the distance between the object detecting device 51 and the rear screed 31 calculated from the steering angle. According to this configuration, the controller 50 can adjust the width of the newly installed mat NP with high accuracy, and can improve the quality of the end portion of the newly installed mat NP. Further, according to this configuration, the controller 50 does not need to adjust the thickness of the end portion of the newly installed pavement NP, and the number of workers involved in the pavement can be reduced.
As described above, the asphalt roll machine 100 according to the embodiment of the present invention includes the tractor 1, the hopper 2 provided on the front side of the tractor 1 and receiving the paving material, the conveyor CV feeding the paving material PV in the hopper 2 to the rear side of the tractor 1, the screw SC spreading the paving material PV fed by the conveyor CV on the rear side of the tractor 1, the leveling machine 3 spreading the paving material PV spread by the screw SC on the rear side of the screw SC, the object detection device 51 acquiring information on the ground object existing in a predetermined range of the ground of the construction target, and the controller 50 as a control device generating a guide line GD as a target line according to the change of the ground object and operating the tractor 1 according to the guide line GD.
The controller 50 can generate a guide line GD as a target line according to the change of the ground object, and can operate the tractor 1 according to the guide line GD and a reference line BL indicating the longitudinal direction of the tractor 1. The longitudinal direction of the tractor 1 is a direction perpendicular to the vehicle width direction of the tractor 1.
The predetermined range is a range having a predetermined front-rear width and a predetermined left-right width around the reference point. The reference point is a point that becomes a reference for determining the content of the manipulation instruction at the current time, and is, for example, the center point CP of the distance image DM.
The predetermined front-rear width is set so as to obtain information on the road width in the front direction of the vehicle in advance. The greater the front-rear width (particularly, the front-rear width of the range existing in front of the reference point), the more information on the paving width in front of it can be acquired by the controller 50. The predetermined left-right width is also set so that information on the width of the pavement in the front direction of the vehicle is obtained in advance. The greater the left-right width (in particular, the left-right width of the range existing in front of the reference point), the more accurately the controller 50 can acquire information about the paving width ahead. This structure enables more appropriate automatic manipulation in consideration of the variation in the width of pavement in front.
The ground object includes, for example, a roadbed BS and an object AP existing outside the roadbed BS. The object AP is, for example, a paving form, an L-shaped side channel block, a curb stone, a paving body, or the like. The ground object may be a line drawn on the ground, an adhesive tape attached to the ground, a rope extending along the ground, or the like, which has little thickness. The information on the ground object is, for example, the property of the ground object detected in a noncontact manner by the object detection device 51, and is, for example, the height of the ground object, the color of the surface of the ground object, the reflectance of the surface of the ground object, or the like. The change in the surface of the object is, for example, a change in the height of the object, a change in the color of the surface of the object, a change in the shape of the object, or a change in the reflectance of the surface of the object. The shape of the ground is, for example, a continuous band-like shape.
The controller 50 can generate a distance image from the output of the object detection device 51, for example, and derive a position (for example, a position where an edge of the paving mold frame exists) where the height of the ground object changes in the distance image to generate the guide line GD. The controller 50 can automatically operate the tractor 1, for example, so that the guide line GD in the range image coincides with the reference line BL.
According to this structure, the controller 50 can more appropriately automatically operate the traction machine 1. Therefore, the structure can reduce the number of workers participating in the paving work, and further can reduce the cost of the paving work. In addition, the construction is not affected by the skill of the worker, and the paving work can be properly performed. That is, this structure can realize the homogenization of the construction quality, and further can realize the improvement of the construction quality and the maintenance of high construction quality.
The controller 50 may be configured to operate the tractor 1 so that the guide line GD coincides with the reference line BL, based on at least one of a distance (deviation DF) between the guide line GD and the reference line BL in the vehicle width direction and an angle (deviation angle θ) formed between the guide line GD and the reference line BL, for example.
According to this structure, the controller 50 can more appropriately automatically operate the traction machine 1. This is because the deviation DF represents the deviation between the pavement and the pavement mold at the current time, and the deviation angle θ represents the deviation between the pavement and the pavement mold at the future time. That is, this is because the controller 50 can automatically operate the tractor 1 not only to eliminate the deviation at the current time but also to eliminate the deviation at the future time in advance.
Further, when paving a straight road, the tractor 1 is automatically steered according to the deviation DF and the deviation angle θ, and the straightness of the tractor 1 can be improved as compared with the case where the tractor 1 is automatically steered according to only the deviation DF. Or when paving a curved road, the automatic steering of the tractor 1 according to the deviation DF and the deviation angle θ can improve the following performance of the tractor 1 on the curved road compared to the automatic steering of the tractor 1 according to the deviation DF alone. This is because the controller 50 can perform an automatic manipulation for preventing the deviation from being generated in advance before the deviation is generated.
The controller 50 may be configured to generate the guide line GD based on information on the feature before and after the bending, for example, when the feature is bent. Specifically, for example, as shown in fig. 8, when the right object APR as the ground object is bent at the junction between the paving frame APR1 and the paving frame APR2, which are the constituent elements thereof, the controller 50 may generate the guide line GD based on the information on the paving frame APR1 existing before the bending thereof and the information on the paving frame APR2 existing after the bending thereof, as shown in fig. 7. According to this configuration, even when the ground object that may be the base of the guide line GD is bent or curved, the controller 50 can generate an appropriate guide line GD. Therefore, even when the planned paving area is curved forward, the controller 50 can appropriately automatically operate the tractor 1.
The change in the above-mentioned ground object may be, for example, a change in the height of the ground object. At this time, the controller 50 may generate the guide line GD according to the shape of the ground object having a height equal to or greater than the threshold TH. The threshold TH may be set to be changeable. According to this structure, the controller 50 can prevent the guide line GD from being erroneously generated according to the shape of the ground object having a height smaller than the threshold TH.
The controller 50 may be configured to calculate the construction width from the change of the ground existing on the right side of the tractor 1 and the change of the ground existing on the left side of the tractor 1. The construction width is, for example, the total width of the planned paving area. For example, the controller 50 may be configured to calculate the construction width based on the position of the portion where the height of the ground object existing on the left side of the tractor 1 changes (the boundary between the roadbed BS and the left object APL) and the position of the portion where the height of the ground object existing on the right side of the tractor 1 changes (the boundary between the roadbed BS and the right object APR). With this configuration, the controller 50 can accurately grasp the total width of the planned paving region.
Further, the controller 50 may be configured to operate the tractor 1 such that the center of the tractor 1 is located at the center of the construction width. According to this configuration, the controller 50 can, for example, make the expansion and contraction amount of the left rear screed 31L substantially the same as the expansion and contraction amount of the right rear screed 31R. Therefore, the controller 50 can improve the traveling performance (straightness) of the asphalt roll machine 100.
The controller 50 may be configured to generate a target line according to a change in the ground object and to expand and contract the leveling machine 3 according to the target line. According to this structure, the controller 50 can more appropriately extend and retract the leveler 3. Therefore, the structure can reduce the number of workers participating in the paving work, and further can reduce the cost of the paving work. In addition, the construction is not affected by the skill of the worker, and the paving work can be properly performed. That is, this structure can realize the homogenization of the construction quality, and further can realize the improvement of the construction quality and the maintenance of high construction quality.
The preferred embodiments of the present invention have been described above. However, the present invention is not limited to the above embodiment. The above-described embodiments can be applied to various modifications, substitutions, and the like without departing from the scope of the present invention. The features described with reference to the above embodiments can be appropriately combined as long as they are not technically contradictory.
For example, in the above-described embodiment, the steering device 53 is configured to extend and retract the front wheel steering cylinder provided near the front axle, but may be configured to rotate the hydraulic steering motor when the hydraulic steering motor is used instead of the front wheel steering cylinder. At this time, the operating device 53 includes an electromagnetic control valve for controlling the flow rate of the hydraulic fluid flowing from the hydraulic pump to the hydraulic operating motor. The control electromagnetic control valve is configured to be capable of controlling outflow/inflow of the hydraulic oil in the hydraulic control motor in accordance with rotation of a steering wheel SH (steering wheel) as an operation device. The steering solenoid control valve is configured to be able to control the outflow/inflow of the hydraulic oil in the hydraulic steering motor in accordance with a steering command from the controller 50, irrespective of the rotation of the steering wheel SH. Alternatively, the steering device 53 may be configured to control an electric motor that automatically rotates the steering wheel SH. At this time, the steering device automatically rotates the steering wheel SH in response to a steering command from the controller 50, and thereby the asphalt roll 100 can be automatically steered.

Claims (12)

1.一种沥青滚平机，其具备：1. An asphalt roller, comprising: 牵引机；Tractor; 料斗，设置于所述牵引机的前侧并且接收铺路材料；a hopper disposed at a front side of the tractor and receiving paving material; 输送机，将所述料斗内的铺路材料供给至所述牵引机的后侧；a conveyor for supplying the paving material in the hopper to the rear side of the tractor; 螺杆，在所述牵引机的后侧铺展通过所述输送机供给的所述铺路材料；a screw that spreads the paving material supplied by the conveyor at the rear side of the tractor; 整平机，在所述螺杆的后侧铺匀通过所述螺杆铺展的所述铺路材料；a leveler for evenly spreading the paving material spread by the screw on the rear side of the screw; 物体检测装置，获取与存在于施工对象的地面的规定范围内的地上物相关的信息；及an object detection device that acquires information related to ground objects existing within a specified range of the ground of a construction object; and 控制装置，根据所述地上物的变化，生成目标线，并且根据所述目标线，对所述牵引机进行操纵。The control device generates a target line according to the change of the ground object, and controls the tractor according to the target line. 2.根据权利要求1所述的沥青滚平机，其中，2. The asphalt roller according to claim 1, wherein: 所述控制装置根据所述地上物的变化，生成所述目标线，并且根据所述目标线及表示所述牵引机的车长方向的基准线，对所述牵引机进行操纵。The control device generates the target line according to the change of the ground feature, and controls the tractor according to the target line and a reference line indicating the vehicle length direction of the tractor. 3.根据权利要求2所述的沥青滚平机，其中，3. The asphalt roller according to claim 2, wherein: 所述控制装置根据车宽方向上的所述目标线与所述基准线之间的距离及形成于所述目标线与所述基准线之间的角度中的至少一个，对所述牵引机进行操纵，以使所述目标线与所述基准线一致。The control device controls the tractor so that the target line coincides with the reference line based on at least one of a distance between the target line and the reference line in a vehicle width direction and an angle formed between the target line and the reference line. 4.根据权利要求2或3所述的沥青滚平机，其中，4. The asphalt roller according to claim 2 or 3, wherein: 在与所述牵引机的前轮的轴正交的方向上设定有所述基准线。The reference line is set in a direction perpendicular to the axis of the front wheels of the tractor. 5.根据权利要求1至4中任一项所述的沥青滚平机，其中，5. The asphalt roller according to any one of claims 1 to 4, wherein: 当所述地上物弯折时，所述控制装置根据与所述弯折前后的所述地上物相关的信息，生成所述目标线。When the feature is bent, the control device generates the target line based on information related to the feature before and after the bend. 6.根据权利要求1至5中任一项所述的沥青滚平机，其中，6. The asphalt roller according to any one of claims 1 to 5, wherein: 所述地上物的变化为所述地上物的高度、颜色信息、反射率或形状中的任一个的变化，The change of the ground object is a change in any one of the height, color information, reflectivity or shape of the ground object. 所述控制装置根据具有阈值以上的高度的所述地上物的形状，生成所述目标线，The control device generates the target line based on the shape of the feature having a height greater than a threshold value, 所述阈值设定成能够变更。The threshold value is set to be changeable. 7.根据权利要求1至6中任一项所述的沥青滚平机，其中，7. The asphalt roller according to any one of claims 1 to 6, wherein: 所述控制装置根据存在于所述牵引机右侧的所述地上物的变化及存在于所述牵引机左侧的所述地上物的变化，计算施工宽度。The control device calculates the construction width based on changes in the ground feature existing on the right side of the tractor and changes in the ground feature existing on the left side of the tractor. 8.根据权利要求7所述的沥青滚平机，其中，8. The asphalt roller according to claim 7, wherein: 所述控制装置对所述牵引机进行操纵，以使所述牵引机的中心位于所述施工宽度的中心。The control device operates the tractor so that the center of the tractor is located at the center of the construction width. 9.一种沥青滚平机，其具备：9. An asphalt roller, comprising: 牵引机；Tractor; 料斗，设置于所述牵引机的前侧并且接收铺路材料；a hopper disposed at a front side of the tractor and receiving paving material; 输送机，将所述料斗内的铺路材料供给至所述牵引机的后侧；a conveyor for supplying the paving material in the hopper to the rear side of the tractor; 螺杆，在所述牵引机的后侧铺展通过所述输送机供给的所述铺路材料；a screw that spreads the paving material supplied by the conveyor at the rear side of the tractor; 整平机，在所述螺杆的后侧铺匀通过所述螺杆铺展的所述铺路材料；a leveler for evenly spreading the paving material spread by the screw on the rear side of the screw; 物体检测装置，获取与存在于施工对象的地面的规定范围内的地上物相关的信息；及an object detection device that acquires information related to ground objects existing within a specified range of the ground of a construction object; and 控制装置，根据所述地上物的变化而使所述整平机伸缩。A control device is provided for extending and retracting the screed machine according to changes of the ground objects. 10.根据权利要求9所述的沥青滚平机，其中，10. The asphalt roller according to claim 9, wherein: 所述控制装置根据所述牵引机的操纵角及被检测的行走速度而使所述整平机伸缩，所述牵引机的操纵角根据所述地上物的变化来计算。The control device extends or retracts the screed machine according to a steering angle of the tractor and a detected travel speed, and the steering angle of the tractor is calculated according to a change in the ground object. 11.根据权利要求9所述的沥青滚平机，其中，11. The asphalt roller according to claim 9, wherein: 所述物体检测装置配置于所述整平机。The object detection device is configured on the leveling machine. 12.根据权利要求9所述的沥青滚平机，其具备：12. The asphalt roller according to claim 9, comprising: 端部整平装置，配置于所述整平机的端部，The end leveling device is arranged at the end of the leveling machine. 所述物体检测装置配置于所述端部整平装置。The object detection device is configured on the end flattening device.
CN202311134819.2A 2023-09-05 2023-09-05 Asphalt rolling machine Pending CN119571704A (en)

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CN202311134819.2A CN119571704A (en) 2023-09-05 2023-09-05 Asphalt rolling machine

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