Road machine and management system for road machine

Abstract

The invention relates to a road machine and a management system of the road machine, and aims to load and unload a transport vehicle without a driver sitting on the road machine. A road machine is provided with: a tractor; the hopper is arranged in front of the traction machine and is used for receiving paving materials; the leveling machine is used for uniformly paving the paving material behind the screw rod for paving the paving material; and a control device that, upon receiving a predetermined instruction, causes the tractor to travel toward the container of the trailer or from the container of the trailer toward the rear area of the trailer.

Description

Technical Field

[0001] This application claims priority based on Japanese Patent Application No. 2023-216245 filed on December 21, 2023. The entire content of the Japanese application is incorporated herein by reference.

[0002] The present invention relates to road machinery and a management system for road machinery. Background Art

[0003] Conventionally, a method has been known for assisting a vehicle driver of a transport vehicle to reach a loading position within a defined loading area of a construction machine. In this method, when the transport vehicle reaches the loading position, an end signal is output by a sensor unit to notify the vehicle driver that the transport vehicle has reached a specified or desired target position and that the loading process can be started.

[0004] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2022-196089

[0005] In the above technology, it is premised that there are drivers for driving the transport vehicle and the construction machine. In contrast, in recent years, a shortage of labor has become severe not only at work sites where work is carried out using construction machines but also at construction sites for road construction, etc., and there is a lack of highly skilled drivers who can safely and quickly perform the operations of loading and unloading road machinery with respect to trailers. Summary of the Invention

[0006] The present invention has been made in view of the above circumstances, and an object thereof is to be able to perform loading and unloading with respect to a transport vehicle without a driver sitting on the road machinery.

[0007] The road machinery according to an embodiment of the present invention includes: a tractor; a hopper provided in front of the tractor and receiving paving materials; a leveling machine for spreading the paving materials evenly behind a screw for spreading the paving materials; and a control device that, if it receives a specified instruction, causes the tractor to travel toward the cargo box of a trailer or from the cargo box of the trailer toward the rear area of the trailer.

[0008] The management system for road machinery according to an embodiment of the present invention is a management system for road machinery including road machinery and a management device for managing the road machinery, wherein the road machinery includes: a tractor; a hopper provided in front of the tractor and receiving paving materials; a leveling machine for spreading the paving materials evenly behind a screw for spreading the paving materials; and a control device that, if it receives a specified instruction from the management device, causes the tractor to travel toward the cargo box of a trailer or from the cargo box of the trailer toward the rear area of the trailer.

[0009] Effects of the Invention

[0010] It is possible to load or unload a transport vehicle without a driver sitting on the road machinery. Description of the Drawings

[0011] Figure 1 is the first left view of the asphalt paver.

[0012] Figure 2 is the first top view of the asphalt paver.

[0013] Figure 3 is the second left view of the asphalt paver.

[0014] Figure 4 is the second top view of the asphalt paver.

[0015] Figure 5 is a diagram showing the functional structure of the controller.

[0016] Figure 6 is a flowchart showing the processing of the controller when receiving an instruction to start loading.

[0017] Figure 7 is the first diagram explaining the loading of the asphalt paver.

[0018] Figure 8 is the second diagram explaining the loading of the asphalt paver.

[0019] Figure 9 is a flowchart showing the processing of the controller when receiving an instruction to start unloading.

[0020] Figure 10 is a diagram showing an example of the system structure of the management system of the road machinery.

[0021] Explanation of Symbols

[0022] 1 - Tractor, 2 - Hopper, 3 - Paver, 31 - Rear paver, 50 - Controller, 50A - Instruction receiving unit, 50B - Monitoring unit, 50C - Travel control unit, 50D - Posture control unit, 50E - Movement determination unit, 50F - Display control unit. Detailed Embodiment

[0023] Hereinafter, this embodiment will be described with reference to the accompanying drawings. Figure 1 and Figure 2 is a schematic diagram of an asphalt paver 100 as an example of the road machinery according to the embodiment of the present invention. Specifically, Figure 1 is the first left view of the asphalt paver 100, Figure 2 is the first top view of the asphalt paver.

[0024] The asphalt leveling machine 100 mainly includes a tractor 1, a hopper 2, and a leveling machine 3. In Figure 1 and Figure 2 In the example shown, the asphalt leveling machine 100 is arranged such that the vehicle length direction corresponds to the X-axis direction and the vehicle width direction corresponds to the Y-axis direction. Moreover, the Z-axis is arranged orthogonally to the X-axis and the Y-axis respectively. Specifically, the front side in the vehicle length direction corresponds to the +X side, the rear side in the vehicle length direction corresponds to the -X side, the left side in the vehicle width direction corresponds to the +Y side, the right side in the vehicle width direction corresponds to the -Y side, the upper side in the vertical direction corresponds to the +Z side, and the lower side in the vertical direction corresponds to the -Z side.

[0025] The tractor 1 is a mechanism for moving the asphalt leveling machine 100. In Figure 1 and Figure 2 In the example shown, the tractor 1 rotates the rear wheels 5 by using a rear-wheel driving motor and rotates the front wheels 6 by using a front-wheel driving motor, thereby moving the asphalt leveling machine 100. The rear-wheel driving motor and the front-wheel driving motor are hydraulic motors that receive the supply of working oil from a hydraulic pump and rotate. The tractor 1 may be provided with crawlers instead of wheels.

[0026] Moreover, the tractor 1 includes a driver's seat 10 and a top cover 11. The top cover 11 is installed on the upper part of the tractor 1 and includes a top plate 11a and a frame 11b that supports the top plate 11a.

[0027] The controller 50 is an example of an arithmetic device. In Figure 1 and Figure 2 In the example shown, the controller 50 is a computer including a CPU (Central Processing Unit), a volatile storage device, and a non-volatile storage device, and is mounted on the tractor 1, and is configured to control the asphalt leveling machine 100 by operating various functions. Various functions of the controller 50 are realized, for example, by the CPU executing a program stored in the non-volatile storage device. Various functions realized by the controller 50 include, for example, a function of controlling the discharge amount of a hydraulic pump that discharges working oil for driving a hydraulic actuator; and a function of controlling the flow of working oil between the hydraulic actuator and the hydraulic pump. In addition, the hydraulic actuator includes a hydraulic cylinder and a hydraulic motor.

[0028] Moreover, the controller 50 of the present embodiment is such that, if an instruction to start loading onto the trailer is received, the asphalt leveling machine 100 is automatically operated to load the asphalt leveling machine 100 onto the trailer. And the controller 50 is such that, if it is detected that the trailer has reached a specified position, it is regarded as receiving an instruction to start unloading from the trailer, and the asphalt leveling machine 100 is automatically operated to unload the asphalt leveling machine 100 from the trailer onto the road surface.

[0029] In other words, the controller 50 of the present embodiment is configured to cause the tractor 1 to travel toward the cargo box of the trailer or from the cargo box of the trailer toward the rear area of the trailer when a specified instruction is received.

[0030] Therefore, in the present embodiment, even when the driver of the asphalt paver 100 is not seated on the driver's seat 10, the trailer can be loaded and unloaded.

[0031] In addition, the trailer of the present embodiment is a transport vehicle for transporting the asphalt paver 100 from one place to another place. And the so-called loading in the present embodiment means moving the asphalt paver 100 on the road to the cargo box of the trailer, and the so-called unloading means moving the asphalt paver 100 loaded in the cargo box of the trailer to the road.

[0032] And the controller 50 of the present embodiment is configured to, when a loading start instruction is received, set the posture of the asphalt paver 100 to a predetermined first posture during the period until the asphalt paver 100 reaches near the ramp provided from the rear end of the cargo box of the trailer toward the ground.

[0033] And when the asphalt paver 100 travels on the ramp toward the cargo box and moves to the cargo box of the trailer, the controller 50 changes the posture of the asphalt paver 100 from the first posture to a predetermined second posture, and shuts down the engine (drive source) in the state of the second posture, thereby completing the loading onto the trailer.

[0034] Compared with the typical posture of the asphalt paver 100 when working on the road surface, the first posture is a posture with a reduced vehicle width and is a posture suitable for traveling. The second posture is a posture for stabilizing the vehicle body in the cargo box of the trailer and is a posture suitable for the trailer to transport the asphalt paver 100. In addition, in the following description, the typical posture of the asphalt paver 100 when working on the road surface is sometimes referred to as the normal posture.

[0035] And when the controller 50 receives an unloading instruction, it changes the posture of the asphalt paver 100 set to the second posture to the first posture, and causes it to move from the cargo box of the trailer to the rear area of the trailer. Then, when the asphalt paver 100 reaches the rear area of the trailer, the controller 50 completes the unloading. In addition, the controller 50 may also cause the asphalt paver 100 to move to the work start position. At this time, when the asphalt paver 100 reaches the work start position, the controller 50 may change the posture of the asphalt paver 100 from the first posture to the normal posture.

[0036] In addition, the so-called rear area of the trailer means the area on the ground that is further rearward than the position where the ramp provided at the rear end of the cargo box of the trailer contacts the ground.

[0037] In this embodiment, when loading and unloading are performed, by assuming a posture suitable for loading and unloading and a posture suitable for transportation in a trailer, work efficiency and safety can be improved.

[0038] In addition, Figure 1 and Figure 2 The posture of the asphalt paver 100 shown is an example of the normal posture when the asphalt paver 100 is working on the road surface. In the normal posture, various postures corresponding to the work may be included. The details of the first posture and the second posture will be described later.

[0039] The hopper 2 is a mechanism for receiving the paving material PV. The paving material PV is, for example, an asphalt mixture. In Figure 1 and Figure 2 In the example shown, the hopper 2 is provided on the front side (+X side) of the tractor 1 and is configured to be opened or closed in the Y-axis direction (vehicle width direction) by the hopper cylinder 24. Usually, the asphalt paver 100 keeps the hopper 2 fully open and receives the paving material PV from the cargo box of the dump truck. The dump truck is an example of a vehicle (transport vehicle) that transports the paving material PV replenished to the asphalt paver 100. Also, when receiving the paving material PV from the cargo box of the dump truck, the asphalt paver 100 can continue to travel while pushing the dump truck forward via the push roller 2b.

[0040] Figure 1 and Figure 2 show the hopper 2 in the fully open state. In addition, in Figure 1 and Figure 2 , for clarity, the illustration of the paving material PV received in the hopper 2 is omitted. When the paving material PV in the hopper 2 decreases, the driver of the asphalt paver 100 manually closes the hopper 2 and concentrates the paving material PV near the inner wall of the hopper 2 at the central part of the hopper 2. This is to enable the conveyor CV located at the central part of the bottom surface of the hopper 2 to convey the paving material PV to the rear of the tractor 1. The paving material PV conveyed to the rear of the tractor 1 is spread in the vehicle width direction on the rear side of the tractor 1 and in front of the leveling machine 3 by the screw SC.

[0041] A space recognition device CM for monitoring the state in front of the tractor 1 is installed on the tractor 1. The space recognition device CM is, for example, a monocular camera, a stereo camera, or LIDAR, etc. In Figure 1 and Figure 2 In the example shown, the space recognition device CM is a monocular camera that captures the state in front of the tractor 1. At this time, the controller 50 can determine whether the amount of the paving material PV in the hopper 2 is more or less than the specified amount based on the image captured by the monocular camera as the space recognition device CM.

[0042] The conveyor CV is driven by a hydraulic motor that receives the supply of working oil from a hydraulic pump. In Figure 1 and Figure 2 In the example shown, the conveyor CV is configured to convey the paving material PV in the hopper 2 to the rear side of the tractor 1 via the conveying passage CP. The conveying passage CP is a substantially rectangular parallelepiped-shaped space formed inside the tractor 1, and has a substantially rectangular inlet OP that opens into the hopper 2 on the front surface 1FW of the tractor 1. Specifically, the conveyor CV includes a left conveyor CVL and a right conveyor CVR that operate separately from each other. Moreover, the conveying passage CP includes a left conveying passage CPL for the left conveyor CVL and a right conveying passage CPR for the right conveyor CVR.

[0043] The screw SC is driven by a hydraulic motor that receives the supply of working oil from a hydraulic pump. Specifically, the screw SC includes a left screw SCL and a right screw SCR that operate separately from each other. In the illustrated example, the left screw SCL is provided to protrude to the left from the width of the tractor 1. The right screw SCR is provided to protrude to the right from the width of the tractor 1.

[0044] The leveling machine 3 is a mechanism for leveling the paving material PV. In Figure 1 and Figure 2 In the example shown, the leveling machine 3 mainly includes a front leveling machine 30 and a rear leveling machine 31. The rear leveling machine 31 includes a left rear leveling machine 31L and a right rear leveling machine 31R. The front leveling machine 30, the left rear leveling machine 31L, and the right rear leveling machine 31R are arranged to be staggered from each other in the front-rear direction. Specifically, the left rear leveling machine 31L is arranged behind the front leveling machine 30, and the right rear leveling machine 31R is arranged behind the left rear leveling machine 31L. The leveling machine 3 is a floating leveling machine towed by the tractor 1 and is connected to the tractor 1 via a leveling arm AM. The leveling machine 3 moves up and down together with the leveling arm AM by the expansion and contraction of the leveling machine lifting cylinder 25.

[0045] The rear leveling machine 31 is configured to be able to expand and contract in the vehicle width direction by an expansion and contraction cylinder 60. The expansion and contraction cylinder 60 is supported by a support portion of the frame of the front leveling machine 30 and is configured to be able to expand and contract the rear leveling machine 31 in the vehicle width direction. Specifically, the expansion and contraction cylinder 60 includes a left expansion and contraction cylinder 60L and a right expansion and contraction cylinder 60R. The left expansion and contraction cylinder 60L expands and contracts the left rear leveling machine 31L on the left side of the front leveling machine 30. The right expansion and contraction cylinder 60R expands and contracts the right rear leveling machine 31R on the right side of the front leveling machine 30.

[0046] The leveling arm AM is configured to connect the leveling machine 3 to the tractor 1. Specifically, the leveling arm AM includes a left leveling arm AML and a right leveling arm AMR. One end (rear end) of each of the left leveling arm AML and the right leveling arm AMR is connected to the leveling machine 3, and the other end (front end) is connected to the tractor 1 (the leveling cylinder 23).

[0047] The leveling cylinder 23 is a hydraulic cylinder that moves the front end of the leveling arm AM up and down to adjust the even spreading thickness of the paving material PV. In Figure 1 and Figure 2 In the example shown, the cylinder body of the leveling cylinder 23 is connected to the tractor 1, and the rod is connected to the front end of the leveling arm AM. In addition, the front end of the leveling arm AM is mounted on the tractor 1 in a slidable up-and-down manner. When increasing the even spreading thickness, the controller 50 causes the working oil discharged from the hydraulic pump to flow into the rod-side oil chamber of the leveling cylinder 23, causing the leveling cylinder 23 to contract and the front end of the leveling arm AM to rise. And when reducing the even spreading thickness, the controller 50 causes the working oil in the rod-side oil chamber of the leveling cylinder 23 to flow out, causing the leveling cylinder 23 to extend and the front end of the leveling arm AM to descend.

[0048] The leveling machine lifting cylinder 25 is a hydraulic cylinder for lifting the leveling machine 3. In Figure 1 and Figure 2 In the example shown, the leveling machine lifting cylinder 25 includes a left leveling machine lifting cylinder 25L and a right leveling machine lifting cylinder 25R. The cylinder body of the left leveling machine lifting cylinder 25L is connected to the left rear end of the tractor 1, and the rod is connected to the rear end of the left leveling arm AML. And the cylinder body of the right leveling machine lifting cylinder 25R is connected to the right rear end of the tractor 1, and the rod is connected to the rear end of the right leveling arm AMR. When lifting the leveling machine 3, the controller 50 causes the working oil discharged from the hydraulic pump to flow into the rod-side oil chamber of the leveling machine lifting cylinder 25. As a result, the leveling machine lifting cylinder 25 contracts, the rear end of the leveling arm AM is lifted, and thus the leveling machine 3 is lifted. And when lowering the lifted leveling machine 3, the controller 50 can cause the working oil in the rod-side oil chamber of the leveling machine lifting cylinder 25 to flow out. As a result, due to the weight of the leveling machine 3, the leveling machine lifting cylinder 25 extends, the rear end of the leveling arm AM descends, and the leveling machine 3 descends. During construction, the leveling machine lifting cylinder 25 is in a state where it can expand and contract according to the up-and-down movement of the leveling machine 3.

[0049] A side plate 40 is installed at the distal end of the rear leveling machine 31. The side plate 40 is a plate-shaped member extending in the vehicle length direction and includes a left side plate 40L and a right side plate 40R. Specifically, the left side plate 40L is installed at the distal end (left end) of the left rear leveling machine 31L, and the right side plate 40R is installed at the distal end (right end) of the right rear leveling machine 31R.

[0050] In the illustrated example, the side plate 40 is also connected to the distal end of the plow plate 41. The plow plate 41 is a component for adjusting the amount of the paving material PV spread by the screw SC and remaining in front of the rear leveling machine 31, and can be configured to be able to expand and contract in the vehicle width direction together with the rear leveling machine 31.

[0051] Specifically, the plow plate 41 is a plate-shaped component extending in the vehicle width direction, including a left plow plate 41L and a right plow plate 41R. In the illustrated example, the left side plate 40L is connected to the distal end (left end) of the left plow plate 41L, and the right side plate 40R is connected to the distal end (right end) of the right plow plate 41R.

[0052] The plow plate 41 is configured to be able to adjust the height in the Z-axis direction independently of the rear leveling machine 31 and the side plate 40. The driver of the asphalt paver 100 moves the plow plate 41 up and down, thereby adjusting the size of the gap between the lower end of the plow plate 41 and the roadbed BC, and thus can adjust the amount of the paving material PV passing through this gap. Therefore, the driver of the asphalt paver 100 can adjust the amount (height) of the paving material PV remaining on the rear side (-X side) of the plow plate 41 and in front of the rear leveling machine 31 (+X side) by moving the plow plate 41 up and down, and further can adjust the amount of the paving material PV taken into the lower side of the rear leveling machine 31.

[0053] The leveling machine step 42 is a component that constitutes a foothold for the staff when working behind the leveling machine 3. Specifically, the leveling machine step 42 includes a left leveling machine step 42L, a central leveling machine step 42C, and a right leveling machine step 42R.

[0054] The fixing plate 43 is a plate-shaped component for preventing the paving material PV spread in the vehicle width direction by the screw SC from spreading in front of the screw SC in order to appropriately spread the paving material PV in the vehicle width direction by the screw SC. In Figure 1 and Figure 2 the illustrated example, the fixing plate 43 includes a left fixing plate 43L and a right fixing plate 43R.

[0055] Next, the first posture and the second posture of the present embodiment will be described. Figure 3 is the second left view of the asphalt paver 100, Figure 4 is the second top view of the asphalt paver.

[0056] Figure 3 and Figure 4 represent the state as the first posture of the asphalt paver 100. As Figure 3 and Figure 4 shown, in the first posture of the asphalt paver 100, the frame 11b of the top cover 11 is folded and the top plate 11a is accommodated. In the present embodiment, by folding and accommodating the top cover 11 in this way, the vehicle height can be reduced.

[0057] Also, in the example of Figure 3 when the leveling jack 25 of the leveling machine contracts, the leveling machine 3 and the leveling arm AM are lifted together. Additionally, in the present embodiment, the leveling machine 3 in the first posture is preferably lifted to a higher position compared to the position when traveling on flat ground. For example, the leveling machine 3 can be lifted to a state where the leveling jack 25 of the leveling machine is contracted to the maximum extent.

[0058] In the present embodiment, by lifting the leveling machine 3 in this way, it is possible to prevent the leveling machine 3 from contacting the road surface or paving slabs during travel. In particular, in the present embodiment, since the position of the leveling machine 3 is lifted to a position higher than the position when traveling on flat ground, when the asphalt rolling machine 100 travels on an inclined paving slab, it is possible to prevent the leveling machine 3 from contacting the road surface or paving slabs, and the safety during loading and unloading can be improved.

[0059] Also, as Figure 4 shown, in the asphalt rolling machine 100 in the first posture, the unloading screw SC and the fixing plate 43 are removed, and the rear leveling machine 31 contracts through the telescopic cylinder 60. Specifically, in the present embodiment, by contracting the left telescopic cylinder 60L and the right telescopic cylinder 60R, the left rear leveling machine 31L and the right rear leveling machine 31R contract, so that the width of the rear leveling machine 31 becomes less than or equal to the vehicle width W1 of the tractor 1. And at this time, the plow plate 41 also contracts together with the rear leveling machine 31.

[0060] Moreover, as Figure 4 shown, in the first posture, the hopper 2 is closed so that the width in the Y-axis direction becomes less than or equal to the vehicle width W1 of the tractor 1.

[0061] In this way, in the first posture of the asphalt rolling machine 100, the widths of the hopper 2 and the leveling machine 3 are set to the same width as the vehicle width W1 of the tractor 1. Therefore, in the present embodiment, it is possible to prevent the asphalt rolling machine 100 from contacting the side of the cargo box, the asphalt rolling machine 100 can be loaded into the cargo box through a simple operation, and the safety can be improved.

[0062] Additionally, in Figure 3 and Figure 4 the first posture shown, it is assumed that the top cover 11 is folded, but it is not limited thereto. In the first posture, as long as the widths of the hopper 2 and the leveling machine 3 are set to be less than or equal to the vehicle width W1 of the tractor 1, for example, when the driver is sitting on the driver's seat 10, the top cover 11 is not folded. Additionally, in the first posture, the leveling machine 3 can contract to a state where the width of the leveling machine 3 becomes the minimum width.

[0063] Next, the second posture of the present embodiment will be described. The second posture of the present embodiment is the posture after the asphalt paver 100 reaches the specified position on the cargo box of the trailer. In the second posture of the present embodiment, the leveling machine 3 that was lifted in the first posture shown in Figure 3 is lowered and brought into contact with the cargo box of the trailer.

[0064] In the present embodiment, in this way, the controller 50 lowers the leveling machine 3 after the asphalt paver 100 moves to the cargo box of the trailer, thereby enabling the body of the asphalt paver 100 to be stabilized and improving the safety during transportation.

[0065] Next, with reference to Figure 5 the functions of the controller 50 will be described. Figure 5 is a diagram for explaining the functional structure of the controller.

[0066] The controller 50 of the present embodiment determines whether to load or unload the asphalt paver 100 relative to the trailer based on the information acquired from either the information acquisition device 45 or the auxiliary storage device 45D. In the case of loading or unloading, various instructions are given to the hopper control device 51, the travel control device 52, the top cover control device 53, the leveling machine control device 54, the output device 57, etc.

[0067] In addition, in the illustrated example, the information acquisition device 45 includes a space recognition device CM, a travel speed sensor 45A, a rudder angle sensor 45B, a leveling machine telescopic sensor 45C, etc.

[0068] The travel speed sensor 45A detects the travel speed of the asphalt paver 100. In the illustrated example, the travel speed sensor 45A is an encoder that detects the angular velocity of the rotating shaft of the rear-wheel travel motor for driving the rear wheels 5. The travel speed sensor 45A may be composed of a wheel speed sensor that detects the rotational speed of the rear wheels 5, or a non-contact switch that detects the slit formed on the rotating plate that rotates together with the rotating shaft of the rear-wheel travel motor.

[0069] The rudder angle sensor 45B is configured to detect the rudder angle of the front wheels 6. In the illustrated example, the rudder angle sensor 45B is a telescopic sensor that detects the telescopic amount of the rudder angle cylinder for changing the rudder angle of the front wheels 6.

[0070] The leveling machine telescopic sensor 45C is configured to detect the telescopic amount of the rear leveling machine 31. In the illustrated example, the leveling machine telescopic sensor 45C is a telescopic sensor that detects the telescopic amount of the telescopic cylinder 60.

[0071] Specifically, the leveling machine telescopic sensor 45C includes a left leveling machine telescopic sensor that detects the telescopic amount of the left rear leveling machine 31L and a right leveling machine telescopic sensor that detects the telescopic amount of the right rear leveling machine 31R.

[0072] The auxiliary storage device 45D is configured to store various information. In the illustrated example, the auxiliary storage device 45D is a non-volatile storage device mounted on the tractor 1 and stores various information.

[0073] The hopper control device 51 is configured to control the expansion and contraction amount of the hopper cylinder 24. In the illustrated example, the hopper control device 51 is a solenoid valve that controls the flow rate of the working oil flowing into or out of the hopper cylinder 24. Specifically, the hopper control device 51 switches the connection and disconnection of the pipes connecting the hopper cylinder 24 and the hydraulic pump and the pipes connecting the hopper cylinder 24 and the working oil tank according to the control command from the controller 50. More specifically, the hopper control device 51 is configured such that by connecting these pipes, the working oil flows into the bottom oil chamber of the hopper cylinder 24, causing the hopper cylinder 24 to extend and automatically closing the hopper 2.

[0074] Alternatively, the hopper control device 51 is configured to connect these pipes according to the control command from the controller 50, thereby causing the working oil to flow out of the bottom oil chamber of the hopper cylinder 24, causing the hopper cylinder 24 to contract and opening the hopper 2.

[0075] The travel control device 52 is configured to control the travel speed of the asphalt paver 100. In the illustrated example, the travel control device 52 is a solenoid valve that controls the flow rate of the working oil flowing into the rear-wheel travel motor and the front-wheel travel motor, respectively. Specifically, the travel control device 52 increases or decreases the cross-sectional area, i.e., the flow path area, of the pipes connecting the rear-wheel travel motor and the front-wheel travel motor to the hydraulic pump according to the control command from the controller 50. More specifically, the travel control device 52 increases the flow path area to increase the flow rate of the working oil flowing into the rear-wheel travel motor and the front-wheel travel motor, respectively, thereby increasing the travel speed of the asphalt paver 100. Alternatively, the travel control device 52 decreases the flow path area to reduce the flow rate of the working oil flowing into the rear-wheel travel motor and the front-wheel travel motor, respectively, thereby reducing the travel speed of the asphalt paver 100.

[0076] The top cover control device 53 folds the frame 11b of the top cover 11 according to the control command from the controller 50, and can store the top plate 11a of the top cover 11 as a cover for the console. Further, the top cover control device 53 can expand the frame 11b of the top cover 11 according to the control command from the controller 50, thereby raising the top plate 11a of the top cover 11.

[0077] The leveling machine control device 54 increases or decreases the cross-sectional area, i.e., the flow path area, of the pipe connecting the telescopic cylinder 60 and the hydraulic pump according to the control instruction from the controller 50. More specifically, the leveling machine control device 54 causes the working oil discharged from the hydraulic pump to flow into the bottom side oil chamber of the telescopic cylinder 60, causing the telescopic cylinder 60 to extend and the rear leveling machine 31 to protrude, thereby enabling the rear leveling machine 31 to be extended to the paving width. Further, the leveling machine control device 54 causes the working oil discharged from the hydraulic pump to flow into the rod side oil chamber of the telescopic cylinder 60, causing the telescopic cylinder 60 to contract and pulling in the rear leveling machine 31, thereby enabling the width of the rear leveling machine 31 to be shortened to less than the vehicle width W1 of the tractor 1.

[0078] The output device 57 is configured to output information. The information includes visual information and auditory information. In the illustrated example, the output device 57 is configured to transmit the information to the workers working around the asphalt rolling machine 100. The workers working around the asphalt rolling machine 100 may include the driver of the asphalt rolling machine 100 and the driver of the dump truck. Specifically, the output device 57 is the main monitor 57A (refer to Figure 1 and Figure 2 .) and the sound output device 57B (refer to Figure 1 and Figure 2 .). However, the output device 57 may also be one or both of the main monitor 57A and the sound output device 57B.

[0079] The main monitor 57A is configured to display various information. In the illustrated example, the main monitor 57A is a liquid crystal display and can display various information according to the control instruction from the controller 50. Further, the main monitor 57A may include an input device such as a touch panel for accepting the operation input of the driver of the asphalt rolling machine 100.

[0080] The sound output device 57B is configured to output sound around the asphalt rolling machine 100. In the illustrated example, the sound output device 57B is a speaker that outputs sound around the asphalt rolling machine 100 and can output an alarm sound according to the control instruction from the controller 50. The sound output device 57B can output sound information.

[0081] The controller 50 of the present embodiment includes functional parts such as an instruction receiving part 50A, a monitoring part 50B, a traveling control part 50C, a posture control part 50D, a movement determination part 50E, and a display control part 50F.

[0082] These respective functional parts are realized by the CPU of the controller 50 reading and executing the programs stored in the storage device.

[0083] The instruction receiving part 50A of the present embodiment receives the start instruction for loading with respect to the asphalt rolling machine 100 and the start instruction for unloading with respect to the asphalt rolling machine 100.

[0084] The instruction receiving unit 50A of the present embodiment can receive, for example, an instruction to start loading and an instruction to start unloading by operating an operating device for operating the asphalt paver 100.

[0085] Moreover, a signal indicating an instruction to start loading and a signal indicating an instruction to start unloading can be sent from the management device 200 that manages the asphalt paver 100 (refer to Figure 10 ), the support device 300 held by the staff who supports the loading or unloading of the asphalt paver 100 (refer to Figure 10 ) to the asphalt paver 100. Further, a signal indicating an instruction to start loading and a signal indicating an instruction to start unloading can be sent from a remote operation device or the like for remotely operating the asphalt paver 100 to the asphalt paver 100.

[0086] During the loading and unloading of the asphalt paver 100, the monitoring unit 50B monitors the state around the asphalt paver 100 based on the information acquired by the space recognition device CM.

[0087] For example, if the instruction receiving unit 50A receives an instruction to start loading or unloading, the monitoring unit 50B can monitor the surroundings of the asphalt paver 100 based on various information input from the space recognition device CM and detect the trailer to be loaded and the deck disposed at the rear end of the cargo box of the trailer.

[0088] In addition, the monitoring unit 50B can, for example, pre-store information for identifying the trailer to be loaded. The information for identifying the trailer includes, for example, model information indicating the model of the trailer, position information indicating the current position of the trailer. Moreover, the information for identifying the trailer can include information indicating the length of the cargo box of the trailer and information indicating the length of the deck.

[0089] For example, when the monitoring unit 50B has stored the model information of the trailer, it can detect the trailer that matches the model information as the trailer to be loaded based on the image data and the like acquired by the space recognition device CM.

[0090] In addition, when the monitoring unit 50B has stored the position information indicating the current position of the trailer, it can also detect the trailer when the position information indicating the current position of the asphalt paver 100 falls within a specified range including the trailer position.

[0091] In the present embodiment, by pre-storing the information for identifying the trailer in this way, the processing load on the controller 50 for identifying the trailer can be reduced.

[0092] Further, when the monitoring unit 50B in the present embodiment does not store information identifying the trailer, it can determine the trailer to be loaded based on the information acquired by the space recognition device CM, such as the shape and size of the object detected within a certain range centered on the asphalt paver 100.

[0093] In the present embodiment, by providing such a function in the monitoring unit 50B, for example, even when the trailer is not prepared in advance, the controller 50 can independently identify a nearby trailer as the loading target.

[0094] Moreover, the monitoring unit 50B can determine whether the conditions for loading or unloading with respect to the trailer are satisfied based on the information acquired from the space recognition device CM. In the following description, the conditions for loading are referred to as the loading travel path conditions, and the conditions for unloading are referred to as the unloading travel path conditions.

[0095] The loading travel path conditions are, for example, conditions related to whether the safety of the travel path from the position of the asphalt paver 100 to the specified loading target position on the upper surface (cargo box) of the trailer is ensured. Specifically, the loading travel path conditions include "a ramp is provided (lowered) at the rear of the trailer" and "the horizontal level in the left - right direction on the travel path including two ramps (hereinafter, "left - right level") satisfies a specified reference corresponding to a state relatively close to horizontal (hereinafter, "level reference")".

[0096] The unloading travel path conditions are, for example, the same as those of the loading travel path conditions, and are conditions related to whether the safety of the travel path from the position of the asphalt paver 100 to the specified unloading target position behind the trailer is ensured. Specifically, the unloading travel path conditions include "a ramp is provided (lowered) at the rear of the trailer" and "the left - right level on the travel path including two ramps satisfies the level reference".

[0097] The travel control unit 50C controls the travel of the tractor 1. Specifically, the travel control unit 50C rotates the rear - wheel travel motor and the front - wheel travel motor to move the tractor 1 forward or backward.

[0098] The posture control unit 50D controls the posture of the asphalt paver 100. Specifically, the posture control unit 50D changes the posture of the asphalt paver 100 from the normal posture to the first posture, or from the first posture to the normal posture. And the posture control unit 50D changes the posture of the asphalt paver 100 from the first posture to the second posture, or from the second posture to the first posture.

[0099] The movement determination unit 50E acquires position information indicating the current position of the asphalt paver 100, and uses the position information of the asphalt paver 100 to determine whether the asphalt paver 100 has moved to the target position.

[0100] The display control unit 50F controls the display of the main monitor 57A. Specifically, the display control unit 50F causes the main monitor 57A to display various notifications related to loading and unloading, and an image indicating the relative positional relationship between the asphalt paver 100 and the trailer.

[0101] Hereinafter, Figures 6 to 8 the loading of the asphalt paver 100 onto the trailer will be described.

[0102] Figure 6 is a flowchart showing the processing of the controller 50 when receiving an instruction to start loading.

[0103] The controller 50 of the present embodiment determines whether an instruction to start loading has been received through the instruction reception unit 50A (step S601). In step S601, when an instruction to start loading has not been received, the controller 50 stands by.

[0104] In step S601, when an instruction to start loading has been received, the controller 50 determines whether a trailer and a ramp that are the loading targets have been detected through the monitoring unit 50B (step S602). In step S602, when a trailer and a ramp that are the loading targets have not been detected, the controller 50 ends the processing. Additionally, at this time, the controller 50 can cause the main monitor 57A to display a notification indicating that a trailer as the loading target has not been detected through the display control unit 50F.

[0105] In step S602, when both the trailer and the ramp that are the loading targets have been detected, the monitoring unit 50B determines whether the travel path up to the cargo box of the identified trailer satisfies the loading travel path condition based on the information acquired by the space recognition device CM (step S603).

[0106] In step S603, when the travel path up to the cargo box of the identified trailer does not satisfy the loading travel path condition, the controller 50 ends the processing. Additionally, at this time, the controller 50 can cause the main monitor 57A to display a notification indicating that the travel path up to the cargo box of the identified trailer does not satisfy the loading travel path condition through the display control unit 50F.

[0107] In step S603, when the travel path up to the cargo box of the trailer satisfies the loading travel path condition, the controller 50 starts traveling through the travel control unit 50C (step S604).

[0108] In other words, the controller 50 rotates the front wheels 6 and the rear wheels 5 of the tractor 1 through the travel control unit 50C, thereby starting the travel of the asphalt paver 100 toward the cargo box of the trailer.

[0109] Here, when the position information indicating the current position of the trailer is pre-stored, the travel control unit 50C starts traveling with the identified current position of the trailer as the target position.

[0110] And, when the position information indicating the current position of the trailer is not pre-stored, the travel control unit 50C can start traveling toward the cargo box of the trailer based on the image in front of the asphalt paver 100 acquired by the space recognition device CM.

[0111] Next, the controller 50 sets the posture of the asphalt paver 100 from the normal posture to the first posture through the posture control unit 50D (step S605). Specifically, the posture control unit 50D sets the posture of the asphalt paver 100 to the first posture of closing the hopper 2, raising the screed 3, and folding the top cover 11.

[0112] Next, the controller 50 determines whether the asphalt paver 100 has moved near the rear end of the road slab through the movement determination unit 50E (step S606).

[0113] More specifically, the movement determination unit 50E can determine whether the asphalt paver 100 has moved near the rear end of the road slab based on the image data and the like acquired by the space recognition device CM.

[0114] And, when the information for determining the trailer is pre-stored, the movement determination unit 50E can determine whether the asphalt paver 100 has moved near the rear end of the road slab based on the position information indicating the position when the asphalt paver 100 received the loading start instruction and the position information indicating the current position of the trailer.

[0115] In step S606, when the movement determination unit 50E determines that the asphalt paver 100 has not moved near the rear end of the road slab, the controller 50 stands by.

[0116] In step S606, when the movement determination unit 50E determines that the asphalt paver 100 has moved near the rear end of the road slab, the controller 50 determines whether the asphalt paver 100 has become the first posture through the posture control unit 50D (step S607). In step S607, when it has not become the first posture, the controller 50 stands by until the asphalt paver 100 becomes the first posture.

[0117] In step S607, when the asphalt paver 100 becomes the first posture, the controller 50 moves the asphalt paver 100 toward the cargo box of the trailer through the travel control unit 50C (step S608).

[0118] Next, the controller 50 determines whether the asphalt paver 100 has moved to the target position in the cargo box through the movement determination unit 50E (step S609).

[0119] Specifically, for example, when position information indicating the current position of the trailer is pre-stored, when the position indicated by the position information of the asphalt paver 100 falls within a specified range including the target position indicated by the position information of the trailer, the movement determination unit 50E may determine that the asphalt paver 100 has moved to the target position.

[0120] Thus, when loading, without having to confirm the position of the asphalt paver 100 in the cargo box, the asphalt paver 100 can be automatically stopped at an appropriate position.

[0121] Moreover, when the position information indicating the current position of the trailer is not stored, the movement determination unit 50E may determine that the machine has moved to the target position based on the image in front of the asphalt paver 100 acquired by the space recognition device CM.

[0122] Thus, without having to prepare the information for determining the trailer in advance, the workload can be reduced.

[0123] In step S609, when the asphalt paver 100 has not moved to the target position, the controller 50 stands by until the asphalt paver 100 moves to the target position.

[0124] In step S609, when the asphalt paver 100 has moved to the target position, the controller 50 stops the running of the asphalt paver 100 through the running control unit 50C, and sets the first posture to the second posture through the posture control unit 50D (step S610).

[0125] Specifically, the posture control unit 50D lowers the screed 3 of the asphalt paver 100 and makes the screed 3 contact the cargo box of the trailer. Additionally, when the top cover 11 is not folded in step S605, the posture control unit 50D may fold the top cover 11 in step S607.

[0126] Next, the controller 50 shuts down the engine of the asphalt paver 100 (step S611) and ends the process.

[0127] In addition, the asphalt paver 100 of the present embodiment may be provided with a communication device that maintains a communicable state even when the engine is shut down.

[0128] The asphalt paver 100 can receive various signals even when the engine is turned off by having such a communication device. Specifically, by having such a communication device, the asphalt paver 100 can receive a signal indicating the start instruction of unloading the trailer from the management device 200 and the support device 300 when the engine is turned off and the asphalt paver 100 is loaded in the cargo box of the trailer.

[0129] Thus, if the trailer and the ramp to be loaded are detected, the asphalt paver 100 of the present embodiment starts moving towards the trailer and changes its normal posture to the first posture during the movement. In addition, before starting to move, the leveling machine 3 is lifted by the contraction of the leveling machine lifting cylinder 25.

[0130] Therefore, in the present embodiment, without separately setting the time for changing the posture of the asphalt paver 100, it is possible to quickly set it to a posture suitable for loading.

[0131] And when the asphalt paver 100 of the present embodiment has moved near the rear end of the ramp arranged at the rear end of the trailer, when the posture of the machine itself becomes the first posture, it crosses the ramp and moves to the cargo box of the trailer.

[0132] Therefore, according to the present embodiment, loading is not performed in a state where the vehicle width of the asphalt paver 100 exceeds the width of the cargo box of the trailer, and safety can be improved.

[0133] In addition, in Figure 6 the example, during the movement of the asphalt paver 100, the normal posture is changed to the first posture, but it is not limited thereto. In the present embodiment, for example, the normal posture can be changed to the first posture before starting to move in step S604, or the normal posture can be changed to the first posture after the asphalt paver 100 has moved to the front of the ramp.

[0134] And in the present embodiment, for example, when the driver is sitting on the driver's seat 10, the top cover 11 does not fold regardless of whether the asphalt paver 100 has moved to the front of the ramp. At this time, the top cover 11 folds after confirming that the driver gets off the driver's seat 10.

[0135] Figure 7 This is the first figure for explaining the loading of the asphalt paver. In Figure 7 it shows the state where the asphalt paver 100 is moving towards the cargo box 1010 of the trailer 1000.

[0136] At this time, regarding the posture of the asphalt paver 100, before the front end of the asphalt paver 100 moves to the position P1 near the rear end of the contact part between the ramp 1020 and the ground, it is set to the first posture.

[0137] In the present embodiment, the asphalt paver 100 assumes a first posture at position P1, whereby when the asphalt paver 100 travels on the inclined road plate 1020, contact between the leveling machine 3 and the road plate 1020 can be prevented.

[0138] Moreover, the asphalt paver 100 can save the absolute coordinates indicating position P2 on the cargo box 1010 as position information indicating the target position. The absolute coordinates indicating position P2 can, for example, be registered in the asphalt paver 100 in advance, or can be obtained by the asphalt paver 100 communicating with the trailer 1000.

[0139] Figure 8 This is a second diagram for explaining the loading of the asphalt paver. In Figure 8 it shows the state where the loading of the asphalt paver 100 onto the cargo box 1010 is completed.

[0140] In Figure 8 the example, the asphalt paver 100 is set to a second posture. That is, for the asphalt paver 100, the hopper 2 is closed, the top cover 11 is folded, and the leveling machine 3 is lowered to contact the cargo box 1010.

[0141] In the present embodiment, by completing the loading in the state where the leveling machine 3 is lowered in this way, movement of the asphalt paver 100 on the cargo box 1010 due to the shaking of the cargo box 1010 during the travel of the trailer 1000 can be suppressed, thereby improving safety.

[0142] Next, with reference to Figure 9 the unloading of the asphalt paver 100 from the trailer will be described.

[0143] Figure 9 This is a flowchart for explaining the processing of the controller when receiving an instruction to start unloading.

[0144] The controller 50 of the present embodiment determines whether an instruction to start unloading has been received through the instruction receiving unit 50A (step S901).

[0145] In addition, the instruction receiving unit 50A can receive the instruction to start unloading by operating the operating device of the asphalt paver 100. Moreover, even when the engine is turned off, the instruction receiving unit 50A can receive the instruction to start unloading via the communication device maintained in a communicable state.

[0146] Also, the instruction to start unloading can be received when the current position of the asphalt paver 100 reaches a predetermined unloading position.

[0147] At this time, for example, in a communication device that maintains a communicable state even when the engine is turned off, a function for acquiring the position information of the asphalt paver 100 is provided. If it is detected that the position indicated by the position information of the asphalt paver 100 enters a specified range including the unloading position, it can be regarded that the start instruction of unloading has been given.

[0148] In step S901, when the unloading start instruction is not received, the controller 50 stands by.

[0149] In step S901, when the unloading start instruction is received, the controller 50 starts the engine (step S902), and determines whether the traveling path from the cargo box of the trailer to the rear area of the trailer satisfies the unloading traveling path condition through the monitoring unit 50B (step S903).

[0150] In step S903, when the unloading traveling path condition is not satisfied, the controller 50 ends the process. In addition, at this time, the controller 50 can, for example, cause the main monitor 57A to display a notification indicating that the unloading traveling path condition is not satisfied through the display control unit 50F.

[0151] In step S903, when the unloading traveling path condition is satisfied, the controller 50 sets the current posture of the asphalt paver 100, that is, the second posture, to the first posture through the posture control unit 50D (step S904).

[0152] Next, the controller 50 starts traveling by rotating the front wheels 6 and the rear wheels 5 through the traveling control unit 50C (step S905). At this time, the traveling control unit 50C causes the tractor 1 to reverse by a distance greater than the sum of the length of the cargo box and the length of the road plate.

[0153] Next, the controller 50 determines whether the asphalt paver 100 has moved to the rear area of the trailer through the movement determination unit 50E (step S906).

[0154] Specifically, the movement determination unit 50E can determine that the asphalt paver 100 has moved to the rear area of the trailer, for example, when the asphalt paver 100 is set to the first posture and the tractor 1 has reversed by a distance greater than the sum of the length of the cargo box and the length of the road plate. At this time, the specified distance can be the length obtained by summing the length of the cargo box 1010 of the trailer 1000 and the length of the road plate 1020.

[0155] In the present embodiment, by reversing by a distance greater than the sum of the length of the cargo box and the length of the road plate in this way, the asphalt paver 100 can be stopped at a position not in contact with the road plate 1020 in the rear area of the trailer.

[0156] In step S906, when the asphalt paver 100 has not moved to the rear area of the trailer, the controller 50 stands by.

[0157] In step S906, when the asphalt paver 100 has moved to the rear area of the trailer, the controller 50 sets the first posture to the normal posture through the posture control unit 50D (step S907), and ends the process.

[0158] In addition, in Figure 9 In the example of, if it is determined that the asphalt paver 100 has moved to the rear area of the trailer, the first posture is set to the normal posture, but it is not limited thereto. In the present embodiment, for example, position information indicating the target position during unloading can be preset. The target position during unloading can be the position of the site where the asphalt paver 100 works.

[0159] At this time, after the asphalt paver 100 moves from the cargo box 1010 of the trailer 1000 to the rear area of the trailer, it can travel to the target position while maintaining the first posture.

[0160] In this way, in the present embodiment, when the trailer 1000 reaches the destination, the unloading of the asphalt paver 100 loaded on the trailer 1000 can be automatically performed.

[0161] In addition, in the present embodiment, an instruction to start loading can be received via a communication device that maintains a communicable state even when the engine is turned off. At this time, if an instruction to start loading is received via the communication device, the controller 50 can start the engine.

[0162] And, in the present embodiment, during the above loading and unloading, the display control unit 50F can generate an image representing the relative position relationship between the asphalt paver 100 and the trailer 1000, and display it on the main monitor 57A.

[0163] At this time, the display control unit 50F can obtain information representing the position of the trailer 1000 relative to the asphalt paver 100 through the space recognition device CM, and generate an image of a schematic diagram representing the position relationship between the asphalt paver 100 and the trailer 1000 based on the obtained information. Moreover, the display control unit 50F can display a screen including the image of the schematic diagram on the main monitor 57A.

[0164] The image representing the schematic diagram can be a two-dimensional image or a three-dimensional image. And the image representing the schematic diagram can be a dynamic image that immediately reflects the movement of the asphalt paver 100.

[0165] In the present embodiment, by displaying such a schematic diagram, for example, when the driver is sitting in the driver's seat 10 of the asphalt paver 100, etc., the driver can grasp the positional relationship between the asphalt paver 100 and the trailer 1000.

[0166] In addition, a screen including an image of a schematic diagram showing the positional relationship between the asphalt paver 100 and the trailer 1000 can be displayed, for example, on the display device of the management device 200 that manages the asphalt paver 100, or on the display device of the support device 300 held by a worker or the like who supports the loading or unloading of the asphalt paver 100.

[0167] Thus, in the present embodiment, it is possible for a manager or a worker located at a place far from the asphalt paver 100 and the trailer 1000 to grasp the relative positional relationship between the asphalt paver 100 and the trailer 1000.

[0168] Moreover, a screen including an image of a schematic diagram showing the positional relationship between the asphalt paver 100 and the trailer 1000 can be displayed on the display device provided in the remote control room for remotely operating the asphalt paver 100. Thus, the operator remotely operating the asphalt paver 100 can grasp the positional relationship between the asphalt paver 100 and the trailer 1000.

[0169] Hereinafter, with reference to Figure 10 A management system for a road machine including the asphalt paver 100 will be described. Figure 10 FIG. is an example of the system configuration of the management system for road machines.

[0170] The management system SYS of the road machine in the present embodiment includes an asphalt paver 100 as an example of a road machine, a management device 200, and a support device 300. The asphalt paver 100, the management device 200, and the support device 300 are connected via a network.

[0171] The management device 200 is a computer having an arithmetic processing device and a storage device, and manages the asphalt paver 100. Specifically, the management device 200 can manage the loading of the asphalt paver 100 onto the trailer and the unloading of the asphalt paver 100 from the trailer.

[0172] The support device 300 is a computer having an arithmetic processing device and a storage device, and may also be a mobile terminal device held by a worker or the like who supports the work based on the asphalt paver 100. The support device 300 in the present embodiment can support the loading of the asphalt paver 100 onto the trailer and the unloading of the asphalt paver 100 from the trailer.

[0173] Moreover, the management device 200 can, for example, send a signal instructing the start of loading and a signal instructing the start of unloading to the asphalt paver 100.

[0174] Also, for example, when the trailer and the road plate of the loading object are not detected in the asphalt paver 100 or when the loading travel path condition is not satisfied, the management device 200 can receive information indicating such a situation from the asphalt paver 100 (see Figure 6 ). Also, when the trailer and the road plate of the loading object are not detected and the loading travel path condition is not satisfied, the management device 200 can display the information indicating such a situation on the display device.

[0175] Also, for example, when the unloading travel path condition is not satisfied in the asphalt paver 100, the management device 200 can receive information indicating such a situation from the asphalt paver 100 (see Figure 9 ). Also, when the unloading travel path condition is not satisfied, the management device 200 can display the information indicating such a situation on the display device.

[0176] In this way, by displaying various notifications on the management device 200, it is possible for the manager who views the display device of the management device 200 to grasp the loading or unloading status of the asphalt paver 100.

[0177] Also, in the road machinery management system SYS of the present embodiment, a signal indicating the start of loading and a signal indicating the start of unloading can be sent from the support device 300 to the asphalt paver 100.

[0178] In the present embodiment, by instructing the loading and unloading of the asphalt paver 100 from the management device 200 and the support device 300 in this way, for example, the driver of the trailer or the like does not need to get out of the trailer to instruct loading and unloading in the operation device of the asphalt paver 100, and the work efficiency can be improved.

[0179] Also, in the road machinery management system SYS of the present embodiment, the support device 300, like the management device 200, can display various notifications on the display device of the support device 300. In this way, by displaying various notifications on the support device 300, for example, the safety of the site where the asphalt paver 100 and the trailer 1000 are arranged can be improved.

[0180] Further, in the present embodiment, the functions of the controller 50 of the asphalt paver 100 can be provided in the management device 200. Specifically, the management device 200 can include a monitoring unit 50B, a travel control unit 50C, a posture control unit 50D, a movement determination unit 50E, and a display control unit 50F. Thus, by implementing these functions in the management device 200, the processing load of the controller 50 can be reduced. Further, when the management device 200 has these functions, the controller 50 may not have these functions. Further, in the present embodiment, the space recognition device CM is provided in the asphalt paver 100, but it is not limited thereto. The space recognition device CM may be provided, for example, at a work site where the asphalt paver 100 works, etc.

[0181] Further, in the present embodiment, the asphalt paver 100 is configured to set the posture of the asphalt paver 100 to the first posture when receiving a loading start instruction, but it is not limited thereto.

[0182] The present embodiment can also be applied to a case where the asphalt paver 100 parked at a certain location automatically travels to another location. Specifically, for example, if a movement instruction to another location is given to the asphalt paver 100 parked in a normal posture at a certain location, the controller 50 can change the posture of the asphalt paver 100 from the normal posture to the first posture, travel to the other location, and change the first posture to the second posture and stop after arriving at the other location.

[0183] Thereby, the asphalt paver 100 can be moved in a posture suitable for travel and stopped at the target position in a stable state.

[0184] As described above, the preferred embodiments of the present invention have been described in detail. However, the present invention is not limited to the above-described embodiments. The above-described embodiments can be applied to various modifications, substitutions, etc. without departing from the scope of the present invention. Further, the features described separately can be combined as long as no technical contradiction occurs.

Claims

1. A road machine, comprising: Tractor; a hopper disposed in front of the tractor and receiving paving materials; a screed machine for spreading the paving material evenly behind a screw for spreading the paving material; and The control device, upon receiving a prescribed instruction, causes the tractor to move toward the cargo box of the trailer or from the cargo box of the trailer toward the rear area of ​​the trailer.

2. The road machine according to claim 1, wherein: The prescribed instruction is a loading start instruction for instructing the start of loading into the cargo box of the trailer, The control device is: Accepting the loading start instruction, Before the road machine travels on a road plate disposed at the rear end of the trailer, the posture of the road machine is set to a first posture, After the road machine moves to the target position in the cargo box, the first posture is set to a second posture, In the state of the second posture, the driving source of the traction machine is turned off.

3. The road machine according to claim 1, wherein: The prescribed instruction is an unloading start instruction for instructing the start of unloading from the cargo box of the trailer, The control device is: Accepting the uninstallation start instruction, The driving source of the tractor is activated, and after the posture of the road machine set to the second posture is changed to the first posture, the tractor is moved backward.

4. The road machine according to claim 2 or 3, wherein: The first posture is a posture in which the hopper is closed, the width of the screed is shortened to a minimum screed width, and the screed is lifted from the ground. The second posture is a posture in which the hopper is closed, the width of the leveler is shortened to the vehicle width of the tractor, and the leveler is lowered to contact the bottom surface of the cargo box of the trailer.

5. The road machine according to claim 4, wherein: A top cover is installed on the tractor. The roof cover is folded in the first posture when a driver is not sitting on the driver's seat of the tractor.

6. The road machine according to claim 2, wherein: The control device stores position information indicating a target position in the cargo box, and determines that the road machine has moved to the target position in the cargo box when the position indicated by the position information of the road machine is within a prescribed range including the target position in the cargo box.

7. The road machine according to claim 2, wherein: A space recognition device is provided to recognize the space around the road machine. The control device identifies the trailer through the space recognition device, and determines that the road machine has moved to the target position in the cargo box based on the identified relative position information between the trailer and the road machine.

8. The road machine according to claim 3, wherein: A communication device is provided, wherein the communication device receives a signal indicating the start of loading and a signal indicating the start of unloading from an external device in a state where the driving source of the tractor is turned off, The control device starts the driving source of the tractor when the communication device receives a signal indicating the start of loading or a signal indicating the start of unloading.

9. The road machine according to claim 3, wherein: The control device is: storing information indicating the length of the cargo box and information indicating the length of a road plate disposed at the rear end of the trailer, After the tractor is set to the first posture, the tractor is moved backward by a distance equal to or greater than the sum of the length of the cargo box and the length of the road plate.

10. The road machine according to claim 2 or 3, wherein: The control device receives the loading start instruction or the unloading start instruction and causes a display device to display a screen including an image schematically showing a relative positional relationship between the road machine and the trailer.

11. A road machine management system, comprising a road machine and a management device for managing the road machine, wherein: The road machine comprises: Tractor; a hopper disposed in front of the tractor and receiving paving materials; a screed machine for spreading the paving material evenly behind a screw for spreading the paving material; and The control device, upon receiving a predetermined instruction from the management device, causes the tractor to travel toward the cargo box of the trailer or from the cargo box of the trailer toward the rear area of ​​the trailer.

Images