Road paving machine and road paving machine management system

Abstract

An object is to perform loading and unloading to / from a transport vehicle without a driver riding on a road paving machine (100). There is provided a road paving machine (100) including: a tractor (1); a hopper (2) that is provided in front of the tractor (1) and receives a paving material (PV); a screed (3) that levels the paving material (PV) behind a screw for spreading the paving material (PV); and a control device (50) that causes the tractor (1) to travel toward a loading platform of a trailer (1000) or toward a rear region of the trailer (1000) from the loading platform of the trailer (1000) in a case where a predetermined instruction is received.

Description

BACKGROUND OF THE INVENTIONField of the Invention

[0001] The present disclosure relates to a road paving machine and a road paving machine management system.Description of Related Art

[0002] In Japanese Unexamined Patent Publication No. 2022-196089, a method for supporting a vehicle driver of a transport vehicle to reach a loading position in a designated loading region of a work machine is known. In this method, in a case where the transport vehicle reaches the loading position, a sensor unit outputs an end signal, and the vehicle driver is notified that the transport vehicle has reached a predetermined or desired target position and that a loading process can be started.SUMMARY OF THE INVENTION

[0003] In the above-described technique, it is assumed that a driver who drives a transport vehicle or a work machine exists. On the other hand, in recent years, not only a work site where work is performed by a work machine but also a construction site of road construction has a serious shortage of manpower. As a result, there is a shortage of highly skilled drivers who can safely and quickly perform an operation for loading and unloading of a road paving machine to / from a trailer.

[0004] The present disclosure has been made in view of the above circumstances, and an object of the present disclosure is to perform loading and unloading to / from a transport vehicle without a driver riding on a road paving machine.

[0005] According to an embodiment of the present invention, there is provided a road paving machine including: a tractor; a hopper that is provided in front of the tractor and receives a paving material; a screed that levels the paving material behind a screw for spreading the paving material; and a control device that causes the tractor to travel toward a loading platform of a trailer or toward a rear region of the trailer from the loading platform of the trailer in a case where a predetermined instruction is received.

[0006] According to an embodiment of the present invention, there is provided a road paving machine management system including: a road paving machine; and a management device that manages the road paving machine, in which the road paving machine includes a tractor, a hopper that is provided in front of the tractor and receives a paving material, a screed that levels the paving material behind a screw for spreading the paving material, and a control device that causes the tractor to travel toward a loading platform of a trailer or toward a rear region of the trailer from the loading platform of the trailer in a case where a predetermined instruction is received from the management device.

[0007] It is possible to perform loading and unloading to / from a transport vehicle without a driver riding on a road paving machine.BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Fig. 1 is a first left view of an asphalt finisher. Fig. 2 is a first top view of the asphalt finisher. Fig. 3 is a second left view of the asphalt finisher. Fig. 4 is a second top view of the asphalt finisher. Fig. 5 is a diagram illustrating a functional configuration of a controller. Fig. 6 is a flowchart illustrating processing of the controller in a case where a loading start instruction is received. Fig. 7 is a first diagram for explaining loading of the asphalt finisher. Fig. 8 is a second diagram for explaining loading of the asphalt finisher. Fig. 9 is a flowchart illustrating processing of the controller in a case where an unloading start instruction is received. Fig. 10 is a diagram illustrating an example of a system configuration of a road paving machine management system. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, the present embodiment will be described with reference to the drawings. Fig. 1 and Fig. 2 are schematic views of an asphalt finisher 100 that is an example of a road paving machine according to an embodiment of the present disclosure. Specifically, Fig. 1 is a first left view of the asphalt finisher 100, and Fig. 2 is a first top view of the asphalt finisher.

[0010] The asphalt finisher 100 is mainly configured by a tractor 1, a hopper 2, and a screed 3. In the example illustrated in Fig. 1 and Fig. 2, the asphalt finisher 100 is disposed such that a vehicle length direction of the asphalt finisher 100 corresponds to an X-axis direction and a vehicle width direction of the asphalt finisher 100 corresponds to a Y-axis direction. In addition, a Z-axis is disposed to be perpendicular to each of an X-axis and a Y-axis. Specifically, a front side in the vehicle length direction corresponds to a +X side, a rear side in the vehicle length direction corresponds to a -X side, a left side in the vehicle width direction corresponds to a +Y side, a right side in the vehicle width direction corresponds to a -Y side, an upper side in a vertical direction corresponds to a +Z side, and a lower side in the vertical direction corresponds to a -Z side.

[0011] The tractor 1 is a mechanism for causing the asphalt finisher 100 to travel. In the example illustrated in Fig. 1 and Fig. 2, the tractor 1 moves the asphalt finisher 100 by rotating a rear wheel 5 using a rear wheel traveling motor and rotating a front wheel 6 using a front wheel traveling motor. Both of the rear wheel traveling motor and the front wheel traveling motor are hydraulic motors that rotate by receiving supply of a hydraulic oil from a hydraulic pump. The tractor 1 may include a crawler instead of the wheels.

[0012] In addition, the tractor 1 includes a driver's seat 10 and a canopy 11. The canopy 11 is attached to an upper portion of the tractor 1, and includes a top plate 11a and a frame 11b that supports the top plate 11a.

[0013] A controller 50 is an example of a calculation device. In the example illustrated in Fig. 1 and Fig. 2, the controller 50 is a computer including a central processing unit (CPU), a volatile storage device, and a non-volatile storage device, is mounted on the tractor 1, and is configured to control the asphalt finisher 100 by operating various functions. Various types of functions of the controller 50 are realized, for example, as the CPU executes a program stored in the non-volatile storage device. The various types of functions realized by the controller 50 include, for example, a function of controlling a discharge amount of the hydraulic pump that discharges a hydraulic oil for driving a hydraulic actuator and a function of controlling a flow of the hydraulic oil between the hydraulic actuator and the hydraulic pump. The hydraulic actuator includes a hydraulic cylinder and a hydraulic motor.

[0014] In addition, in a case where the controller 50 according to the present embodiment receives an instruction to start loading a trailer, the controller 50 automatically operates the asphalt finisher 100 to load the asphalt finisher 100 onto the trailer. Further, in a case where the controller 50 detects that the trailer has arrived at a predetermined position, the controller 50 automatically operates the asphalt finisher 100 to lower the asphalt finisher 100 from the trailer to the road surface, in response to reception of an instruction to start unloading from the trailer.

[0015] In other words, in a case where a predetermined instruction is received, the controller 50 according to the present embodiment causes the tractor 1 to travel toward a loading platform of the trailer or toward a rear region of the trailer from the loading platform of the trailer.

[0016] Therefore, in the present embodiment, loading and unloading of the trailer can be performed even in a state where the driver of the asphalt finisher 100 is not riding on the driver's seat 10.

[0017] The trailer according to the present embodiment is a transport vehicle that transports the asphalt finisher 100 from a certain place to another place. In addition, loading in the present embodiment indicates that the asphalt finisher 100 on the road is moved to the loading platform of the trailer, and unloading indicates that the asphalt finisher 100 loaded on the loading platform of the trailer is moved on the road.

[0018] In addition, in a case where the controller 50 according to the present embodiment receives a loading start instruction, the controller 50 sets a posture of the asphalt finisher 100 to a first posture determined in advance until the asphalt finisher 100 reaches the vicinity of a road plate provided from the rear end of the loading platform of the trailer toward the ground.

[0019] In addition, in a case where the asphalt finisher 100 travels on the road plate toward the loading platform and moves to the loading platform of the trailer, the controller 50 changes the posture of the asphalt finisher 100 from the first posture to a second posture determined in advance, and turns off an engine (drive source) in a state of the second posture. Thus, loading to the trailer is completed.

[0020] The first posture is a posture in which the asphalt finisher 100 has a vehicle width narrower than a vehicle width in a typical posture in a case where the asphalt finisher 100 performs work on the road surface, and is a posture suitable for traveling. The second posture is a posture for stabilizing the vehicle body on the loading platform of the trailer, and is a posture suitable for transporting of the asphalt finisher 100 by the trailer. In the following description, a typical posture of the asphalt finisher 100 in a case where the asphalt finisher 100 performs work on the road surface may be expressed as a normal posture.

[0021] In addition, in a case where the controller 50 receives an unloading instruction, the controller 50 changes the posture of the asphalt finisher 100 from the second posture to the first posture, and moves the asphalt finisher 100 from the loading platform of the trailer to the rear region of the trailer. Then, the controller 50 completes unloading in a case where the asphalt finisher 100 reaches the rear region of the trailer. The controller 50 may move the asphalt finisher 100 to a work start position. In this case, in a case where the asphalt finisher 100 reaches the work start position, the controller 50 may set the posture of the asphalt finisher 100 to the normal posture from the first posture.

[0022] The rear region of the trailer indicates a region on the ground further rearward than a position where the road plate provided at the rear end of the loading platform of the trailer is in contact with the ground.

[0023] In the present embodiment, as described above, in a case of performing loading and unloading, the posture suitable for loading and unloading and the posture suitable for transporting by the trailer can be adopted, and thus, work efficiency and safety can be improved.

[0024] The posture of the asphalt finisher 100 illustrated in Fig. 1 and Fig. 2 is an example of a normal posture of the asphalt finisher 100 in a case where the asphalt finisher 100 performs work on the road surface. The normal posture may include various postures according to the work. Details of the first posture and the second posture will be described later.

[0025] The hopper 2 is a mechanism for receiving a paving material PV. The paving material PV is, for example, an asphalt mixture. In the example illustrated in Fig. 1 and Fig. 2, the hopper 2 is provided on the front side (+X side) of the tractor 1 and is configured to be opened and closed in the Y-axis direction (vehicle width direction) by a hopper cylinder 24. The asphalt finisher 100 usually brings the hopper 2 into a fully open state such that the paving material PV is received from a loading platform of a dump truck. The dump truck is an example of a vehicle (transport vehicle) that transports the paving material PV to be supplied to the asphalt finisher 100. In addition, the asphalt finisher 100 can continue to travel while pushing the dump truck forward via a push roller 2b even in a case of receiving the paving material PV from the loading platform of the dump truck.

[0026] Fig. 1 and Fig. 2 illustrates that the hopper 2 is in a fully open state. For the sake of clarity, in Fig. 1 and Fig. 2, the paving material PV received in the hopper 2 is not illustrated. In a case where the paving material PV in the hopper 2 decreases, a driver of the asphalt finisher 100 manually closes the hopper 2, and collects the paving material PV near an inner wall of the hopper 2 to a central portion of the hopper 2. This is to enable a conveyor CV which is at the central portion of a bottom surface of the hopper 2 to transport the paving material PV to the rear of the tractor 1. The paving material PV transported to the rear of the tractor 1 is spread in the vehicle width direction behind the tractor 1 and before the screed 3 by a screw SC.

[0027] A space recognition device CM for monitoring a state in front of the tractor 1 is mounted on the tractor 1. The space recognition device CM is, for example, a monocular camera, a stereo camera, or a LIDAR. In the example illustrated in Fig. 1 and Fig. 2, the space recognition device CM is a monocular camera that captures an image of a state in front of the tractor 1. In this case, the controller 50 can determine whether or not an amount of the paving material PV in the hopper 2 is larger than or smaller than a predetermined amount, based on an image captured by the monocular camera serving as the space recognition device CM.

[0028] The conveyor CV is driven by a hydraulic motor that rotates by receiving supply of a hydraulic oil from a hydraulic pump. In the example illustrated in Fig. 1 and Fig. 2, the conveyor CV is configured to transport the paving material PV in the hopper 2 to the rear of the tractor 1 via a transport passage CP. The transport passage CP is a substantially rectangular parallelepiped space formed inside the tractor 1 and has a substantially rectangular inlet OP that opens into the hopper 2 on a 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. In addition, the transport passage CP includes a left transport passage CPL for the left conveyor CVL and a right transport passage CPR for the right conveyor CVR.

[0029] The screw SC is driven by a hydraulic motor that rotates by receiving supply of a hydraulic 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 side from the width of the tractor 1. The right screw SCR is provided to protrude to the right side from the width of the tractor 1.

[0030] The screed 3 is a mechanism for leveling the paving material PV. In the example illustrated in Fig. 1 and Fig. 2, the screed 3 mainly includes a front screed 30 and a rear screed 31. The rear screed 31 includes a left rear screed 31L and a right rear screed 31R. The front screed 30, the left rear screed 31L, and the right rear screed 31R are disposed to be deviated from each other on the front and rear sides. Specifically, the left rear screed 31L is disposed behind the front screed 30, and the right rear screed 31R is disposed behind the left rear screed 31L. The screed 3 is a floating screed pulled by the tractor 1 and is connected to the tractor 1 via a leveling arm AM. The screed 3 is moved up and down together with the leveling arm AM in response to expansion / contraction of a screed lift cylinder 25.

[0031] The rear screed 31 is configured to expand and contract in the vehicle width direction by an expansion / contraction cylinder 60. The expansion / contraction cylinder 60 is supported by a support portion fixed to a casing of the front screed 30 and is configured to expand and contract the rear screed 31 in the vehicle width direction. Specifically, the expansion / contraction cylinder 60 includes a left expansion / contraction cylinder 60L and a right expansion / contraction cylinder 60R. The left expansion / contraction cylinder 60L expands and contracts the left rear screed 31L on the left side of the front screed 30. The right expansion / contraction cylinder 60R expands and contracts the right rear screed 31R on the right side of the front screed 30.

[0032] The leveling arm AM is configured to connect the screed 3 to the tractor 1. Specifically, the leveling arm AM includes a left leveling arm AML and a right leveling arm AMR. Each of the left leveling arm AML and the right leveling arm AMR has one end (rear end) connected to the screed 3 and the other end (front end) connected to the tractor 1 (leveling cylinder 23).

[0033] The leveling cylinder 23 is a hydraulic cylinder that moves a front end of the leveling arm AM up and down in order to adjust a leveling thickness of the paving material PV. In the example illustrated in Fig. 1 and Fig. 2, a cylinder portion of the leveling cylinder 23 is connected to the tractor 1, and a rod portion of the leveling cylinder 23 is connected to the front end of the leveling arm AM. The front end of the leveling arm AM is attached to the tractor 1 to be slidable up and down. In a case of increasing the leveling thickness, the controller 50 causes a hydraulic oil discharged by the hydraulic pump to flow into a rod-side oil chamber of the leveling cylinder 23 and contracts the leveling cylinder 23 to raise the front end of the leveling arm AM. In addition, in a case of reducing the leveling thickness, the controller 50 causes the hydraulic oil in the rod-side oil chamber of the leveling cylinder 23 to flow out and expands the leveling cylinder 23 to lower the front end of the leveling arm AM.

[0034] The screed lift cylinder 25 is a hydraulic cylinder for lifting the screed 3. In the example illustrated in Fig. 1 and Fig. 2, the screed lift cylinder 25 includes a left screed lift cylinder 25L and a right screed lift cylinder 25R. A cylinder portion of the left screed lift cylinder 25L is connected to a left rear end portion of the tractor 1, and a rod portion of the left screed lift cylinder 25L is connected to the rear end of the left leveling arm AML. In addition, a cylinder portion of the right screed lift cylinder 25R is connected to a right rear end portion of the tractor 1, and a rod portion of the right screed lift cylinder 25R is connected to the rear end of the right leveling arm AMR. In a case of lifting the screed 3, the controller 50 causes a hydraulic oil discharged by the hydraulic pump to flow into a rod-side oil chamber of the screed lift cylinder 25. As a result, the screed lift cylinder 25 contracts, a rear end portion of the leveling arm AM is lifted, and the screed 3 is lifted. In addition, in a case of lowering the lifted screed 3, the controller 50 enables the hydraulic oil in the rod-side oil chamber of the screed lift cylinder 25 to flow out. As a result, the screed lift cylinder 25 is expanded by the weight of the screed 3, the rear end portion of the leveling arm AM is lowered, and the screed 3 is lowered. During work, the screed lift cylinder 25 is in a state where the screed lift cylinder 25 can expand and contract in response to an up-and-down movement of the screed 3.

[0035] A side plate 40 is attached to a distal end of the rear screed 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 attached to a distal end (left end) of the left rear screed 31L, and the right side plate 40R is attached to a distal end (right end) of the right rear screed 31R.

[0036] In the illustrated example, the side plate 40 is also attached to a distal end of a mold board 41. The mold board 41 is a member for adjusting the amount of the paving material PV staying in front of the rear screed 31, out of the paving material PV spread by the screw SC, and may be configured to expand and contract in the vehicle width direction together with the rear screed 31.

[0037] Specifically, the mold board 41 is a plate-shaped member extending in the vehicle width direction and includes a left mold board 41L and a right mold board 41R. In the illustrated example, the left side plate 40L is attached to a distal end (left end) of the left mold board 41L, and the right side plate 40R is attached to a distal end (right end) of the right mold board 41R.

[0038] The mold board 41 is configured to adjust a height in the Z-axis direction regardless of the rear screed 31 and the side plate 40. By moving the mold board 41 up and down, the driver of the asphalt finisher 100 can adjust a size of a gap between a lower end of the mold board 41 and a roadbed BC and adjust the amount of the paving material PV passing through the gap. For this reason, by moving the mold board 41 up and down, the driver of the asphalt finisher 100 can adjust the amount (height) of the paving material PV staying on the rear side (-X side) of the mold board 41 and the front side (+X side) of the rear screed 31 and can adjust the amount of the paving material PV taken into the lower side of the rear screed 31.

[0039] A screed step 42 is a member configuring a scaffold in a case where a worker works behind the screed 3. Specifically, the screed step 42 includes a left screed step 42L, a central screed step 42C, and a right screed step 42R.

[0040] A retaining plate 43 is a plate-shaped member for preventing the paving material PV spread in the vehicle width direction by the screw SC from being scattered 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 the example illustrated in Fig. 1 and Fig. 2, the retaining plate 43 includes a left retaining plate 43L and a right retaining plate 43R.

[0041] Next, the first posture and the second posture according to the present embodiment will be described. Fig. 3 is a second left view of the asphalt finisher 100, and Fig. 4 is a second top view of the asphalt finisher.

[0042] Fig. 3 and Fig. 4 illustrate a state where the asphalt finisher 100 is in the first posture. As illustrated in Fig. 3 and Fig. 4, in the first posture of the asphalt finisher 100, the canopy 11 includes the frame 11b folded and the top plate 11a stored. In the present embodiment, as described above, the canopy 11 is folded and stored, and thus, the vehicle height can be lowered.

[0043] In addition, in the example of Fig. 3, the screed lift cylinder 25 is contracted, and thus, the screed 3 is lifted together with the leveling arm AM. In the present embodiment, preferably, the screed 3 in the first posture is lifted to a position higher than a position in a case where the asphalt finisher 100 travels on a flat ground. For example, the screed 3 may be lifted until the screed lift cylinder 25 is in a most contracted state.

[0044] In the present embodiment, the screed 3 is lifted in this way, and thus, it is possible to prevent the screed 3 from coming into contact with the road surface, the road plate, or the like during traveling. In particular, in the present embodiment, the position of the screed 3 is lifted to a position higher than a position in a case where the asphalt finisher 100 travels on the flat ground. Accordingly, in a case where the asphalt finisher 100 travels on a road plate having an inclination, it is possible to prevent the screed 3 from coming into contact with the road surface or the road plate, and thus, it is possible to improve safety in loading and unloading.

[0045] In addition, as illustrated in Fig. 4, in the asphalt finisher 100 in the first posture, the screw SC and the retaining plate 43 are removed, and the rear screed 31 is contracted by the expansion / contraction cylinder 60. Specifically, in the present embodiment, the left expansion / contraction cylinder 60L and the right expansion / contraction cylinder 60R are contracted, and thus, the left rear screed 31L and the right rear screed 31R are contracted such that the width of the rear screed 31 is equal to or narrower than the vehicle width W1 of the tractor 1. In addition, at this time, the mold board 41 also contracts together with the rear screed 31.

[0046] Further, as illustrated in Fig. 4, in the first posture, the hopper 2 is closed such that the width in the Y-axis direction is equal to or narrower than the vehicle width W1 of the tractor 1.

[0047] In this way, in the first posture of the asphalt finisher 100, the width of the hopper 2 is the same as the vehicle width W1 of the tractor 1, and the width of the screed 3 is the same as the vehicle width W1 of the tractor 1. Therefore, in the present embodiment, it is possible to prevent the asphalt finisher 100 from coming into contact with a side surface of the loading platform. Thus, it is possible to load the asphalt finisher 100 onto the loading platform with a simple operation, and the safety can be improved.

[0048] In the first posture illustrated in Fig. 3 and Fig. 4, the canopy 11 is folded. On the other hand, the present invention is not limited thereto. In the first posture, the widths of the hopper 2 and the screed 3 may be equal to or narrower than the vehicle width W1 of the tractor 1, and the canopy 11 is not folded, for example, in a case where the driver is seated on the driver's seat 10. In the first posture, the screed 3 may be contracted such that the width of the screed 3 is a minimum width.

[0049] Next, the second posture according to the present embodiment will be described. The second posture according to the present embodiment is a posture after the asphalt finisher 100 has reached a predetermined position on the loading platform of the trailer. The second posture according to the present embodiment is a posture in which the screed 3 that is lifted in the first posture illustrated in Fig. 3 is lowered to a position at which the screed 3 is in contact with the loading platform of the trailer.

[0050] In the present embodiment, as described above, the controller 50 lowers the screed 3 after the asphalt finisher 100 moves to the loading platform of the trailer. Thus, it is possible to stabilize the vehicle body of the asphalt finisher 100, and safety during transporting can be improved.

[0051] Next, functions of the controller 50 will be described with reference to Fig. 5. Fig. 5 is a diagram illustrating a functional configuration of the controller.

[0052] The controller 50 according to the present embodiment determines whether or not to load or unload the asphalt finisher 100 to / from the trailer based on the information acquired from any of an information acquisition device 45 and an auxiliary storage device 45D, and in a case of performing loading or unloading, the controller 50 issues various instructions to a hopper control device 51, a traveling control device 52, a canopy control device 53, a screed control device 54, an output device 57, and the like.

[0053] In the illustrated example, the information acquisition device 45 includes a space recognition device CM, a traveling speed sensor 45A, a steering angle sensor 45B, a screed expansion / contraction sensor 45C, and the like.

[0054] The traveling speed sensor 45A detects a traveling speed of the asphalt finisher 100. In the illustrated example, the traveling speed sensor 45A is an encoder that detects an angular velocity of a rotary shaft of the rear wheel traveling motor for driving the rear wheel 5. The traveling speed sensor 45A may be configured to include a wheel speed sensor that detects a rotation speed of the rear wheel 5, or a proximity switch that detects a slit formed on a rotation plate which rotates together with a rotary shaft of the rear wheel traveling motor.

[0055] The steering angle sensor 45B is configured to detect a steering angle of the front wheel 6. In the illustrated example, the steering angle sensor 45B is an expansion / contraction sensor that detects an amount of expansion / contraction of a steering angle cylinder for changing a steering angle of the front wheel 6.

[0056] The screed expansion / contraction sensor 45C is configured to detect an amount of expansion / contraction of the rear screed 31. In the illustrated example, the screed expansion / contraction sensor 45C is an expansion / contraction sensor that detects an amount of expansion / contraction of the expansion / contraction cylinder 60.

[0057] Specifically, the screed expansion / contraction sensor 45C includes a left screed expansion / contraction sensor that detects an amount of expansion / contraction of the left rear screed 31L and a right screed expansion / contraction sensor that detects an amount of expansion / contraction of the right rear screed 31R.

[0058] The auxiliary storage device 45D is configured to store various types of information. In the illustrated example, the auxiliary storage device 45D is a non-volatile storage device that is mounted on the tractor 1, and stores various types of information.

[0059] The hopper control device 51 is configured to control an amount of expansion / contraction of the hopper cylinder 24. In the illustrated example, the hopper control device 51 is an electromagnetic valve that controls a flow rate of the hydraulic oil flowing into the hopper cylinder 24 or flowing out from the hopper cylinder 24. Specifically, the hopper control device 51 performs switching between connection and disconnection of a pipeline connecting the hopper cylinder 24 and the hydraulic pump and between connection and disconnection of a pipeline connecting the hopper cylinder 24 and the hydraulic oil tank, in response to a control command from the controller 50. More specifically, the hopper control device 51 is configured to automatically close the hopper 2 by expanding the hopper cylinder 24 by causing the hydraulic oil to flow into a bottom-side oil chamber of the hopper cylinder 24 by connecting the pipelines with each other.

[0060] Alternatively, the hopper control device 51 is configured to open the hopper 2 by causing the hydraulic oil to flow out from the bottom-side oil chamber of the hopper cylinder 24 by connecting the pipelines with each other and causing the hopper cylinder 24 to be contracted, in response to a control command from the controller 50.

[0061] The traveling control device 52 is configured to control a traveling speed of the asphalt finisher 100. In the illustrated example, the traveling control device 52 is an electromagnetic valve that controls a flow rate of the hydraulic oil flowing into each of the rear wheel traveling motor and the front wheel traveling motor. Specifically, the traveling control device 52 increases or decreases a flow path area, which is a cross-sectional area of a pipeline connecting each of the rear wheel traveling motor and the front wheel traveling motor to the hydraulic pump, in response to a control command from the controller 50. More specifically, the traveling control device 52 increases the traveling speed of the asphalt finisher 100 by increasing the flow rate of the hydraulic oil flowing into each of the rear wheel traveling motor and the front wheel traveling motor by increasing the flow path area. Alternatively, the traveling control device 52 decreases the traveling speed of the asphalt finisher 100 by decreasing the flow rate of the hydraulic oil flowing into each of the rear wheel traveling motor and the front wheel traveling motor by decreasing the flow path area.

[0062] The canopy control device 53 can fold the frame 11b of the canopy 11 and store the top plate 11a of the canopy 11 as a cover of a control stand, in response to a control command from the controller 50. In addition, the canopy control device 53 can expand the frame 11b of the canopy 11 and raise the top plate 11a of the canopy 11, in response to a control command from the controller 50.

[0063] The screed control device 54 increases or decreases a flow path area, which is a cross-sectional area of a pipeline connecting the expansion / contraction cylinder 60 and the hydraulic pump, in response to a control command from the controller 50. More specifically, the screed control device 54 can expand the rear screed 31 to the paving width by expanding the expansion / contraction cylinder 60 to protrude the rear screed 31 by causing the hydraulic oil discharged by the hydraulic pump to flow into the bottom-side oil chamber of the expansion / contraction cylinder 60. In addition, the screed control device 54 can contract the width of the rear screed 31 to a width equal to or narrower than the vehicle width W1 of the tractor 1 by causing the expansion / contraction cylinder 60 to be contracted to pull back the rear screed 31 by causing the hydraulic oil discharged by the hydraulic pump to flow into the rod-side oil chamber of the expansion / contraction cylinder 60.

[0064] 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 information to a worker working around the asphalt finisher 100. The worker working around the asphalt finisher 100 may include the driver of the asphalt finisher 100 and the driver of the dump truck. Specifically, the output device 57 includes a main monitor 57A (refer to Fig. 1 and Fig. 2) and a sound output device 57B (refer to Fig. 1 and Fig. 2). Here, the output device 57 may be one or two of the main monitor 57A and the sound output device 57B.

[0065] The main monitor 57A is configured to display various types of information. In the illustrated example, the main monitor 57A is a liquid crystal display, and can display various types of information in response to a control command from the controller 50. In addition, the main monitor 57A may include an input device such as a touch panel that receives an operation input from the driver of the asphalt finisher 100.

[0066] The sound output device 57B is configured to output sound toward the periphery of the asphalt finisher 100. In the illustrated example, the sound output device 57B is a speaker that outputs sound toward the periphery of the asphalt finisher 100, and can output an alarm sound in response to a control command from the controller 50. The sound output device 57B may output an audio message.

[0067] The controller 50 according to the present embodiment includes functional units such as an instruction reception unit 50A, a monitoring unit 50B, a traveling control unit 50C, a posture control unit 50D, a movement determination unit 50E, and a display control unit 50F.

[0068] Each of these functional units is realized by causing the CPU of the controller 50 to read and execute a program stored in the storage device.

[0069] The instruction reception unit 50A according to the present embodiment receives a start instruction for loading the asphalt finisher 100 and a start instruction for unloading the asphalt finisher 100.

[0070] For example, the instruction reception unit 50A according to the present embodiment may receive a loading start instruction or an unloading start instruction by an operation of an operation device for operating the asphalt finisher 100.

[0071] In addition, a signal indicating the loading start instruction or the unloading start instruction may be transmitted to the asphalt finisher 100 from a management device 200 (refer to Fig. 10) that manages the asphalt finisher 100 or a supporting device 300 (refer to Fig. 10) possessed by a worker who supports loading or unloading of the asphalt finisher 100. Further, a signal indicating the loading start instruction or the unloading start instruction may be transmitted to the asphalt finisher 100 from a remote operation device or the like for remotely operating the asphalt finisher 100.

[0072] The monitoring unit 50B monitors a state around the asphalt finisher 100 based on the information acquired by the space recognition device CM in a case where loading or unloading of the asphalt finisher 100 is performed.

[0073] For example, in a case where the instruction reception unit 50A receives a loading start instruction or unloading, the monitoring unit 50B may monitor the periphery of the asphalt finisher 100 based on various types of information that is input from the space recognition device CM, and detect the trailer as a loading destination of the asphalt finisher 100 and the road plate disposed at the rear end of the loading platform of the trailer.

[0074] In addition, the monitoring unit 50B may hold, for example, information for specifying the trailer as the loading destination in advance. The information for specifying the trailer includes, for example, model number information indicating a model number of the trailer and position information indicating a current position of the trailer. In addition, the information for specifying the trailer may include information indicating a length of the loading platform of the trailer and information indicating a length of the road plate.

[0075] For example, in a case where the monitoring unit 50B holds the model number information of the trailer, the monitoring unit 50B may detect the trailer that matches the model number information as the trailer that is the loading destination from the image data acquired by the space recognition device CM.

[0076] In addition, in a case where the monitoring unit 50B holds the position information indicating the current position of the trailer, the monitoring unit 50B may detect the trailer in a case where the position information indicating the current position of the asphalt finisher 100 is within a predetermined range including the position of the trailer.

[0077] In the present embodiment, as described above, the information for specifying the trailer is held in advance, and thus, a processing load of the controller 50 for recognizing the trailer can be reduced.

[0078] In addition, in a case where the monitoring unit 50B according to the present embodiment does not hold the information for specifying the trailer, the monitoring unit 50B may specify the trailer as the loading destination based on the information acquired by the space recognition device CM from a shape, a size, or the like of the object detected within a certain range around the asphalt finisher 100.

[0079] In the present embodiment, by providing such a function in the monitoring unit 50B, for example, even in a case where the trailer is not prepared in advance, the controller 50 can independently recognize the trailer in the vicinity as the loading destination.

[0080] In addition, the monitoring unit 50B may determine whether or not a condition for loading or unloading to / from the trailer is satisfied from the information acquired from the space recognition device CM. In the following description, a condition for loading is referred to as a loading traveling route condition, and a condition for unloading is referred to as an unloading traveling route condition.

[0081] The loading traveling route condition is, for example, a condition related to whether or not the safety of the traveling route from the position of the asphalt finisher 100 to a predetermined loading target position on the upper surface (loading platform) of the trailer is secured. Specifically, the loading traveling route condition includes "the road plate is provided (lowered) at the rear portion of the trailer", "a horizontal degree in the right-left direction on the traveling route (hereinafter, referred to as "right-left horizontal degree") including two road plates satisfies a predetermined reference corresponding to a state where the vehicle is relatively close to horizontal" (hereinafter, referred to as a "horizontal degree reference"), and the like.

[0082] The unloading traveling condition is, for example, as in the case of the loading traveling route condition, a condition as to whether or not the safety of the traveling route from the position of the asphalt finisher 100 to a predetermined unloading target position behind the trailer is secured. Specifically, the unloading traveling route condition includes "a road plate is provided (lowered) at the rear portion of the trailer", "the right-left horizontal degree on the traveling route including two road plates satisfies the horizontal degree reference", and the like.

[0083] The traveling control unit 50C controls traveling of the tractor 1. Specifically, the traveling control unit 50C moves the tractor 1 forward or rearward by rotating the rear wheel traveling motor and the front wheel traveling motor.

[0084] The posture control unit 50D controls the posture of the asphalt finisher 100. Specifically, the posture control unit 50D sets the posture of the asphalt finisher 100 to the first posture from the normal posture or to the normal posture from the first posture. In addition, the posture control unit 50D sets the posture of the asphalt finisher 100 to the second posture from the first posture, or to the first posture from the second posture.

[0085] The movement determination unit 50E acquires position information indicating the current position of the asphalt finisher 100, and determines whether or not the asphalt finisher 100 is moved to the target position by using the position information of the asphalt finisher 100.

[0086] The display control unit 50F controls display of the main monitor 57A. Specifically, the display control unit 50F displays various notifications related to loading and unloading and an image indicating a relative positional relationship between the asphalt finisher 100 and the trailer, on the main monitor 57A.

[0087] Hereinafter, loading of the asphalt finisher 100 onto the trailer will be described with reference to Fig. 6 to Fig. 8.

[0088] Fig. 6 is a flowchart illustrating processing of the controller 50 in a case where a loading start instruction is received.

[0089] The controller 50 according to the present embodiment determines whether or not a loading start instruction is received by the instruction reception unit 50A (step S601). In step S601, in a case where a loading start instruction is not received, the controller 50 waits.

[0090] In step S601, in a case where a loading start instruction is received, the controller 50 determines whether or not the monitoring unit 50B detects the trailer as the loading destination and the road plate (step S602). In step S602, in a case where the trailer as the loading destination and the road plate are not detected, the controller 50 ends the processing. At this time, the controller 50 may cause the display control unit 50F to display a notification indicating that the trailer as the loading destination is not detected, on the main monitor 57A.

[0091] In step S602, in a case where both the trailer as the loading destination and the road plate are detected, the monitoring unit 50B determines whether or not the traveling route to the loading platform of the recognized trailer satisfies the loading traveling route condition, based on the information acquired by the space recognition device CM (step S603).

[0092] In step S603, in a case where the traveling route to the loading platform of the recognized trailer does not satisfy the loading traveling route condition, the controller 50 ends the processing. At this time, the controller 50 may cause the display control unit 50F to display a notification indicating that the traveling route to the loading platform of the recognized trailer does not satisfy the loading traveling route condition, on the main monitor 57A.

[0093] In step S603, in a case where the traveling route to the loading platform of the trailer satisfies the loading traveling route condition, the controller 50 causes the traveling control unit 50C to start traveling (step S604).

[0094] In other words, the controller 50 causes the traveling control unit 50C to start traveling of the asphalt finisher 100 toward the loading platform of the trailer by rotating the front wheel 6 and the rear wheel 5 of the tractor 1.

[0095] Here, in a case where the position information indicating the current position of the trailer is held in advance, the traveling control unit 50C starts traveling by using, as the target position, the current position of the recognized trailer.

[0096] In addition, in a case where the position information indicating the current position of the trailer is not held in advance, the traveling control unit 50C may start traveling toward the loading platform of the trailer, based on an image of a region in front of the asphalt finisher 100 that is acquired by the space recognition device CM.

[0097] Subsequently, the controller 50 causes the posture control unit 50D to change the posture of the asphalt finisher 100 from the normal posture to the first posture (step S605). Specifically, the posture control unit 50D sets the posture of the asphalt finisher 100 to the first posture in which the hopper 2 is closed, the screed 3 is lifted, and the canopy 11 is folded.

[0098] Subsequently, the controller 50 causes the movement determination unit 50E to determine whether or not the asphalt finisher 100 is moved to the vicinity of the rear end of the road plate (step S606).

[0099] More specifically, the movement determination unit 50E may determine whether or not the asphalt finisher 100 is moved to the vicinity of the rear end of the road plate, based on the image data acquired by the space recognition device CM.

[0100] In addition, in a case where information for specifying the trailer is held in advance, the movement determination unit 50E may determine whether or not the asphalt finisher 100 is moved to the vicinity of the rear end of the road plate by using the position information indicating the position of the asphalt finisher 100 when the asphalt finisher 100 receives the loading start instruction and the position information indicating the current position of the trailer.

[0101] In step S606, in a case where the movement determination unit 50E determines that the asphalt finisher 100 is not moved to the vicinity of the rear end of the road plate, the controller 50 waits.

[0102] In step S606, in a case where the movement determination unit 50E determines that the asphalt finisher 100 is moved to the vicinity of the rear end of the road plate, the controller 50 causes the posture control unit 50D to determine whether or not the asphalt finisher 100 is in the first posture (step S607). In step S607, in a case where the asphalt finisher 100 is not in the first posture, the controller 50 waits until the asphalt finisher 100 is in the first posture.

[0103] In step S607, in a case where the asphalt finisher 100 is in the first posture, the controller 50 causes the traveling control unit 50C to move the asphalt finisher 100 to the loading platform of the trailer (step S608).

[0104] Subsequently, the controller 50 causes the movement determination unit 50E to determine whether or not the asphalt finisher 100 is moved to the target position on the loading platform (step S609).

[0105] Specifically, for example, in a case where position information indicating the current position of the trailer is held in advance, the movement determination unit 50E may determine that the asphalt finisher 100 is moved to the target position in a case where the position indicated by the position information of the asphalt finisher 100 is within a predetermined range including the target position indicated by the position information of the trailer.

[0106] In this way, in a case of performing loading, it is not necessary to confirm the position of the asphalt finisher 100 on the loading platform, and thus, it is possible to automatically stop the asphalt finisher 100 at an appropriate position.

[0107] In addition, in a case where the position information indicating the current position of the trailer is not held, the movement determination unit 50E may determine that the asphalt finisher 100 is moved to the target position, based on an image of a region in front of the asphalt finisher 100 that is acquired by the space recognition device CM.

[0108] In this way, it is not necessary to prepare in advance information for specifying the trailer, and thus, labor can be reduced.

[0109] In step S609, in a case where the asphalt finisher 100 is not moved to the target position, the controller 50 waits until the asphalt finisher 100 is moved to the target position.

[0110] In step S609, in a case where the asphalt finisher 100 is moved to the target position, the controller 50 causes the traveling control unit 50C to stop traveling of the asphalt finisher 100, and causes the posture control unit 50D to change the first posture to the second posture (step S610) .

[0111] Specifically, the posture control unit 50D lowers the screed 3 of the asphalt finisher 100 such that the screed 3 comes into contact with the loading platform of the trailer. In a case where the canopy 11 is not folded in step S605, in step S607, the posture control unit 50D may fold the canopy 11.

[0112] Subsequently, the controller 50 turns off the engine of the asphalt finisher 100 (step S611), and ends the processing.

[0113] The asphalt finisher 100 according to the present embodiment may include a communication device in which communication can be performed even in a case where the engine is turned off.

[0114] The asphalt finisher 100 includes such a communication device, and thus, the asphalt finisher 100 can receive various signals even in a state where the engine is turned off. Specifically, the asphalt finisher 100 includes such a communication device, and thus, in a state where the engine is turned off and the asphalt finisher 100 is loaded on the loading platform of the trailer, the asphalt finisher 100 can receive a signal indicating the unloading start instruction of the trailer from the management device 200 or the supporting device 300.

[0115] As described above, in a case where the trailer as the loading destination and the road plate are detected, the asphalt finisher 100 according to the present embodiment starts traveling toward the trailer, and changes the normal posture to the first posture during the traveling. The screed 3 is lifted by the contraction of the screed lift cylinder 25 before the traveling is started.

[0116] Therefore, in the present embodiment, it is not necessary to separately provide a time for the asphalt finisher 100 to change the posture, and thus, the posture suitable for loading can be quickly set.

[0117] In addition, in a case where the asphalt finisher 100 is moved to the vicinity of the rear end of the road plate disposed at the rear end of the trailer and the posture of the asphalt finisher 100 is the first posture, the asphalt finisher 100 according to the present embodiment moves to the loading platform of the trailer across the road plate.

[0118] Therefore, according to the present embodiment, the asphalt finisher 100 is not loaded in a state where the vehicle width of the asphalt finisher 100 exceeds the width of the loading platform of the trailer, and thus, safety can be improved.

[0119] In the example of Fig. 6, during the traveling, the posture of the asphalt finisher 100 is changed to the first posture from the normal state. On the other hand, the present invention is not limited thereto. In the present embodiment, for example, the normal posture may be changed to the first posture before the traveling is started in step S604, or the normal posture may be changed to the first posture after the asphalt finisher 100 is moved to the front of the road plate.

[0120] In addition, in the present embodiment, for example, in a case where the driver is riding on the driver's seat 10, the canopy 11 is not folded regardless of whether or not the asphalt finisher 100 is moved to the front of the road plate. In this case, the canopy 11 is folded after it is confirmed that the driver has exited the driver's seat 10.

[0121] Fig. 7 is a first diagram for explaining loading of the asphalt finisher. Fig. 7 illustrates a state where the asphalt finisher 100 moves toward the loading platform 1010 of the trailer 1000.

[0122] In this case, the posture of the asphalt finisher 100 is the first posture until the asphalt finisher 100 is moved to the position P1 near a rear end of a contact portion between the road plate 1020 and the ground.

[0123] In the present embodiment, the asphalt finisher 100 has the first posture at the position P1. Thus, in a case where the asphalt finisher 100 travels on the inclined road plate 1020, it is possible to prevent the screed 3 from coming into contact with the road plate 1020.

[0124] In addition, the asphalt finisher 100 may hold an absolute coordinate indicating a position P2 on the loading platform 1010 as the position information indicating the target position. For example, the absolute coordinate indicating the position P2 may be registered in advance in the asphalt finisher 100, or may be acquired by the asphalt finisher 100 via communication with the trailer 1000.

[0125] Fig. 8 is a second diagram for explaining loading of the asphalt finisher. Fig. 8 illustrates a state where loading of the asphalt finisher 100 to the loading platform 1010 is completed.

[0126] In the example of Fig. 8, the asphalt finisher 100 is in the second posture. That is, the asphalt finisher 100 has the second posture in which the hopper 2 is closed, the canopy 11 is folded, and the screed 3 is lowered to be in contact with the loading platform 1010.

[0127] In the present embodiment, as described above, loading is completed in a state where the screed 3 is lowered. Therefore, it is possible to prevent the asphalt finisher 100 from moving on the loading platform 1010 due to shaking of the loading platform 1010 during traveling of the trailer 1000, and thus, safety can be improved.

[0128] Next, unloading of the asphalt finisher 100 from the trailer will be described with reference to Fig. 9.

[0129] Fig. 9 is a flowchart illustrating processing of the controller in a case where an unloading start instruction is received.

[0130] The controller 50 according to the present embodiment determines whether or not an unloading start instruction is received by the instruction reception unit 50A (step S901).

[0131] The instruction reception unit 50A may receive an unloading start instruction by an operation of the operation device of the asphalt finisher 100. In addition, the instruction reception unit 50A may receive an unloading start instruction via a communication device in which communication can be performed even in a case where the engine is turned off.

[0132] In addition, the unloading start instruction may be received in a case where the current position of the asphalt finisher 100 is set to a predetermined unloading position.

[0133] In this case, for example, the communication device in which communication can be performed even in a case where the engine is turned off may have a function of acquiring the position information of the asphalt finisher 100. In a case where it is detected that the position indicated by the position information of the asphalt finisher 100 is within a predetermined range including the unloading position, an unloading start instruction may be issued.

[0134] In step S901, in a case where an unloading start instruction is not received, the controller 50 waits.

[0135] In step S901, in a case where an unloading start instruction is received, the controller 50 turns on the engine (step S902), and causes the monitoring unit 50B to determine whether or not the traveling route from the loading platform of the trailer to the rear region of the trailer satisfies an unloading traveling route condition (step S903).

[0136] In step S903, in a case where the unloading traveling route condition is not satisfied, the controller 50 ends the processing. At this time, for example, the controller 50 may cause the display control unit 50F to display a notification indicating that the unloading traveling route condition is not satisfied, on the main monitor 57A.

[0137] In step S903, in a case where the unloading traveling route condition is satisfied, the controller 50 causes the posture control unit 50D to change the second posture, which is the current posture of the asphalt finisher 100, to the first posture (step S904).

[0138] Subsequently, the controller 50 causes the traveling control unit 50C to start traveling by rotating the front wheel 6 and the rear wheel 5 (step S905). In this case, the traveling control unit 50C causes the tractor 1 to travel rearward by a distance equal to or longer than a distance obtained by adding a length of the loading platform and a length of the road plate.

[0139] Subsequently, the controller 50 causes the movement determination unit 50E to determine whether or not the asphalt finisher 100 is moved to the rear region of the trailer (step S906).

[0140] Specifically, for example, the movement determination unit 50E may determine that the asphalt finisher 100 is moved to the rear region of the trailer in a case where the posture of the asphalt finisher 100 is changed to the first posture and then the tractor 1 moves rearward by a distance equal to or longer than a distance obtained by adding a length of the loading platform and a length of the road plate. In this case, the predetermined distance may be a length obtained by adding the length of the loading platform 1010 of the trailer 1000 and the length of the road plate 1020.

[0141] In the present embodiment, the tractor 1 moves rearward by a distance equal to or longer than a distance obtained by adding the length of the loading platform and the length of the road plate. Thus, it is possible to stop the asphalt finisher 100 at a position where the asphalt finisher 100 does not come into contact with the road plate 1020 in the rear region of the trailer.

[0142] In step S906, in a case where the asphalt finisher 100 is not moved to the rear region of the trailer, the controller 50 waits.

[0143] In step S906, in a case where the asphalt finisher 100 moves to the rear region of the trailer, the controller 50 causes the posture control unit 50D to change the first posture to the normal posture (step S907), and ends the processing.

[0144] In the example of Fig. 9, in a case where it is determined that the asphalt finisher 100 is moved to the rear region of the trailer, the first posture is changed to the normal posture. On the other hand, the present invention is not limited thereto. In the present embodiment, for example, position information indicating a target position in unloading may be set in advance. The target position in unloading may be a position of a site where work by the asphalt finisher 100 is performed.

[0145] In that case, after the asphalt finisher 100 is moved from the loading platform 1010 of the trailer 1000 to the rear region of the trailer, the asphalt finisher 100 may travel to the target position while maintaining the first posture.

[0146] In this way, in the present embodiment, in a case where the trailer 1000 arrives at the destination, unloading of the asphalt finisher 100 loaded on the trailer 1000 can be automatically performed.

[0147] In the present embodiment, a loading start instruction may be received via the communication device in which communication can be performed even in a case where the engine is turned off. In this case, in a case where a loading start instruction is received via the communication device, the controller 50 may turn on the engine.

[0148] In addition, in the present embodiment, during loading and unloading described above, the display control unit 50F may generate an image indicating a relative positional relationship between the asphalt finisher 100 and the trailer 1000, and display the image on the main monitor 57A.

[0149] In this case, the display control unit 50F may acquire information indicating the position of the trailer 1000 with respect to the asphalt finisher 100 from the space recognition device CM, and generate an image of a schematic diagram indicating the positional relationship between the asphalt finisher 100 and the trailer 1000, based on the acquired information. Then, the display control unit 50F may display a screen including the image of the schematic diagram on the main monitor 57A.

[0150] The image of the schematic diagram may be a two-dimensional image or may be a three-dimensional image. In addition, the image illustrating the schematic diagram may be a moving image in which a movement of the asphalt finisher 100 is immediately reflected.

[0151] In the present embodiment, such a schematic diagram is displayed. Therefore, for example, in a case where a driver is riding on a driver's seat 10 of the asphalt finisher 100, the driver can recognize the positional relationship between the asphalt finisher 100 and the trailer 1000.

[0152] In addition, the screen including the image of the schematic diagram indicating the positional relationship between the asphalt finisher 100 and the trailer 1000 may be displayed on, for example, a display device of the management device 200 that manages the asphalt finisher 100 or a display device of the supporting device 300 possessed by a worker who supports loading or unloading of the asphalt finisher 100.

[0153] In this manner, in the present embodiment, a manager or a worker who is at a place away from the asphalt finisher 100 or the trailer 1000 can recognize the relative positional relationship between the asphalt finisher 100 and the trailer 1000.

[0154] In addition, the screen including the image of the schematic diagram indicating the positional relationship between the asphalt finisher 100 and the trailer 1000 may be displayed on a display device provided in a remote operation room for remotely operating the asphalt finisher 100. In this manner, an operator who remotely operates the asphalt finisher 100 can recognize the positional relationship between the asphalt finisher 100 and the trailer 1000.

[0155] Hereinafter, a road paving machine management system including the asphalt finisher 100 will be described with reference to Fig. 10. Fig. 10 is a diagram illustrating an example of a system configuration of a road paving machine management system.

[0156] A road paving machine management system SYS according to the present embodiment includes an asphalt finisher 100 which is an example of the road paving machine, a management device 200, and a supporting device 300, and the asphalt finisher 100, the management device 200, and the supporting device 300 are connected to each other via a network.

[0157] The management device 200 is a computer including an arithmetic processing device and a storage device, and manages the asphalt finisher 100. Specifically, the management device 200 may manage loading of the asphalt finisher 100 onto the trailer and unloading of the asphalt finisher 100 from the trailer.

[0158] The supporting device 300 is a computer including an arithmetic processing device and a storage device, and may be a portable terminal device held by a worker or the like who supports work by the asphalt finisher 100. The supporting device 300 according to the present embodiment may support loading of the asphalt finisher 100 onto the trailer and unloading of the asphalt finisher 100 from the trailer.

[0159] In addition, the management device 200 may transmit, for example, a signal instructing a start of loading or a signal instructing a start of unloading to the asphalt finisher 100.

[0160] In addition, in the asphalt finisher 100, for example, in a case where the trailer as the loading destination and the road plate are not detected or in a case where the loading traveling route condition is not satisfied, the management device 200 may receive information indicating the fact from the asphalt finisher 100 (refer to Fig. 6). In addition, in a case where the trailer as the loading destination and the road plate are not detected or in a case where the loading traveling route condition is not satisfied, the management device 200 may display information indicating the fact on a display device.

[0161] In addition, in the asphalt finisher 100, for example, in a case where the unloading traveling route condition is not satisfied, the management device 200 may receive information indicating the fact from the asphalt finisher 100 (refer to Fig. 9). In addition, in a case where the unloading traveling route condition is not satisfied, the management device 200 may display information indicating the fact on the display device.

[0162] In this way, various notifications are displayed on the management device 200. Therefore, a manager who is browsing the display device of the management device 200 can recognize a status of loading or unloading of the asphalt finisher 100.

[0163] In addition, in the road paving machine management system SYS according to the present embodiment, a signal instructing a start of loading of the asphalt finisher 100 or a signal instructing a start of unloading of the asphalt finisher 100 may be transmitted from the supporting device 300 to the asphalt finisher 100.

[0164] In the present embodiment, as described above, loading or unloading of the asphalt finisher 100 is instructed from the management device 200 or the supporting device 300. Therefore, for example, it is not necessary for a driver of a trailer or the like to get off from the trailer to instruct loading or unloading via the operation device of the asphalt finisher 100. Thus, work efficiency can be improved.

[0165] In addition, in the road paving machine management system SYS according to the present embodiment, the supporting device 300 may display various notifications on the display device of the supporting device 300, as in the management device 200. In this way, various notifications are displayed on the supporting device 300, and thus, safety at, for example, a site where the asphalt finisher 100 or the trailer 1000 is disposed can be improved.

[0166] In addition, in the present embodiment, the functions of the controller 50 of the asphalt finisher 100 may be provided in the management device 200. Specifically, the management device 200 may include the monitoring unit 50B, the traveling control unit 50C, the posture control unit 50D, the movement determination unit 50E, and the display control unit 50F. In this way, the functions are realized by the management device 200, and thus, a processing load of the controller 50 can be reduced. In addition, in a case where the management device 200 has these functions, the controller 50 may not have these functions. In addition, in the present embodiment, the space recognition device CM is provided in the asphalt finisher 100. On the other hand, the present invention is not limited thereto. For example, the space recognition device CM may be provided in a work site where the asphalt finisher 100 performs work.

[0167] Further, in the present embodiment, in a case where the asphalt finisher 100 receives a loading start instruction, the posture of the asphalt finisher 100 is changed to the first posture. On the other hand, the present invention is not limited thereto.

[0168] The present embodiment is also applicable to a case where the asphalt finisher 100 stopped at a certain point is caused to automatically travel to another point. Specifically, for example, in a case where a movement instruction to another point is given to the asphalt finisher 100 stopped with the normal posture at a certain point, the controller 50 may cause the asphalt finisher 100 to change the posture from the normal posture to the first posture and to travel to the other point. After the asphalt finisher 100 arrives at the other point, the controller 50 may cause the asphalt finisher 100 to change the posture from the first posture to the second posture and to stop traveling.

[0169] In this way, the asphalt finisher 100 can be moved in a posture suitable for traveling and can be stopped in a stable state at the target position.

[0170] The preferable embodiment of the present invention has been described in detail hereinbefore. On the other hand, the present invention is not limited to the embodiment described above. Various modifications, substitutions, or the like can be applied to the embodiment described above without departing from the scope of the present invention. In addition, the features described separately can be combined as long as there is no technical contradiction.Brief Description of the Reference Symbols

[0171] 1: tractor 2: hopper 3: screed 31: rear screed 50: controller 50A: instruction reception unit 50B: monitoring unit 50C: traveling control unit 50D: posture control unit 50E: movement determination unit 50F: display control unit

Claims

1. A road paving machine (100) comprising: a tractor (1); a hopper (2) that is provided in front of the tractor (1) and receives a paving material (PV); a screed (3) that levels the paving material (PV) behind a screw for spreading the paving material (PV); and a control device (50) that causes the tractor (1) to travel toward a loading platform of a trailer (1000) or toward a rear region of the trailer (1000) from the loading platform of the trailer (1000) in a case where a predetermined instruction is received.

2. The road paving machine (100) according to claim 1, wherein the predetermined instruction is a loading start instruction to instruct a start of loading onto the loading platform of the trailer (1000), and the control device (50) receives the loading start instruction, changes a posture of the road paving machine (100) to a first posture before the road paving machine (100) travels on a road plate disposed at a rear end of the trailer (1000), changes the first posture to a second posture after the road paving machine (100) moves to a target position on the loading platform, and turns off a drive source of the tractor (1) in a state of the second posture.

3. The road paving machine (100) according to claim 1, wherein the predetermined instruction is an unloading start instruction to instruct a start of unloading from the loading platform of the trailer (1000), and the control device (50) receives the unloading start instruction, and activates a drive source of the tractor (1), changes a posture of the road paving machine (100) to a first posture from a second posture, and then moves the tractor (1) rearward.

4. The road paving machine (100) according to claim 2 or 3, wherein the first posture is a posture in which the hopper (2) is closed, a width of the screed (3) is narrowed to a minimum screed width, and the screed (3) is lifted from a ground, and the second posture is a posture in which the hopper (2) is closed, a width of the screed (3) is narrowed to a vehicle width of the tractor (1), and the screed (3) is lowered to be in contact with a bottom surface of the loading platform of the trailer (1000).

5. The road paving machine (100) according to claim 4, wherein a canopy (11) is attached to the tractor (1), and the canopy (11) is folded in the first posture in a case where a driver is not riding on a driver's seat (10) of the tractor (1).

6. The road paving machine (100) according to claim 2, wherein the control device (50) holds position information indicating the target position on the loading platform, and determines that the road paving machine (100) is moved to the target position on the loading platform in a case where a position indicated by the position information of the road paving machine (100) is within a predetermined range including the target position on the loading platform.

7. The road paving machine (100) according to claim 2, further comprising: a space recognition device (CM) that recognizes a space around the road paving machine (100), wherein the control device (50) recognizes the trailer (1000) by the space recognition device (CM), and determines that the road paving machine (100) is moved to the target position on the loading platform based on relative position information between the recognized trailer (1000) and the road paving machine (100).

8. The road paving machine (100) according to claim 3, further comprising: a communication device that receives a signal instructing a start of loading and a signal instructing a start of unloading from an external device in a state where a drive source of the tractor (1) is turned off, wherein, in a case where the communication device receives the signal instructing a start of loading or the signal instructing a start of unloading, the control device (50) activates the drive source of the tractor (1).

9. The road paving machine (100) according to claim 3, wherein the control device (50) holds information indicating a length of the loading platform and information indicating a length of a road plate disposed at a rear end of the trailer (1000), and changes the posture of the road paving machine (100) to the first posture, and then causes the tractor (1) to travel rearward by a distance equal to or longer than a distance obtained by adding the length of the loading platform and the length of the road plate.

10. The road paving machine (100) according to claim 2 or 3, wherein the control device (50) receives a loading start instruction or an unloading start instruction, and displays, on a display device, a screen including an image of a schematic diagram indicating a relative positional relationship between the road paving machine (100) and the trailer (1000).

11. A road paving machine management system (SYS) comprising: a road paving machine (100); and a management device (200) that manages the road paving machine (100), wherein the road paving machine (100) includes a tractor (1), a hopper (2) that is provided in front of the tractor (1) and receives a paving material (PV), a screed (3) that levels the paving material (PV) behind a screw for spreading the paving material (PV), and a control device (50) that causes the tractor (1) to travel toward a loading platform of a trailer (1000) or toward a rear region of the trailer (1000) from the loading platform of the trailer (1000) in a case where a predetermined instruction is received from the management device (200).

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