Information processing device, road surface paving system, road machine, and program

Abstract

To accurately specify a construction object by a road machine.SOLUTION: An information processing device is provided with a specification unit configured to specify a range to be excluded from a construction target by the road machine due to a shape change of an end part of a road surface which is the construction target by the road machine based on information on the operation speed of the road machine, and a correction unit configured to correct the range of the road surface which is the construction target based on the range specified by the specification unit.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to an information processing apparatus, a road paving system, road machinery, and a program.

Background Art

[0002] Conventionally, an asphalt finisher has been known, which includes a tractor, a hopper installed in front of the tractor for receiving paving material, a conveyor for conveying the paving material in the hopper to the rear side of the tractor, a screw for spreading the paving material conveyed by the conveyor in the vehicle width direction on the rear side of the tractor, and a screed for leveling the paving material spread by the screw on the rear side of the screw.

[0003] For example, Patent Document 1 describes an asphalt finisher including a control device that generates a target line based on changes in ground features within a predetermined range of the ground to be constructed and steers the tractor based on the target line.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, depending on the shape of the road surface to be constructed, there may be a range where it is difficult to perform construction with road machinery.

[0006] One aspect of the present invention aims to accurately identify a construction target by road machinery.

Means for Solving the Problems

[0007] An information processing apparatus according to an aspect of the present invention is configured to specify a range to be excluded from a construction target by a road machine based on a change in the shape of an end portion of a road surface that is a construction target by the road machine, based on information regarding the operating speed of the road machine, and a correction unit configured to correct the range of the road surface that is a construction target based on the range specified by the specifying unit.

Effect of the Invention

[0008] According to an aspect of the present invention, it is possible to accurately specify a construction target by a road machine.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Mode for Carrying Out the Invention

[0010] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Also, the embodiments described below are illustrative and do not limit the invention, and not all features and combinations thereof described in the embodiments are necessarily essential to the invention. In each drawing, the same or corresponding components are denoted by the same or corresponding reference numerals, and the description thereof may be omitted.

[0011] [First Embodiment] The first embodiment of the present invention is a road paving system for paving a road surface using an asphalt finisher. The asphalt finisher according to this embodiment has an automatic paving function that automatically paves the road surface while performing automatic steering of the tractor and automatic expansion and contraction of the screed.

[0012] In the automatic paving function of the asphalt finisher, design data indicating the range of the road surface to be constructed is used. The design data includes linear data and cross-sectional shape data indicating the shape of the road. The controller of the asphalt finisher extracts the travel route and the shape of the end of the road surface from the design data. Then, the controller of the asphalt finisher controls the steering of the tractor and the expansion and contraction of the screed while correcting the error between the detection result of the vehicle state and vehicle position and the extracted information, thereby realizing the automatic paving function.

[0013] However, in the shape of the end of a general road, there is a range where it is difficult to construct with an asphalt finisher. For example, if there is a protruding part on the road side like a rainwater gutter installed on the road shoulder, there will be a range where it is difficult to construct with an asphalt finisher on the front side and the back side with respect to the traveling direction of the vehicle. And, in the design data, such a difficult-to-construct range may not be reflected. Therefore, a function to correct the design data into a shape that can be constructed with an asphalt finisher is required.

[0014] <Overall Configuration of Pavement Paving System> The overall configuration of the pavement paving system SYS according to the first embodiment will be described with reference to FIG. 1. FIG. 1 is a schematic diagram showing an example of the overall configuration of the pavement paving system according to the first embodiment.

[0015] As shown in FIG. 1, the pavement paving system SYS according to the first embodiment includes an asphalt finisher 100, a communication terminal 200, and a remote management device 300. The asphalt finisher 100 and the remote management device 300 are connected by a public network NT.

[0016] Also, the pavement paving system SYS may perform various settings related to the control of the asphalt finisher 100 at the communication terminal 200, for example, in response to an input from a user or automatically, and transmit them to the asphalt finisher 100. Thereby, various operations of the asphalt finisher 100 can be controlled and monitored from the communication terminal 200.

[0017] Also, the asphalt finisher 100 may transmit information indicating the current situation to one or more of the communication terminal 200 and the remote management device 300. Furthermore, the asphalt finisher 100 may transmit log information indicating the paving result of the road surface to one or more of the communication terminal 200 and the remote management device 300.

[0018] The remote management device 300 is a terminal provided for remotely managing the work site. For example, the remote management device 300 manages the construction status by storing the log information transmitted from the asphalt finisher 100.

[0019] The communication terminal 200 is, for example, a terminal possessed by a user who manages work at the work site, or a user who is working at the work site. In the present embodiment, the communication terminal 200 is a portable information terminal such as a smartphone or a tablet terminal. The communication terminal 200 receives image information representing the current construction status of the asphalt finisher 100 from the asphalt finisher 100 and displays it on a display device (for example, a liquid crystal panel). Thereby, the user who manages work at the work site can recognize the current construction status of the asphalt finisher 100.

[0020] The number of communication terminals 200 included in the road paving system SYS may be one or a plurality. Thereby, the road paving system SYS can provide information regarding the asphalt finisher 100 to a plurality of users who use them respectively through the plurality of communication terminals 200.

[0021] The number of asphalt finishers 100 included in the road paving system SYS may be one or a plurality. Thereby, the road paving system SYS can perform data collection, information provision to users based on the collected data, settings related to the control of the asphalt finisher 100, etc. for the asphalt finisher 100.

[0022] <Overview of Asphalt Finisher> The overview of the asphalt finisher 100, which is an example of a road machine according to the first embodiment, will be described with reference to FIGS. 2 to 4. FIG. 2 is a side view showing an example of the asphalt finisher according to the first embodiment. FIG. 3 is a top view showing an example of the asphalt finisher according to the first embodiment. FIG. 4 is a rear view showing an example of the asphalt finisher according to the first embodiment.

[0023] The asphalt finisher 100 mainly consists of a tractor 1, a hopper 2, and a screed 3.

[0024] The tractor 1 is a device for driving the asphalt finisher 100 and pulls the screed 3. In this embodiment, the tractor 1 rotates two or four wheels using a traveling hydraulic motor to move the asphalt finisher 100. The traveling hydraulic motor rotates by receiving the supply of hydraulic oil from a hydraulic pump driven by a prime mover such as a diesel engine. An operator's seat 1S and an operation panel 65 are arranged on the upper part of the tractor 1.

[0025] An imaging device 51 is attached to the tractor 1. The imaging device 51 includes a right camera 51R attached to the right side, a left camera 51L attached to the left side, and a front camera 51F attached to the front. A display device 52 is installed at a position that is easily visible to the driver seated on the operator's seat 1S. In this embodiment, the direction of the hopper 2 as seen from the tractor 1 is the front (+X direction), and the direction of the screed 3 as seen from the tractor 1 is the rear (-X direction). The +Y direction corresponds to the left direction, and the -Y direction corresponds to the right direction.

[0026] The hopper 2 is a mechanism for receiving paving materials (e.g., asphalt mixture). The working device is a device for supplying paving materials in front of the screed 3. In this embodiment, the hopper 2 is configured to be openable and closable in the vehicle width direction by a hydraulic cylinder. The asphalt finisher 100 usually receives paving materials from the dump truck bed with the hopper 2 fully open. Then, when the paving materials in the hopper 2 decrease, the hopper 2 is closed, and the paving materials near the inner wall of the hopper 2 are collected at the center of the hopper 2 so that the conveyor CV can convey the paving materials to the screed 3.

[0027] The conveyor CV is driven by a hydraulic motor that rotates upon receiving the supply of hydraulic oil from a hydraulic pump. In the present embodiment, the conveyor CV is configured to send the paving material in the hopper 2 to the rear side of the tractor 1 via a conveyance path. The conveyance path is a substantially rectangular parallelepiped-shaped space formed inside the tractor 1 and has a substantially rectangular inlet that opens into the hopper 2 at the front surface of the tractor 1.

[0028] The screw SC is driven by a hydraulic motor that rotates upon receiving the supply of hydraulic oil from a hydraulic pump. In the present embodiment, the screw SC includes a central screw (not shown), a left screw, and a right screw. The central screw is installed within the width of the tractor 1. The left screw is connected to the left end of the central screw and is installed so as to protrude to the left from the width of the tractor 1. The right screw is connected to the right end of the central screw and is installed so as to protrude to the right from the width of the tractor 1.

[0029] The screed 3 is a mechanism for leveling the paving material. In the present embodiment, the screed 3 is configured to be vertically liftable and horizontally expandable and contractible by a hydraulic cylinder. The width of the screed 3 is larger than the width of the tractor 1 when expanded in the vehicle width direction. In the present embodiment, the screed 3 includes a main screed 30, a left expandable and contractible screed 31L, and a right expandable and contractible screed 31R. The left expandable and contractible screed 31L and the right expandable and contractible screed 31R are configured to be expandable and contractible in the vehicle width direction (Y-axis direction). The left expandable and contractible screed 31L and the right expandable and contractible screed 31R that are expandable and contractible in the vehicle width direction are arranged offset from each other in the traveling direction (X-axis direction). Therefore, it can have a longer width (length in the vehicle width direction) than when not offset, can extend longer in the vehicle width direction, and can construct a wider newly paved body.

[0030] The controller 50 is a control unit that controls the asphalt finisher 100. The controller 50 is, for example, a computer equipped with a CPU (Central Processing Unit), a volatile memory, a non-volatile memory, and the like. The controller 50 is a computer including a CPU and a RAM (Random Access Memory), and is mounted on the tractor 1. Various functions of the controller 50 are realized, for example, by the CPU executing a program stored in the auxiliary storage device 48.

[0031] The auxiliary storage device 48 is a device for storing various information. In the present embodiment, the auxiliary storage device 48 is a non-volatile memory and is integrated with the controller 50. However, the auxiliary storage device 48 may be arranged outside the controller 50 as a separate structure from the controller 50.

[0032] An imaging device 51 is attached to the tractor 1. The imaging device 51 is configured to acquire information about the space around the asphalt finisher 100 and output the acquired information to the controller 50. In the present embodiment, the imaging device 51 includes a front camera 51F, a left camera 51L, and a right camera 51R. The imaging device 51 may be attached to a position other than the right side, left side, and front part of the tractor 1 (for example, the rear part). The imaging device 51 may be equipped with a wide-angle lens or a fish-eye lens. The imaging device 51 may be attached to the hopper 2 or the screed 3.

[0033] The imaging device 51 according to the present embodiment is, for example, a camera equipped with an image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal-Oxide-Semiconductor). The imaging device 51 may be a space recognition device capable of recognizing a space based on the asphalt finisher 100, and for example, LiDAR (Light Detection and Ranging) may be used.

[0034] As shown in FIGS. 2 and 3, the front camera 51F is attached to the upper front part of the tractor 1, and its optical axis 51FX extends forward in the traveling direction and is attached so as to form an angle α in a side view with respect to the road surface. As shown in FIGS. 2 to 4, the left camera 51L is attached to the upper left side part of the tractor 1, and its optical axis 51LX forms an angle β in a top view with respect to the left side surface of the tractor 1 and forms an angle γ in a rear view with respect to the road surface. The right camera 51R is attached in the same manner as the left camera 51L with the left and right reversed.

[0035] The area 51FA surrounded by the dashed line in FIG. 3 indicates the imaging range of the front camera 51F, the area 51LA surrounded by the dashed-dotted line indicates the imaging range of the left camera 51L, and the area 51RA surrounded by the dashed-dotted line indicates the imaging range of the right camera 51R.

[0036] The imaging device 51 is attached to the asphalt finisher 100 via, for example, brackets, stays, bars, etc. In this embodiment, the imaging device 51 is attached to the tractor 1 via an attachment stay. However, the imaging device 51 may be directly attached to the tractor 1 without using the attachment stay, or may be embedded in the tractor 1.

[0037] In this embodiment, the imaging device 51 outputs the acquired input image to the controller 50. When the imaging device 51 acquires an input image using a fish-eye lens or a wide-angle lens, it may output a corrected input image in which the apparent distortion and fish-eye effect caused by using those lenses are corrected to the controller 50. Alternatively, it may output the input image without correcting the apparent distortion and fish-eye effect as it is to the controller 50. In this case, the apparent distortion and fish-eye effect are corrected by the controller 50.

[0038] The display device 52 is a device for displaying various information. In this embodiment, the display device 52 is a liquid crystal display installed on the operation panel 65 and displays various images output by the controller 50.

[0039] The retaining plate 70 is a plate-shaped member for preventing the paving material fed in the vehicle width direction by the screw SC from scattering in front of the screw SC so that the paving material can be properly fed in the vehicle width direction by the screw SC.

[0040] The side plate 71 is also attached to the distal end of the mold board 72. The mold board 72 is a member for adjusting the amount of the paving material staying in front of the left telescopic screed 31L and the right telescopic screed 31R among the paving materials spread by the screw SC, and is configured to be able to expand and contract in the vehicle width direction together with the left telescopic screed 31L and the right telescopic screed 31R.

[0041] <Computer> The controller 50 of the asphalt finisher 100, the communication terminal 200, and the remote management device 300 are realized by, for example, a computer. FIG. 5 is a block diagram showing an example of the hardware configuration of the computer according to the first embodiment.

[0042] As shown in FIG. 5, the computer 500 includes a CPU (Central Processing Unit) 501, a ROM (Read Only Memory) 502, a RAM (Random Access Memory) 503, an HDD (Hard Disk Drive) 504, an input device 505, a display device 506, a communication I / F (Interface) 507, and an external I / F 508. The CPU 501, the ROM 502, and the RAM 503 form a so-called computer. Each hardware of the computer 500 is interconnected via a bus line 509. Note that the input device 505 and the display device 506 may be connected to the external I / F 508 for use.

[0043] The CPU 501 is an arithmetic unit that realizes the control and functions of the entire computer 500 by reading programs and data from a storage device such as the ROM 502 or HDD 504 onto the RAM 503 and executing the processing. The computer 500 may have a GPU (Graphics Processing Unit) in addition to or instead of the CPU 501.

[0044] The ROM 502 is an example of a non-volatile semiconductor memory (storage device) that can hold programs and data even when the power is turned off. The ROM 502 functions as a main storage device that stores various programs, data, etc. necessary for the CPU 501 to execute various programs installed in the HDD 504. Specifically, the ROM 502 stores boot programs such as BIOS (Basic Input / Output System) and EFI (Extensible Firmware Interface) that are executed when the computer 500 is started up, as well as data such as OS (Operating System) settings and network settings.

[0045] The RAM 503 is an example of a volatile semiconductor memory (storage device) in which programs and data are erased when the power is turned off. The RAM 503 is, for example, DRAM (Dynamic Random Access Memory) or SRAM (Static Random Access Memory). The RAM 503 provides a working area where various programs installed in the HDD 504 are expanded when executed by the CPU 501.

[0046] The HDD 504 is an example of a non-volatile storage device that stores programs and data. Programs and data stored in the HDD 504 include the OS, which is basic software that controls the entire computer 500, and applications that provide various functions on the OS. Note that the computer 500 may use a storage device that uses a flash memory as a storage medium (for example, SSD: Solid State Drive, etc.) instead of the HDD 504.

[0047] The input device 505 includes a touch panel used by the user to input various signals, operation keys and buttons, a keyboard and a mouse, a microphone for inputting sound data such as voice, etc.

[0048] The display device 506 is composed of a display such as a liquid crystal or an organic EL (Electro-Luminescence) for displaying a screen, a speaker for outputting sound data such as voice, etc.

[0049] The communication I / F 507 is an interface for connecting to a communication network and enabling the computer 500 to perform data communication.

[0050] The external I / F 508 is an interface with an external device. Examples of external devices include a drive device 510, etc.

[0051] The drive device 510 is a device for setting a recording medium 511. The recording medium 511 here includes media that optically, electrically, or magnetically record information, such as CD-ROMs, flexible disks, magneto-optical disks, etc. Also, the recording medium 511 may include semiconductor memories that electrically record information, such as ROMs, flash memories, etc. Thereby, the computer 500 can read and / or write to the recording medium 511 via the external I / F 508.

[0052] Note that various programs installed in the HDD 504 are installed, for example, when a distributed recording medium 511 is set in a drive device 510 connected to the external I / F 508 and the various programs recorded on the recording medium 511 are read by the drive device 510. Alternatively, various programs installed in the HDD 504 may be installed by being downloaded from another network different from the communication network via the communication I / F 507.

[0053] <Functional Configuration of the Road Pavement System> The functional configuration of the road surface paving system SYS will be described with reference to FIG. 6. FIG. 6 is a block diagram showing an example of the functional configuration of the road surface paving system according to the first embodiment.

[0054] <<Remote management device>> As shown in FIG. 6, the remote management device 300 includes a design data storage unit 301, a machine data storage unit 302, an acquisition unit 303, a specification unit 304, a correction unit 305, a storage control unit 306, a communication control unit 307, and a display control unit 308.

[0055] The design data storage unit 301 stores design data indicating the range of the road surface to be constructed by the asphalt finisher 100. The design data includes linear data and cross-sectional shape data indicating the shape of the road. In other words, the design data shows the shape of the end of the road surface to be constructed.

[0056] The machine data storage unit 302 stores machine data related to the asphalt finisher 100. The machine data may be prepared for each machine body of the asphalt finisher 100 or for each model of the asphalt finisher 100. In the present embodiment, the machine data includes information related to the operating speed of the asphalt finisher 100 and information related to the shape of the asphalt finisher 100. The information related to the operating speed includes the traveling speed of the asphalt finisher 100 and the expansion and contraction speed of the screed. The information related to the shape includes the shape of the screed. The traveling speed of the asphalt finisher 100 is the speed when the asphalt finisher 100 travels while paving the road surface by the automatic paving function.

[0057] The design data and the machine data may be the design data and the machine data generated in advance by an external device and transferred to and stored in the remote management device 300 through a wired or wireless interface. Further, the design data and the machine data may be read from a portable storage medium by the remote management device 300 and stored.

[0058] The acquisition unit 303 acquires design data and machine data. In the present embodiment, the acquisition unit 303 reads the design data from the design data storage unit 301. Further, the acquisition unit 303 reads the machine data from the machine data storage unit 302.

[0059] Based on the design data and the machine data acquired by the acquisition unit 303, the specifying unit 304 specifies a range to be excluded from the construction target by the asphalt finisher 100 (hereinafter referred to as "construction exclusion range"). In the present embodiment, the specifying unit 304 specifies, as the construction exclusion range, a range of the road surface that is difficult to construct by the asphalt finisher 100 due to the shape change of the end portion of the road surface shown in the design data.

[0060] Specifically, the specifying unit 304 specifies the construction exclusion range based on the shape of the end portion of the road surface, the traveling speed of the asphalt finisher 100, and the expansion and contraction speed of the screed 3. Note that the traveling speed of the asphalt finisher 100 may vary depending on the state of the road surface to be constructed. Therefore, the specifying unit 304 may adjust the traveling speed of the asphalt finisher 100 according to the road surface to be constructed shown in the design data.

[0061] More specifically, the specifying unit 304 specifies a location where the speed at which the shape of the end portion of the road surface changes in the left-right direction is greater than the expansion and contraction speed of the screed 3. FIG. 7 is a diagram showing an example of the design data before correction. As shown in FIG. 7, the road surface 600 to be constructed is shown in the design data before correction. The road surface 600 is a range sandwiched between the left end portion 601 and the right end portion 602. The shape of the left end portion 601 is defined by the passing points P11 to P16. Similarly, the shape of the right end portion 602 is defined by the passing points P21 to P24.

[0062] In the example shown in FIG. 7, a rainwater gutter 603 is installed on the shoulder of the road surface 600. Since the rainwater gutter 603 protrudes toward the road side, the left end portion 601 greatly changes in the left - right direction with respect to the traveling direction of the asphalt finisher 100 at the passing points P12, P13, P14, and P15. In order to construct the road surface 600 having such a left end portion 601, it is necessary to contract the left telescopic screed 31L from the passing point P12 to the passing point P13 and extend the left telescopic screed 31L from the passing point P14 to the passing point P15.

[0063] However, it is not preferable to stop the progress of the asphalt finisher 100 during construction because it affects the construction quality. Also, since there is a limit to the expansion and contraction speed of the screed 3, it is difficult to instantaneously expand and contract at the positions of the passing points P12 and P14. Therefore, in the design data shown in FIG. 7, it is necessary to provide construction - excluded ranges R1 and R2 on the front side and the rear side of the rainwater gutter 603.

[0064] The construction - excluded range R1 is a range where the paving material is not spread evenly (i.e., not constructed) by the left telescopic screed 31L when the contraction of the left telescopic screed 31L is performed so that the contraction is completed at the passing point P13. Similarly, the construction - excluded range R2 is a range where the paving material is not spread evenly (i.e., not constructed) by the left telescopic screed 31L when the extension of the left telescopic screed 31L is started at the passing point P14.

[0065] Note that since the construction - excluded ranges R1 and R2 are not constructed by the asphalt finisher 100, it is necessary for the workers at the work site to construct them manually. When constructing manually, the paving material in the hopper 2 of the asphalt finisher 100 or around the screw SC is used. Therefore, if the design data showing the construction - excluded range can be confirmed at the work site, the workers can wait at the position to construct manually in advance, or the user who gives instructions at the work site can give appropriate instructions at the work site. Also, since the range constructed manually tends to be easily damaged, it is useful for quality control and maintenance management to manage the design data showing the construction - excluded range so that it can be accumulated and referred to later.

[0066] The correction unit 305 corrects the design data acquired by the acquisition unit 303 based on the construction exclusion range specified by the specifying unit 304. Hereinafter, the design data corrected by the correction unit 305 is also referred to as "corrected data". In the present embodiment, the correction unit 305 generates corrected data by excluding the construction exclusion range from the construction target indicated in the design data.

[0067] FIG. 8 is a diagram showing an example of the corrected design data. As shown in FIG. 8, in the corrected design data, the passing point P12 where a large shape change occurs at the left end 601 due to the rainwater trap 603 is corrected to the front side with respect to the traveling direction, and the passing point P15 is corrected to the rear side with respect to the traveling direction. In the corrected design data, the reduction of the left telescopic screed 31L starts at the passing point P12, and the extension of the left telescopic screed 31L starts at the passing point P14. In other words, the correction unit 305 determines the points at which the expansion and contraction of the left telescopic screed 31L start in order to exclude the construction exclusion ranges R1 and R2 from the construction range. As a result, the construction exclusion range R1 on the front side and the construction exclusion range R2 on the rear side of the rainwater trap 603 are excluded from the construction target by the asphalt finisher 100.

[0068] The storage control unit 306 stores the corrected data corrected by the correction unit 305 in the design data storage unit 301. The storage control unit 306 stores the corrected data in the design data storage unit 301 together with the design data before correction acquired by the acquisition unit 303. Further, the storage control unit 306 associates date and time information with the corrected data and stores it in the storage control unit 306 in time series. The date and time information may be, for example, information indicating the date and time when the corrected data was generated, or information indicating the date and time when the construction using the corrected data was completed. That is, the storage control unit 306 accumulates the corrected data in the storage control unit 306. As a result, the user of the road surface paving system SYS can easily confirm the range excluded from the construction target (that is, the range constructed manually) when referring to the past design data.

[0069] The communication control unit 307 transmits the corrected data corrected by the correction unit 305 to the asphalt finisher 100. In the asphalt finisher 100, the communication control unit 101 of the controller 50 receives the corrected data via the communication device 53 and stores the received corrected data in the auxiliary storage device 48.

[0070] Also, the communication control unit 307 transmits the corrected data corrected by the correction unit 305 to the communication terminal 200. The communication terminal 200 displays the corrected data received from the remote management device 300 on the display device 506. In the present embodiment, the communication terminal 200 displays a map showing the construction target indicated in the corrected data (that is, the construction target excluding the range specified by the specifying unit 304) on the display device 506 of the communication terminal 200. Thereby, the user of the communication terminal 200 can easily confirm the range excluded from the construction target.

[0071] The display control unit 308 displays the corrected data corrected by the correction unit 305 on the display device 506 according to the user's operation. In the present embodiment, the display control unit 308 displays a map showing the construction target indicated in the corrected data (that is, the construction target excluding the range specified by the specifying unit 304) on the display device 506 of the remote management device 300. Thereby, the user of the remote management device 300 can easily confirm the range excluded from the construction target.

[0072] ≪Controller of Asphalt Finisher≫ As shown in FIG. 6, a surveying device 46, a traveling speed sensor 47, an auxiliary storage device 48, an imaging device 51, a communication device 53, a drive system controller 54, and a screed control device 55 are connected to the controller 50.

[0073] The measuring device 46 receives signals including time information from positioning satellites and measures the current position of the asphalt finisher 100. For example, the measuring device 46 receives position information indicating two-dimensional or three-dimensional positioning results by GPS (Global Positioning System) or GNSS (Global Navigation Satellite System). The position information includes information representing the position of the asphalt finisher 100 in terms of latitude and longitude. Note that in this embodiment, GPS is used as the method for acquiring position information, but the method for acquiring position information is not limited, and other well-known methods may be used instead.

[0074] The traveling speed sensor 47 is configured to detect the traveling speed of the asphalt finisher 100. For example, the traveling speed sensor 47 is an encoder that detects the angular velocity of the rotating shaft of the rear-wheel traveling motor that drives the rear wheels of the tractor 1. The traveling speed sensor 47 may be composed of a proximity switch or the like that detects a slit formed in a rotating plate.

[0075] The auxiliary storage device 48 stores design data. The design data stored in the auxiliary storage device 48 is corrected data corrected by the remote management device 300.

[0076] The communication device 53 performs wireless communication with devices existing around the asphalt finisher 100 or a server that manages the work site. For example, the communication device 53 performs wireless communication using one or more of Wi-Fi (registered trademark), wireless LAN, and Bluetooth (registered trademark) as the wireless communication standard.

[0077] The drive system controller 54 controls the tractor 1 according to a control command. For example, the drive system controller 54 performs rotation control (speed control) on the rear-wheel traveling motor of the tractor 1 and steering angle control on the front wheels (an example of drive wheels) of the tractor 1 so as to follow the steering angle and speed indicated by the control command.

[0078] The screen control device 55 is configured to control the expansion and contraction amounts of the left telescopic screen 31L and the right telescopic screen 31R. For example, the screen control device 55 controls the flow rate of the hydraulic oil flowing into a screen expansion and contraction cylinder (not shown) that expands and contracts each of the left telescopic screen 31L and the right telescopic screen 31R. The screen control device 55 switches the communication or cutoff of a pipeline connecting the rod-side oil chamber of the screen expansion and contraction cylinder and the hydraulic pump according to a control command from the controller 50. Thereby, the expansion and contraction of each of the left telescopic screen 31L and the right telescopic screen 31R can be realized.

[0079] More specifically, the controller 50 includes a communication control unit 101, an acquisition unit 102, a movement control unit 103, and a screen control unit 104 as functional blocks configured by software, hardware, or a combination thereof.

[0080] The communication control unit 101 controls the transmission and reception of information with an external device using the communication device 53. In the present embodiment, the communication control unit 101 transmits and receives information with the communication terminal 200 or the remote management device 300. In the present embodiment, the communication control unit 101 receives the corrected data from the remote management device 300. The communication control unit 101 stores the corrected data received from the remote management device 300 in the auxiliary storage device 48.

[0081] The acquisition unit 102 acquires detection information from various sensors provided in the asphalt finisher 100. For example, the acquisition unit 102 acquires image information captured by the imaging device 51 (front camera 51F, left camera 51L, and right camera 51R). Also, the acquisition unit 102 acquires position information positioned by the surveying device 46. Also, the acquisition unit 102 acquires detection information (for example, including the speed of the asphalt finisher 100) detected by the traveling speed sensor 47. Furthermore, the acquisition unit 102 reads the corrected data from the auxiliary storage device 48.

[0082] The movement control unit 103 outputs a control command for controlling the operation of the tractor 1 to the drive system controller 54. In the present embodiment, the movement control unit 103 extracts a travel route from the corrected data acquired by the acquisition unit 102, and outputs a control command indicating the steering angle and speed to the drive system controller 54 so as to move along the extracted travel route. Thereby, the controller 50 performs automatic movement control of the tractor 1 so as to perform the paving process along the travel route indicated by the corrected data.

[0083] The screed control unit 104 outputs a control command for controlling the operation of the screed 3 to the screed control device 55. In the present embodiment, the screed control device 55 extracts the shape of the end portion of the road surface from the corrected data acquired by the acquisition unit 102, and outputs a control command indicating the expansion and contraction amounts of the left telescopic screed 31L and the right telescopic screed 31R to the screed control device 55 so as to match the extracted shape of the end portion. Thereby, the controller 50 performs automatic expansion and contraction control of the screed 3 so as to perform the paving process in accordance with the shape of the end portion of the road surface indicated by the corrected data.

[0084] <Correction process> The correction process executed by the remote management device 300 will be described with reference to FIG. 9. FIG. 9 is a sequence diagram showing an example of the correction process according to the first embodiment. The correction process is a process of correcting design data.

[0085] In step S1, the acquisition unit 303 of the remote management device 300 reads out the design data to be corrected from the design data storage unit 301. The acquisition unit 303 may read out the design data specified by the user, or may automatically select and read out the uncorrected design data. The acquisition unit 303 sends the read design data to the specifying unit 304.

[0086] In step S2, the acquisition unit 303 of the remote management device 300 reads machine data from the machine data storage unit 302. The acquisition unit 303 may read the machine data of the model or aircraft specified by the user, or may read the machine data of the asphalt finisher 100 used at the work site shown in the design data read in step S1. The acquisition unit 303 sends the read machine data to the identification unit 304.

[0087] In step S3, the identification unit 304 of the remote management device 300 receives the design data and the machine data from the acquisition unit 303. Next, the identification unit 304 identifies the construction exclusion range based on the received design data and machine data. Then, the identification unit 304 sends the information indicating the design data and the construction exclusion range to the correction unit 305. The information indicating the construction exclusion range is information that can identify the position and shape of the construction exclusion range. For example, the information indicating the construction exclusion range is position information (e.g., latitude and longitude, etc.) that defines the construction exclusion range.

[0088] In step S4, the correction unit 305 of the remote management device 300 receives the information indicating the construction exclusion range from the identification unit 304. Next, the correction unit 305 corrects the design data so that the construction exclusion range is excluded from the construction target based on the information indicating the construction exclusion range. Then, the correction unit 305 sends the corrected data to the storage control unit 306 and the communication control unit 307.

[0089] In step S5, the storage control unit 306 of the remote management device 300 receives the corrected data from the correction unit 305. Next, the storage control unit 306 stores the received corrected data together with the design data read in step S1 in the design data storage unit 301. For example, the storage control unit 306 stores the corrected data generated in step S4 in the design data storage unit 301 after backing up the design data read in step S1. As a result, both the design data indicating the construction target before correction and the corrected data indicating the construction exclusion range are stored in the design data storage unit 301.

[0090] In step S6, the communication control unit 307 of the remote management device 300 receives the corrected data from the correction unit 305. Next, the communication control unit 307 transmits the received corrected data to the asphalt finisher 100.

[0091] In step S7, the communication control unit 101 of the controller 50 receives the corrected data from the remote management device 300 through the communication device 53. Next, the communication control unit 101 stores the received corrected data in the auxiliary storage device 48. If other design data (or corrected data) has already been stored in the auxiliary storage device 48, it may be overwritten with the received corrected data, or the corrected data may be stored after backing up the original design data, etc.

[0092] In step S8, the controller 50 starts automatic paving control. Specifically, the acquisition unit 102 of the controller 50 reads the corrected data from the auxiliary storage device 48. Next, the acquisition unit 102 acquires the detection results of various sensors. Thereafter, the controller 50 performs automatic movement control by the movement control unit 103 and automatic expansion and contraction control by the screed control unit 104 based on the detection results of the various sensors so as to construct the range of the road surface that is the construction target indicated in the corrected data (in other words, the range of the road surface from which the construction exclusion range is excluded). Thereby, the asphalt finisher 100 can automatically pave the range of the road surface of the construction target from which the construction exclusion range is excluded.

[0093] <Effect of the First Embodiment> The remote management device 300 according to the present embodiment specifies the range to be excluded from the construction target by the road machine based on the change in the shape of the end of the road surface that is the construction target by the road machine based on the information regarding the operating speed of the road machine, and corrects the range of the road surface that is the construction target based on the specified range. On one side, according to the present embodiment, the construction target by the road machine can be accurately specified.

[0094] The road machinery is equipped with a screed that can expand and contract in the vehicle width direction to spread the paving material scattered on the road surface. The remote management device 300 specifies the range to be excluded from the construction target based on the shape of the end of the road surface, the traveling speed of the road machinery, the expansion and contraction speed of the screed, and the shape of the screed. Therefore, according to the present embodiment, it is possible to exclude from the construction target the range where it is difficult to spread evenly with the screed.

[0095] The remote management device 300 determines the position to start the expansion and contraction of the screed based on the range to be excluded from the construction target. Therefore, according to the present embodiment, it is possible to control the expansion and contraction of the screed so that the range where it is difficult to spread evenly with the screed is excluded from the construction target.

[0096] The remote management device 300 displays the corrected data on the display device 506. The remote management device 300 displays on the display device 506 a map showing the range excluded from the construction target. Therefore, according to the present embodiment, a user who remotely manages the work site can easily confirm the range excluded from the construction target.

[0097] The remote management device 300 displays the corrected data on the display device 506 of the communication terminal 200 which is a portable information terminal. Therefore, according to the present embodiment, a user who manages the work at the work site can easily confirm the range excluded from the construction target.

[0098] The remote management device 300 stores the corrected data in the storage device. Therefore, according to the present embodiment, when a user refers to past design data, it is possible to easily confirm the range excluded from the construction target.

[0099] In the present embodiment, an example in which the remote management device 300 executes the correction process to correct the design data has been described. However, the device that executes the correction process may be a device other than the remote management device 300. For example, the communication terminal 200 may execute the correction process, or another device different from the communication terminal 200 and the remote management device 300 may execute the correction process.

[0100] [Second Embodiment] In the first embodiment, a configuration was described in which the remote management device 300 corrects the design data, and the asphalt finisher 100 pavements the road surface based on the corrected data. Here, it is possible to configure the controller 50 of the asphalt finisher 100 to correct the design data. In the second embodiment, a configuration will be described in which the asphalt finisher 100 corrects the design data and paves the road surface based on the corrected data.

[0101] Hereinafter, the asphalt finisher 100 according to the second embodiment will be described focusing on the differences from the first embodiment.

[0102] <Functional Configuration of Asphalt Finisher> The functional configuration of the asphalt finisher 100 according to this embodiment will be described with reference to FIG. 10. FIG. 10 is a block diagram showing an example of the functional configuration of the asphalt finisher according to the second embodiment.

[0103] As shown in FIG. 10, the controller 50 according to the second embodiment is connected with a surveying device 46, a traveling speed sensor 47, an auxiliary storage device 48, an imaging device 51, a communication device 53, a drive system controller 54, and a screed control device 55, in the same manner as in the first embodiment.

[0104] The auxiliary storage device 48 according to the second embodiment includes a design data storage unit 48a and a machine data storage unit 48b. The data stored in the design data storage unit 48a and the machine data storage unit 48b is the same as that in the design data storage unit 301 and the machine data storage unit 302 according to the first embodiment. However, it is only necessary that the machine data storage unit 48b according to the second embodiment stores only the machine data related to the asphalt finisher 100 including the controller 50.

[0105] More specifically, the controller 50 according to the second embodiment includes a communication control unit 101, an acquisition unit 102, a movement control unit 103, a screed control unit 104, a specifying unit 304, and a correction unit 305 as functional blocks configured by software, hardware, or a combination thereof. That is, the controller 50 according to the second embodiment is different from the first embodiment in that it further includes a specifying unit 304 and a correction unit 305.

[0106] The acquisition unit 102 according to the second embodiment acquires design data and machine data to be corrected, in addition to image information captured by the imaging device 51, detection information detected by the traveling speed sensor 47, and position information positioned by the surveying device 46. The acquisition unit 102 reads the design data from the design data storage unit 48a. Further, the acquisition unit 102 reads the machine data from the machine data storage unit 48b.

[0107] The specifying unit 304 specifies a construction exclusion range based on the design data and machine data acquired by the acquisition unit 303. The method of specifying the construction exclusion range is the same as that in the first embodiment.

[0108] The correction unit 305 corrects the design data acquired by the acquisition unit 303 based on the construction exclusion range specified by the specifying unit 304. The method of correcting the design data is the same as that in the first embodiment.

[0109] The movement control unit 103 outputs a control command for controlling the operation of the tractor 1 to the drive system controller 54 based on the corrected data generated by the correction unit 305. Thereby, the controller 50 performs automatic movement control of the tractor 1 so as to perform the paving process along the travel path indicated by the corrected data.

[0110] The screed control unit 104 outputs a control command for controlling the operation of the screed 3 to the screed control device 55 based on the corrected data generated by the correction unit 305. Thereby, the controller 50 performs automatic expansion and contraction control of the screed 3 so as to perform the paving process in accordance with the shape of the end portion of the road surface indicated by the corrected data.

[0111] The communication control unit 101 transmits the corrected data corrected by the correction unit 305 to the communication terminal 200. The communication terminal 200 displays the corrected data received from the controller 50 on the display device 506.

[0112] Also, the communication control unit 101 transmits the corrected data corrected by the correction unit 305 to the remote management device 300. The remote management device 300 stores the corrected data received from the controller 50 in a storage device such as the HDD 504 of the remote management device 300. The remote management device 300 displays the corrected data stored in the storage device on the display device 506 of the remote management device 300 according to the user's operation.

[0113] <Effect of the Second Embodiment> The asphalt finisher 100 according to the present embodiment specifies a range to be excluded from the construction target by the asphalt finisher 100 due to the shape change of the end portion of the road surface that is the construction target by the asphalt finisher 100 based on information regarding the operating speed of the asphalt finisher 100, corrects the range of the road surface that is the construction target based on the specified range, and performs construction on the corrected range of the road surface that is the construction target. On one side, according to the present embodiment, it is possible to accurately construct a road surface whose end shape changes.

[0114] The asphalt finisher 100 has a function of automatically paving the road surface based on the corrected data. Therefore, according to the present embodiment, it is possible to efficiently pave a road surface whose end shape changes.

[0115] [Third Embodiment] In the first embodiment, the construction exclusion range was specified based on the design data and the machine data, and the design data was corrected so that the construction exclusion range was excluded from the construction target. Here, since the design data is created at a location different from the work site, there may be a difference from the actual road surface at the work site. In the third embodiment, a configuration will be described in which the corrected data is further corrected based on the detection result of detecting the road surface at the work site.

[0116] Hereinafter, the road surface paving system SYS according to the third embodiment will be described centering on the differences from the first embodiment. Here, an example in which the configuration of the third embodiment is applied to the first embodiment will be described, but similarly, the configuration of the third embodiment can also be applied to the second embodiment.

[0117] <Functional Configuration of Road Surface Paving System> The functional configuration of the road surface paving system SYS according to the present embodiment will be described with reference to FIG. 11. FIG. 11 is a block diagram showing an example of the functional configuration of the road surface paving system according to the third embodiment.

[0118] ≪Controller of Asphalt Finisher≫ As shown in FIG. 10, in the controller 50 according to the third embodiment, a surveying device 46, a traveling speed sensor 47, an auxiliary storage device 48, an imaging device 51, a communication device 53, a drive system controller 54, and a screed control device 55 are connected in the same manner as in the first embodiment.

[0119] More specifically, the controller 50 according to the third embodiment includes a communication control unit 101, an acquisition unit 102, a movement control unit 103, a screed control unit 104, and a road surface detection unit 105 as functional blocks configured by software, hardware, or a combination thereof. That is, the controller 50 according to the third embodiment is different from that of the first embodiment in that it further includes a road surface detection unit 105.

[0120] The road surface detection unit 105 detects the road surface to be constructed by the asphalt finisher 100 based on the image information captured by the imaging device 51. In the present embodiment, the road surface detection unit 105 detects the shapes of the left and right ends of the road surface in the traveling direction of the asphalt finisher 100. In other words, the road surface detection unit 105 detects the shape of the end of the road surface before construction by the asphalt finisher 100.

[0121] The communication control unit 101 according to the third embodiment transmits the road surface detection result detected by the road surface detection unit 105 to the remote management device 300. The remote management device 300 temporarily stores the road surface detection result received from the controller 50 in a storage device such as the HDD 504 of the remote management device 300.

[0122] ≪Remote Management Device≫ As shown in FIG. 11, the remote management device 300 according to the third embodiment includes a design data storage unit 301, a machine data storage unit 302, an acquisition unit 303, a specification unit 304, a correction unit 305, a storage control unit 306, a communication control unit 307, and a display control unit 308. That is, the remote management device 300 according to the third embodiment includes the same processing units as those in the first embodiment.

[0123] The acquisition unit 303 according to the third embodiment acquires the road surface detection result that detects the road surface to be constructed. The road surface detection result shows the shape of the end of the road surface detected at the work site. In the present embodiment, the acquisition unit 303 acquires the road surface detection result by reading out from the storage device the road surface detection result detected by the asphalt finisher 100 and transferred to the remote management device 300.

[0124] However, the road surface detection result may be the result of detecting the road surface by an external device other than the asphalt finisher 100. The external device may be, for example, a dump truck that supplies paving materials to the asphalt finisher 100. Also, for example, the external device may be an unmanned aerial vehicle also called a drone or the like.

[0125] The correction unit 305 according to the third embodiment further corrects the corrected data based on the road surface detection result acquired by the acquisition unit 303. Hereinafter, the design data further corrected by the correction unit 305 is also referred to as "re-corrected data". Specifically, the correction unit 305 corrects the shape of the end portion of the construction target shown in the corrected data (that is, the construction target excluding the range specified by the specifying unit 304) so as to match the shape of the end portion shown in the road surface detection result. Further, when the correction unit 305 corrects the shape of the end portion of the road surface shown in the corrected data, the construction exclusion range is corrected so as to match the shape of the end portion of the road surface after correction.

[0126] The storage control unit 306 according to the third embodiment stores the re-corrected data generated by the correction unit 305 in the design data storage unit 301. The storage control unit 306 may overwrite the corrected data with the re-corrected data, or may store the re-corrected data together with the corrected data in the design data storage unit 301.

[0127] <Re-correction process> The re-correction process executed by the remote management device 300 will be described with reference to FIG. 13. FIG. 13 is a sequence diagram showing an example of the re-correction process according to the third embodiment. The re-correction process is a process of re-correcting the corrected data based on the road surface detection result.

[0128] In step S21, the acquisition unit 102 of the controller 50 acquires the image information captured by the imaging device 51. Next, the acquisition unit 102 sends the acquired image information to the road surface detection unit 105. The road surface detection unit 105 detects the road surface that is the construction target by the asphalt finisher 100 based on the image information received from the acquisition unit 102.

[0129] In step S22, the road surface detection unit 105 of the controller 50 sends the road surface detection result obtained by detecting the road surface in step S21 to the communication control unit 101. The communication control unit 101 transmits the road surface detection result received from the road surface detection unit 105 to the remote management device 300.

[0130] In step S23, the acquisition unit 303 of the remote management device 300 receives the road surface detection result from the controller 50. Next, the acquisition unit 303 stores the received road surface detection result in the storage device.

[0131] In step S24, the acquisition unit 303 of the remote management device 300 reads out the road surface detection result from the storage device. Next, the acquisition unit 303 reads out the corrected data to be re-corrected from the design data storage unit 301. The corrected data to be re-corrected is the corrected data for the road surface shown in the road surface detection result as the construction target. Then, the acquisition unit 303 sends the road surface detection result and the corrected data to the correction unit 305.

[0132] In step S25, the correction unit 305 of the remote management device 300 receives the road surface detection result and the corrected data from the acquisition unit 303. Next, the correction unit 305 further corrects the corrected data based on the road surface detection result. Then, the correction unit 305 sends the re-corrected data to the storage control unit 306 and the communication control unit 307.

[0133] In step S26, the storage control unit 306 of the remote management device 300 receives the re-corrected data from the correction unit 305. Next, the storage control unit 306 stores the received re-corrected data together with the corrected data read out in step S24 in the design data storage unit 301.

[0134] In step S27, the communication control unit 307 of the remote management device 300 receives the re-corrected data from the correction unit 305. Next, the communication control unit 307 sends the received re-corrected data to the asphalt finisher 100.

[0135] In step S28, the communication control unit 101 of the controller 50 receives the re-corrected data from the remote management device 300 through the communication device 53. Next, the communication control unit 101 stores the received re-corrected data in the auxiliary storage device 48.

[0136] In step S29, the controller 50 starts the automatic paving control. As a result, the asphalt finisher 100 can automatically pave the range of the road surface to be constructed in which the road surface detection result is reflected.

[0137] <Effect of the Third Embodiment> The remote management device 300 according to the present embodiment acquires the detection result of detecting the shape of the end portion of the road surface, and further corrects the corrected data based on the detection result. On one side, according to the present embodiment, it is possible to accurately specify the construction target by the road machinery while reflecting the shape of the actual end portion of the road surface.

[0138] As described above, the embodiments of the information processing apparatus, the road surface paving system, the road machinery, and the program according to the present invention have been described, but the present invention is not limited to the above embodiments. Various changes, corrections, substitutions, additions, deletions, and combinations are possible within the scope described in the claims. Naturally, they also belong to the technical scope of the present invention.

Explanation of Reference Numerals

[0139] 1: Tractor 2: Hopper 3: Screed 46: Surveying device 47: Travel speed sensor 48: Auxiliary storage device 50: Controller 51: Imaging device 53: Communication device 54: Drive system controller 55: Screed control device 100: Asphalt finisher 101: Communication control unit 102: Acquisition unit 103: Movement control unit 104: Screed control unit 200: Communication terminal 300: Remote management device 301: Design data storage unit 302: Machine data storage unit 303: Acquisition unit 304: Specific part 305: Correction part 306: Memory control part 307: Communication control part 308: Display control part CV: Conveyor SC: Screw SYS: Road pavement system

Claims

1. A specifying unit configured to specify a range to be excluded from a construction target by a road machine based on a change in the shape of an end portion of a road surface that is a construction target by the road machine based on information regarding an operating speed of the road machine; A correcting unit configured to correct a range of the road surface that is the construction target based on the range specified by the specifying unit; An information processing apparatus comprising the same.

2. The information processing apparatus further comprising an acquisition unit configured to acquire design data indicating a range of the road surface that is the construction target, wherein the correcting unit is configured to correct the range of the road surface that is the construction target indicated in the design data based on the range specified by the specifying unit. The information processing apparatus according to claim 1.

3. The acquisition unit is configured to acquire a detection result of detecting a shape of an end portion of the road surface, wherein the correcting unit is configured to correct the range of the road surface that is the construction target indicated in the design data based on the range specified by the specifying unit and the detection result. The information processing apparatus according to claim 2.

4. The information processing apparatus further comprising an acquisition unit configured to acquire a detection result of detecting a shape of an end portion of the road surface, wherein the correcting unit is configured to correct the range of the road surface that is the construction target based on the range specified by the specifying unit and the detection result. The information processing apparatus according to claim 1.

5. The road machine includes a screed that is stretchable in a vehicle width direction and spreads paving material scattered on the road surface, wherein the specifying unit is configured to specify the range based on a shape of an end portion of the road surface, a traveling speed of the road machine, a stretching speed of the screed, and a shape of the screed. The information processing apparatus according to claim 1.

6. The correcting unit is configured to determine a position at which stretching of the screed is started based on the range specified by the specifying unit. The information processing apparatus according to claim 5.

7. The information processing apparatus further comprising a display control unit configured to display, on a display device, design data indicating a range of the road surface that is the construction target corrected by the correcting unit. The information processing apparatus according to any one of claims 1 to 6.

8. The display control unit is configured to display a map in which the range specified by the specifying unit is indicated within the range of the road surface that is the construction target corrected by the correcting unit. The information processing apparatus according to claim 7.

9. The display control unit displays, on a display device of a portable information terminal, design data indicating a range of a road surface that is a construction target corrected by the correction unit. The information processing apparatus according to claim 7.

10. The information processing apparatus further includes a storage control unit configured to store, in a storage device, design data indicating a range of a road surface that is a construction target corrected by the correction unit. The information processing apparatus according to any one of claims 1 to 6.

11. A road paving system in which a road machine and an information processing apparatus can communicate with each other via a network, wherein the information processing apparatus includes a specifying unit configured to specify a range to be excluded from a construction target by a road machine due to a shape change of an end portion of a road surface that is a construction target by the road machine based on information regarding an operating speed of the road machine, and a correction unit configured to correct a range of the road surface that is a construction target based on the range specified by the specifying unit, and the road machine is configured to perform construction on a range of the road surface that is a construction target corrected by the correction unit. Road paving system.

12. A road machine, including a specifying unit configured to specify a range to be excluded from a construction target by a road machine due to a shape change of an end portion of a road surface that is a construction target by the road machine based on information regarding an operating speed of the road machine, and a correction unit configured to correct a range of the road surface that is a construction target based on the range specified by the specifying unit, and the road machine is configured to perform construction on a range of the road surface that is a construction target corrected by the correction unit. Road machine.

13. The road machine according to claim 12, having a function of automatically paving a range of a road surface that is a construction target corrected by the correction unit. The road machine according to claim 12.

14. A program for causing a computer to execute a procedure for specifying a range to be excluded from a construction target by a road machine due to a shape change of an end portion of a road surface that is a construction target by the road machine based on information regarding an operating speed of the road machine, and a procedure for correcting a range of the road surface that is a construction target based on the range specified by the specifying procedure. Program.

Images