Road machine and management system for road machine

Abstract

To provide technology that allows a driver to perform loading in and unloading from a carrying vehicle without getting on a road machine.SOLUTION: A road machine comprising a tractor, a hopper installed in front of the tractor to receive paving materials, a screed that levels the paving materials behind a screw that spreads the paving materials, and a control device that runs the tractor to a loading platform of a trailer or from the loading platform of the trailer to a rear area of the trailer upon receiving predetermined instructions.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to road machinery and a management system for road machinery.

Background Art

[0002] Conventionally, a method for assisting a vehicle driver of a transport vehicle to reach a loading position within a defined loading area of a work machine is known. In this method, when the transport vehicle reaches the loading position, an end signal is output by a sensor unit, and the vehicle driver is notified that the transport vehicle has reached a predetermined or desired target position and that the loading process can be started.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above-described technology, it is premised that there is a driver who drives a transport vehicle or a work machine. On the other hand, in recent years, there is a serious shortage of labor not only at work sites where work is performed by work machines but also at construction sites for road construction, etc. There is a shortage of highly skilled drivers who can safely and promptly perform the operations of loading and unloading road machinery onto trailers.

[0005] The present disclosure has been made in view of the above circumstances, and an object thereof is to perform loading and unloading onto a transport vehicle without a driver boarding a road machine.

Means for Solving the Problems

[0006] The road machine according to an embodiment of the present invention includes a tractor, a hopper installed in front of the tractor for receiving paving material, a screed for leveling the paving material behind a screw for spreading the paving material, and a control device that, when receiving a predetermined instruction, causes the tractor to travel toward the loading platform of a trailer or from the loading platform of the trailer toward the rear region of the trailer.

[0007] A management system for a road machine according to an embodiment of the present invention is a management system for a road machine including a road machine and a management device for managing the road machine. The road machine includes a tractor, a hopper installed in front of the tractor for receiving paving material, a screed for leveling the paving material behind a screw for spreading the paving material, and a control device that, when receiving a predetermined instruction from the management device, causes the tractor to travel toward the loading platform of a trailer or from the loading platform of the trailer toward the rear region of the trailer.

Advantages of the Invention

[0008] The driver can load and unload the transport vehicle without boarding the 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

Embodiment for Carrying Out the Invention

[0010] Hereinafter, with reference to the drawings, this embodiment will be described. FIGS. 1 and 2 are schematic views of an asphalt finisher 100, which is an example of road machinery according to an embodiment of the present disclosure. Specifically, FIG. 1 is a first left side view of the asphalt finisher 100, and FIG. 2 is a first top view of the asphalt finisher.

[0011] The asphalt finisher 100 mainly includes a tractor 1, a hopper 2, and a screed 3. In the example shown in FIGS. 1 and 2, the asphalt finisher 100 is arranged such that the vehicle length direction corresponds to the X-axis direction and the vehicle width direction corresponds to the Y-axis direction. And the Z-axis is arranged so as to be orthogonal to each of the X-axis and the Y-axis. Specifically, the front side in the vehicle length direction corresponds to the +X side, the rear side in the vehicle length direction corresponds to the -X side, the left side in the vehicle width direction corresponds to the +Y side, the right side in the vehicle width direction corresponds to the -Y side, the upper side in the vertical direction corresponds to the +Z side, and the lower side in the vertical direction corresponds to the -Z side.

[0012] The tractor 1 is a mechanism for driving the asphalt finisher 100. In the example shown in FIGS. 1 and 2, the tractor 1 rotates the rear wheels 5 using a rear-wheel driving motor and rotates the front wheels 6 using a front-wheel driving motor to move the asphalt finisher 100. The rear-wheel driving motor and the front-wheel driving motor are hydraulic motors that rotate by receiving the supply of hydraulic oil from a hydraulic pump. The tractor 1 may be provided with crawlers instead of wheels.

[0013] Further, the tractor 1 includes a driver's seat 10 and a canopy 11. The canopy 11 is attached to the upper part of the tractor 1 and includes a top plate 11a and a frame 11b that supports the top plate 11a.

[0014] The controller 50 is an example of an arithmetic unit. In the example shown in FIGS. 1 and 2, the controller 50 is a computer including a CPU (Central Processing Unit), a volatile memory device, and a non-volatile memory device, and is mounted on the tractor 1 and configured to control the asphalt finisher 100 by operating various functions. Various functions of the controller 50 are realized, for example, by the CPU executing a program stored in the non-volatile memory device. Various functions realized by the controller 50 include, for example, a function of controlling the discharge amount of a hydraulic pump that discharges hydraulic oil for driving a hydraulic actuator, and a function of controlling the flow of hydraulic oil between the hydraulic actuator and the hydraulic pump. Note that the hydraulic actuator includes a hydraulic cylinder and a hydraulic motor.

[0015] Further, when the controller 50 of the present embodiment receives an instruction to start loading onto the trailer, it automatically operates the asphalt finisher 100 to load the asphalt finisher 100 onto the trailer. Further, when it is detected that the trailer has arrived at a predetermined position, the controller 50 automatically operates the asphalt finisher 100 to unload the asphalt finisher 100 from the trailer onto the road surface as if it has received an instruction to start unloading from the trailer.

[0016] In other words, when the controller 50 of the present embodiment receives a predetermined instruction, it causes the tractor 1 to travel toward the loading platform of the trailer or from the loading platform of the trailer toward the rear region of the trailer.

[0017] Therefore, in this embodiment, even when the driver of the asphalt finisher 100 is not in the driver's seat 10, loading and unloading on the trailer can be performed.

[0018] Note that the trailer of this embodiment is a transport vehicle that transports the asphalt finisher 100 from one place to another. In addition, the loading in this embodiment refers to moving the asphalt finisher 100 on the road to the loading platform of the trailer, and the unloading refers to moving the asphalt finisher 100 loaded on the loading platform of the trailer onto the road.

[0019] Further, when the controller 50 of this embodiment receives an instruction to start loading, until the asphalt finisher 100 reaches the vicinity of the road plate installed from the rear end of the loading platform of the trailer toward the ground, the posture of the asphalt finisher 100 is set to a predetermined first posture.

[0020] Also, when 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 predetermined second posture, and turns off the engine (drive source) in the state of the second posture, thereby completing the loading onto the trailer.

[0021] The first posture is a posture with a narrower vehicle width compared to the typical posture when the asphalt finisher 100 is working 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 the asphalt finisher 100 by the trailer. In the following description, the typical posture when the asphalt finisher 100 is working on the road surface may be expressed as the normal posture.

[0022] Also, when the controller 50 receives an unloading instruction, it moves the asphalt finisher 100 in the second posture from the trailer bed to the rear area of the trailer as the first posture. Then, when the asphalt finisher 100 reaches the rear area of the trailer, the controller 50 completes the unloading. Note that the controller 50 may move the asphalt finisher 100 to the work start position. In this case, when the asphalt finisher 100 reaches the work start position, the controller 50 may change the posture of the asphalt finisher 100 from the first posture to the normal posture.

[0023] Note that the rear area of the trailer refers to the area on the ground further behind the position where the road plate set at the rear end of the trailer bed touches the ground.

[0024] In this embodiment, in this way, when loading and unloading are performed, by setting the postures suitable for loading and unloading and the posture suitable for transportation on the trailer, the work efficiency and safety can be improved.

[0025] Note that the postures of the asphalt finisher 100 shown in FIGS. 1 and 2 are an example of the normal postures when the asphalt finisher 100 is working on the road surface. The normal postures may include various postures according to the work. The details of the first posture and the second posture will be described later.

[0026] The hopper 2 is a mechanism for receiving the paving material PV. The paving material PV is, for example, an asphalt mixture. In the example shown in FIGS. 1 and 2, the hopper 2 is installed 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 the hopper cylinder 24. The asphalt finisher 100 usually receives the paving material PV from the loading platform of the dump truck with the hopper 2 fully open. The dump truck is an example of a vehicle (transport vehicle) that transports the paving material PV supplied to the asphalt finisher 100. Also, the asphalt finisher 100 can continue to travel while pushing the dump truck forward via the push roller 2b even when receiving the paving material PV from the loading platform of the dump truck.

[0027] FIGS. 1 and 2 show the hopper 2 in the fully open state. In FIGS. 1 and 2, for clarity, the illustration of the paving material PV received in the hopper 2 is omitted. When the amount of the paving material PV in the hopper 2 decreases, the driver of the asphalt finisher 100 manually closes the hopper 2 and collects the paving material PV near the inner wall of the hopper 2 toward the central part of the hopper 2. This is to enable the conveyor CV at the central part of the bottom surface of the hopper 2 to convey the paving material PV to the rear of the tractor 1. The paving material PV conveyed to the rear of the tractor 1 is spread in the vehicle width direction at the rear side of the tractor 1 and in front of the screed 3 by the screw SC.

[0028] A space recognition device CM for monitoring the state in front of the tractor 1 is attached to the tractor 1. The space recognition device CM is, for example, a monocular camera, a stereo camera, or a LIDAR, etc. In the example shown in FIGS. 1 and 2, the space recognition device CM is a monocular camera that images the state in front of the tractor 1. In this case, the controller 50 can determine whether the amount of the paving material PV in the hopper 2 is more or less than a predetermined amount based on the image captured by the monocular camera as the space recognition device CM.

[0029] The conveyor CV is driven by a hydraulic motor that rotates upon receiving the supply of hydraulic oil from a hydraulic pump. In the example shown in FIGS. 1 and 2, the conveyor CV is configured to convey the paving material PV in the hopper 2 to the rear side of the tractor 1 via the conveying passage CP. The conveying passage CP is a substantially rectangular parallelepiped-shaped space formed inside the tractor 1 and has a substantially rectangular inlet OP that opens into the hopper 2 at the front surface 1FW of the tractor 1. Specifically, the conveyor CV includes a left conveyor CVL and a right conveyor CVR that operate separately from each other. And the conveying passage CP includes a left conveying passage CPL for the left conveyor CVL and a right conveying passage CPR for the right conveyor CVR.

[0030] The screw SC is driven by a hydraulic motor that rotates upon receiving the supply of 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 installed so as to protrude to the left from the width of the tractor 1. The right screw SCR is installed so as to protrude to the right from the width of the tractor 1.

[0031] The screed 3 is a mechanism for leveling the paving material PV. In the example shown in FIGS. 1 and 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 arranged so as to be offset from each other in the front-rear direction. Specifically, the left rear screed 31L is arranged behind the front screed 30, and the right rear screed 31R is arranged behind the left rear screed 31L. The screed 3 is a floating screed towed 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 by the extension and contraction of the screed lift cylinder 25.

[0032] The rear screen 31 is configured to be expandable and contractible in the vehicle width direction by the telescopic cylinder 60. The telescopic cylinder 60 is supported by a support portion fixed to the housing of the front screen 30 and is configured to be able to expand and contract the rear screen 31 in the vehicle width direction. Specifically, the telescopic cylinder 60 includes a left telescopic cylinder 60L and a right telescopic cylinder 60R. The left telescopic cylinder 60L expands and contracts the left rear screen 31L on the left side of the front screen 30. The right telescopic cylinder 60R expands and contracts the right rear screen 31R on the right side of the front screen 30.

[0033] The leveling arm AM is configured to be able to connect the screen 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 screen 3 and the other end (front end) connected to the tractor 1 (leveling cylinder 23).

[0034] The leveling cylinder 23 is a hydraulic cylinder that moves the front end of the leveling arm AM up and down to adjust the leveling thickness of the paving material PV. In the example shown in FIGS. 1 and 2, the cylinder portion of the leveling cylinder 23 is connected to the tractor 1, and the rod portion is connected to the front end of the leveling arm AM. Note that the front end of the leveling arm AM is attached to the tractor 1 so as to be slidable up and down. When increasing the leveling thickness, the controller 50 causes the hydraulic oil discharged by the hydraulic pump to flow into the rod side oil chamber of the leveling cylinder 23, contracts the leveling cylinder 23, and raises the front end of the leveling arm AM. Also, when 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, extends the leveling cylinder 23, and lowers the front end of the leveling arm AM.

[0035] The screed lift cylinder 25 is a hydraulic cylinder for lifting the screed 3. In the example shown in FIGS. 1 and 2, the screed lift cylinder 25 includes a left screed lift cylinder 25L and a right screed lift cylinder 25R. The left screed lift cylinder 25L has its cylinder part connected to the left rear end of the tractor 1 and its rod part connected to the rear end of the left leveling arm AML. Also, the right screed lift cylinder 25R has its cylinder part connected to the right rear end of the tractor 1 and its rod part connected to the rear end of the right leveling arm AMR. When lifting the screed 3, the controller 50 causes the hydraulic oil discharged by the hydraulic pump to flow into the rod-side oil chamber of the screed lift cylinder 25. As a result, the screed lift cylinder 25 contracts, the rear end of the leveling arm AM is lifted, and the screed 3 is lifted. Also, when 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 extends due to the weight of the screed 3, the rear end of the leveling arm AM descends, and the screed 3 descends. During construction, the screed lift cylinder 25 is in a state where it can expand and contract according to the up-and-down movement of the screed 3.

[0036] A side plate 40 is attached to the 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 the distal end (left end) of the left rear screed 31L, and the right side plate 40R is attached to the distal end (right end) of the right rear screed 31R.

[0037] In the illustrated example, the side plate 40 is also connected to the distal end of the moldboard 41. The moldboard 41 is a member for adjusting the amount of the paving material PV staying in front of the rear screed 31 among the paving materials PV spread by the screw SC, and may be configured to be able to expand and contract in the vehicle width direction together with the rear screed 31.

[0038] Specifically, the mold board 41 is a plate-like member extending in the vehicle width direction and includes a left mold board 41L and a right mold board 41R. In the illustrated example, a left side plate 40L is connected to the distal end (left end) of the left mold board 41L, and a right side plate 40R is connected to the distal end (right end) of the right mold board 41R.

[0039] The mold board 41 is configured to be adjustable in height in the Z-axis direction independently of the rear screed 31 and the side plates 40. The driver of the asphalt finisher 100 can adjust the size of the gap between the lower end of the mold board 41 and the roadbed BC by moving the mold board 41 up and down, and can adjust the amount of the paving material PV passing through the gap. Therefore, the driver of the asphalt finisher 100 can adjust the amount (height) of the paving material PV staying behind the mold board 41 (on the -X side) and in front of the rear screed 31 (on the +X side) by moving the mold board 41 up and down, and thus can adjust the amount of the paving material PV taken in below the rear screed 31.

[0040] The screed step 42 is a member that constitutes a work platform when an operator 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.

[0041] The retaining plate 43 is a plate-like member for preventing the paving material PV spread in the vehicle width direction by the screw SC from scattering in front of the screw SC so that the paving material PV can be properly spread in the vehicle width direction by the screw SC. In the examples shown in FIGS. 1 and 2, the retaining plate 43 includes a left retaining plate 43L and a right retaining plate 43R.

[0042] Next, the first posture and the second posture of the present embodiment will be described. FIG. 3 is a second left side view of the asphalt finisher 100, and FIG. 4 is a second top view of the asphalt finisher.

[0043] FIGS. 3 and 4 show the state of the asphalt finisher 100 in the first posture. As shown in FIGS. 3 and 4, in the first posture of the asphalt finisher 100, the canopy 11 has the frame 11b folded and the top plate 11a stored. In the present embodiment, by folding and storing the canopy 11 in this way, the vehicle height can be reduced.

[0044] Also, in the example of FIG. 3, the screed lift cylinder 25 is retracted, and the screed 3 is lifted together with the leveling arm AM. In the present embodiment, the screed 3 in the first posture is preferably lifted to a higher position compared to the position when traveling on flat ground. For example, the screed 3 may be lifted until the screed lift cylinder 25 is in the most retracted state.

[0045] In the present embodiment, by lifting the screed 3 in this way, it is possible to prevent the screed 3 from contacting the road surface or paving stones during travel. In particular, in the present embodiment, since the position of the screed 3 is lifted to a higher position than the position when traveling on flat ground, when the asphalt finisher 100 travels on an inclined paving stone, it is possible to prevent the screed 3 from contacting the road surface or paving stones, etc., and the safety during loading and unloading can be improved.

[0046] Also, as shown 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 retracted by the telescopic cylinder 60. Specifically, in the present embodiment, by retracting the left telescopic cylinder 60L and the right telescopic cylinder 60R, the left rear screed 31L and the right rear screed 31R are retracted so that the width of the rear screed 31 becomes equal to or less than the vehicle width W1 of the tractor 1. At this time, the mold board 41 is also retracted together with the rear screed 31.

[0047] Furthermore, as shown in FIG. 4, in the first posture, the hopper 2 is closed so that the width in the Y-axis direction is equal to or less than the vehicle width W1 of the tractor 1.

[0048] In this way, in the first posture of the asphalt finisher 100, the hopper 2 and the width of the screed 3 are made equal to the vehicle width W1 of the tractor 1. Therefore, in the present embodiment, it is possible to prevent the asphalt finisher 100 from contacting the side surface of the loading platform, the asphalt finisher 100 can be easily loaded onto the loading platform, and the safety can be improved.

[0049] In the first postures shown in FIGS. 3 and 4, the canopy 11 is assumed to be folded, but the present invention is not limited to this. In the first posture, it is sufficient that the widths of the hopper 2 and the screed 3 are equal to or less than the vehicle width W1 of the tractor 1. For example, when the driver is seated in the driver's seat 10, the canopy 11 is not folded. In the first posture, the screed 3 may be retracted so that the width of the screed 3 is minimized.

[0050] Next, the second posture of the present embodiment will be described. The second posture of the present embodiment is the posture after the asphalt finisher 100 reaches a predetermined position on the loading platform of the trailer. In the second posture of the present embodiment, the screed 3 lifted in the first posture shown in FIG. 3 is lowered so as to contact the loading platform of the trailer.

[0051] In this embodiment, as described above, after the asphalt finisher 100 has moved to the trailer bed, the screed 3 is lowered, so that the vehicle body of the asphalt finisher 100 can be stabilized, and the safety during transportation can be improved.

[0052] Next, referring to FIG. 5, the functions of the controller 50 will be described. FIG. 5 is a diagram for explaining the functional configuration of the controller.

[0053] Based on the information acquired from either the information acquisition device 45 or the auxiliary storage device 45D, the controller 50 of this embodiment determines whether to load or unload the trailer of the asphalt finisher 100. When loading or unloading, various instructions are given to the hopper control device 51, the travel control device 52, the canopy control device 53, the screed control device 54, the output device 57, etc.

[0054] In the illustrated example, the information acquisition device 45 includes a space recognition device CM, a travel speed sensor 45A, a steering angle sensor 45B, a screed expansion and contraction sensor 45C, and the like.

[0055] The travel speed sensor 45A detects the travel speed of the asphalt finisher 100. In the illustrated example, the travel speed sensor 45A is an encoder that detects the angular velocity of the rotation shaft of the rear-wheel travel motor that drives the rear wheels 5. The travel speed sensor 45A may be configured as a wheel speed sensor that detects the rotation speed of the rear wheels 5, or a proximity switch that detects a slit formed in a rotating plate that rotates together with the rotation shaft of the rear-wheel travel motor.

[0056] The steering angle sensor 45B is configured to detect the steering angle of the front wheels 6. In the illustrated example, the steering angle sensor 45B is a telescopic sensor that detects the amount of expansion and contraction of a steering angle cylinder for changing the steering angle of the front wheels 6.

[0057] The screen expansion / contraction sensor 45C is configured to detect the amount of expansion / contraction of the rear screen 31. In the illustrated example, the screen expansion / contraction sensor 45C is an expansion / contraction sensor that detects the amount of expansion / contraction of the expansion / contraction cylinder 60.

[0058] Specifically, the screen expansion / contraction sensor 45C includes a left screen expansion / contraction sensor that detects the amount of expansion / contraction of the left rear screen 31L, and a right screen expansion / contraction sensor that detects the amount of expansion / contraction of the right rear screen 31R.

[0059] The auxiliary storage device 45D is configured to store various information. In the illustrated example, the auxiliary storage device 45D is a non-volatile storage device mounted on the tractor 1 and stores various information.

[0060] The hopper control device 51 is configured to control the amount of expansion / contraction of the hopper cylinder 24. In the illustrated example, the hopper control device 51 is a solenoid valve that controls the flow rate of the hydraulic oil flowing into or out of the hopper cylinder 24. Specifically, the hopper control device 51 switches the communication / blocking of each of the pipelines connecting the hopper cylinder 24 and the hydraulic pump, and the pipeline connecting the hopper cylinder 24 and the hydraulic oil tank according to the control command from the controller 50. More specifically, the hopper control device 51 is configured to allow the hydraulic oil to flow into the bottom side oil chamber of the hopper cylinder 24 by connecting these pipelines, and expand the hopper cylinder 24 to automatically close the hopper 2.

[0061] Alternatively, the hopper control device 51 is configured to allow the hydraulic oil to flow out of the bottom side oil chamber of the hopper cylinder 24 by connecting these pipelines according to the control command from the controller 50, and contract the hopper cylinder 24 to open the hopper 2.

[0062] The travel control device 52 is configured to control the travel speed of the asphalt finisher 100. In the illustrated example, the travel control device 52 is a solenoid valve that controls the flow rate of the hydraulic oil flowing into each of the rear-wheel travel motor and the front-wheel travel motor. Specifically, the travel control device 52 increases or decreases the flow passage area, which is the cross-sectional area of the pipeline connecting each of the rear-wheel travel motor and the front-wheel travel motor to the hydraulic pump, in response to a control command from the controller 50. More specifically, the travel control device 52 increases the flow rate of the hydraulic oil flowing into each of the rear-wheel travel motor and the front-wheel travel motor by increasing the flow passage area, thereby increasing the travel speed of the asphalt finisher 100. Alternatively, the travel control device 52 decreases the flow rate of the hydraulic oil flowing into each of the rear-wheel travel motor and the front-wheel travel motor by reducing the flow passage area, thereby decreasing the travel speed of the asphalt finisher 100.

[0063] 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 the control stand in response to a control command from the controller 50. Further, the canopy control device 53 can deploy 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.

[0064] The screed control device 54 increases or decreases the flow passage area, which is the cross-sectional area of the pipeline connecting the telescopic cylinder 60 and the hydraulic pump, in response to a control command from the controller 50. More specifically, the screed control device 54 allows the hydraulic oil discharged from the hydraulic pump to flow into the bottom-side oil chamber of the telescopic cylinder 60, extends the telescopic cylinder 60, and projects the rear screed 31, thereby widening the rear screed 31 to the paving width. Further, the screed control device 54 allows the hydraulic oil discharged from the hydraulic pump to flow into the rod-side oil chamber of the telescopic cylinder 60, contracts the telescopic cylinder 60, and retracts the rear screed 31, thereby reducing the width of the rear screed 31 to be equal to or less than the vehicle width W1 of the tractor 1.

[0065] 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 convey information to workers operating around the asphalt finisher 100. The workers operating 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 is the main monitor 57A (see FIGS. 1 and 2) and the sound output device 57B (see FIGS. 1 and 2). However, the output device 57 may be one or both of the main monitor 57A and the sound output device 57B.

[0066] The main monitor 57A is configured to display various information. In the illustrated example, the main monitor 57A is a liquid crystal display and can display various information according to a control command from the controller 50. Further, the main monitor 57A may include an input device such as a touch panel that receives operation inputs from the driver of the asphalt finisher 100.

[0067] The sound output device 57B is configured to output sound toward the surroundings of the asphalt finisher 100. In the illustrated example, the sound output device 57B is a speaker that outputs voice toward the surroundings of the asphalt finisher 100 and can output an alarm sound according to a control command from the controller 50. The sound output device 57B may output a voice message.

[0068] The controller 50 of the present embodiment includes functional units such as an instruction reception unit 50A, a monitoring unit 50B, a travel control unit 50C, an attitude control unit 50D, a movement determination unit 50E, and a display control unit 50F.

[0069] Each of these functional units is realized by a CPU included in the controller 50 reading and executing a program stored in a storage device.

[0070] The instruction receiving unit 50A of the present embodiment receives an instruction to start loading onto the asphalt finisher 100 and an instruction to start unloading from the asphalt finisher 100.

[0071] The instruction receiving unit 50A of the present embodiment may receive an instruction to start loading or an instruction to start unloading, for example, by an operation on an operating device for operating the asphalt finisher 100.

[0072] In addition, a signal indicating an instruction to start loading or a signal indicating an instruction to start unloading may be transmitted to the asphalt finisher 100 from a management device 200 (see FIG. 10) that manages the asphalt finisher 100 or from an assistance device 300 (see FIG. 10) held by an operator who assists in loading and unloading of the asphalt finisher 100. Further, a signal indicating an instruction to start loading or a signal indicating an instruction to start unloading may be transmitted to the asphalt finisher 100 from a remote operation device or the like for remotely operating the asphalt finisher 100.

[0073] The monitoring unit 50B monitors the state around the asphalt finisher 100 based on information acquired by the space recognition device CM during loading and unloading of the asphalt finisher 100.

[0074] For example, when the instruction receiving unit 50A receives an instruction to start loading or unloading, the monitoring unit 50B monitors the surroundings of the asphalt finisher 100 based on various information input from the space recognition device CM, and may detect the trailer at the loading destination and the road plate disposed at the rear end of the trailer bed.

[0075] In addition, the monitoring unit 50B may, for example, hold in advance information for identifying the trailer at the loading destination. The information for identifying the trailer includes, for example, model number information indicating the model number of the trailer and position information indicating the current position of the trailer. Further, the information for identifying the trailer may include information indicating the length of the trailer bed and information indicating the length of the road plate.

[0076] For example, when the monitoring unit 50B holds the model number information of the trailer, it may detect, as the trailer to be loaded, a trailer that matches the model number information from the image data or the like acquired by the space recognition device CM.

[0077] Further, when the monitoring unit 50B holds the position information indicating the current position of the trailer, it may detect the trailer when the position information indicating the current position of the asphalt finisher 100 is within a predetermined range including the position of the trailer.

[0078] In this embodiment, in this way, by previously holding the information for specifying the trailer, the processing load of the controller 50 for recognizing the trailer can be reduced.

[0079] Further, when the monitoring unit 50B of this embodiment does not hold the information for specifying the trailer, based on the information acquired by the space recognition device CM, from the shape, size, etc. of the object detected within a certain range centered on the asphalt finisher 100, the trailer to be the loading destination may be specified.

[0080] In this embodiment, by providing such a function to the monitoring unit 50B, for example, even when the trailer is not prepared in advance, the controller 50 can independently recognize a nearby trailer as the loading destination.

[0081] Further, the monitoring unit 50B may determine whether or not the conditions for loading or unloading are satisfied for the trailer from the information acquired from the space recognition device CM. In the following description, the condition for loading is called the loading travel route condition, and the condition for unloading is called the unloading travel route condition.

[0082] The loading travel route condition is a condition regarding whether the safety of the travel 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 ensured. Specifically, the loading travel route condition includes "a road plate is installed (lowered) at the rear of the trailer" and "satisfying a predetermined standard (hereinafter referred to as the 'levelness standard') corresponding to a state where the horizontal level in the left-right direction (hereinafter referred to as the 'left-right levelness') on the travel route including two road plates is relatively close to being horizontal", etc.

[0083] The loading and unloading travel condition is a condition regarding whether the safety of the travel route from the position of the asphalt finisher 100 to a predetermined loading and unloading target position behind the trailer is ensured, similar to the case of the loading travel route condition. Specifically, the loading and unloading travel route condition includes "a road plate is installed (lowered) at the rear of the trailer" and "the left-right levelness on the travel route including two road plates satisfies the levelness standard", etc.

[0084] The travel control unit 50C controls the travel of the tractor 1. Specifically, the travel control unit 50C rotates the rear-wheel travel motor and the front-wheel travel motor to move the tractor 1 forward or backward.

[0085] The attitude control unit 50D controls the attitude of the asphalt finisher 100. Specifically, the attitude control unit 50D changes the attitude of the asphalt finisher 100 from the normal attitude to the first attitude, or from the first attitude to the normal attitude. Also, the attitude control unit 50D changes the attitude of the asphalt finisher 100 from the first attitude to the second attitude, or from the second attitude to the first attitude.

[0086] The movement determination unit 50E acquires position information indicating the current position of the asphalt finisher 100, and uses the position information of the asphalt finisher 100 to determine whether the asphalt finisher 100 has moved to the target position.

[0087] The display control unit 50F controls the display on the main monitor 57A. Specifically, the display control unit 50F causes the main monitor 57A to display various notifications related to loading and unloading, and an image indicating the relative positional relationship between the asphalt finisher 100 and the trailer.

[0088] Hereinafter, with reference to FIGS. 6 to 8, the loading of the trailer of the asphalt finisher 100 will be described.

[0089] FIG. 6 is a flowchart for explaining the processing of the controller 50 when an instruction to start loading is received.

[0090] The controller 50 of the present embodiment determines whether or not an instruction to start loading has been received by the instruction receiving unit 50A (step S601). In step S601, if an instruction to start loading has not been received, the controller 50 waits.

[0091] In step S601, if an instruction to start loading has been received, the controller 50 determines whether or not the trailer to be loaded and the road plate have been detected by the monitoring unit 50B (step S602). In step S602, if the trailer to be loaded and the road plate are not detected, the controller 50 ends the process. At this time, the controller 50 may cause the display control unit 50F to display a notification on the main monitor 57A indicating that the trailer to be loaded has not been detected.

[0092] In step S602, if both the trailer to be loaded and the road plate are detected, the monitoring unit 50B determines whether or not the travel route to the loading platform of the recognized trailer satisfies the loading travel route condition based on the information acquired by the space recognition device CM (step S603).

[0093] In step S603, if the driving route to the recognized trailer bed does not meet the loading driving route conditions, the controller 50 ends the process. At this time, the controller 50 may cause the display control unit 50F to display a notification indicating that the driving route to the recognized trailer bed does not meet the loading driving route conditions on the main monitor 57A.

[0094] In step S603, if the driving route to the trailer bed meets the loading driving route conditions, the controller 50 starts driving by the driving control unit 50C (step S604).

[0095] In other words, the controller 50 rotates the front wheels 6 and the rear wheels 5 of the tractor 1 by the driving control unit 50C to start the driving of the asphalt finisher 100 toward the trailer bed.

[0096] Here, when the position information indicating the current position of the trailer is pre-held, the driving control unit 50C starts driving with the recognized current position of the trailer as the target position.

[0097] Also, when the position information indicating the current position of the trailer is not pre-held, the driving control unit 50C may start driving toward the trailer bed based on the image in front of the asphalt finisher 100 acquired by the space recognition device CM.

[0098] Subsequently, the controller 50 changes the posture of the asphalt finisher 100 from the normal posture to the first posture by the posture control unit 50D (step S605). Specifically, the posture control unit 50D changes 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.

[0099] Subsequently, the controller 50 determines whether the asphalt finisher 100 has moved to near the rear end of the road plate by the movement determination unit 50E (step S606).

[0100] More specifically, the movement determination unit 50E may determine whether the asphalt finisher 100 has moved to near the rear end of the road slab based on the image data and the like acquired by the space recognition device CM.

[0101] Also, when information for specifying the trailer is held in advance, the movement determination unit 50E may determine whether the asphalt finisher 100 has moved to near the rear end of the road slab from the position information indicating the position when the asphalt finisher 100 received the loading start instruction and the position information indicating the current position of the trailer.

[0102] In step S606, when the movement determination unit 50E determines that the asphalt finisher 100 has not moved to near the rear end of the road slab, the controller 50 waits.

[0103] In step S606, when the movement determination unit 50E determines that the asphalt finisher 100 has moved to near the rear end of the road slab, the controller 50 determines whether the asphalt finisher 100 is in the first posture by the posture control unit 50D (step S607). In step S607, when it is not in the first posture, the controller 50 waits until the asphalt finisher 100 becomes the first posture.

[0104] In step S607, when the asphalt finisher 100 is in the first posture, the controller 50 moves the asphalt finisher 100 to the loading platform of the trailer by the travel control unit 50C (step S608).

[0105] Subsequently, the controller 50 determines whether the asphalt finisher 100 has moved to the target position on the loading platform by the movement determination unit 50E (step S609).

[0106] Specifically, for example, when 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 has moved to the target position when 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.

[0107] By doing so, when loading, it is not necessary to check the position of the asphalt finisher 100 on the loading platform, and the asphalt finisher 100 can be automatically stopped at an appropriate position.

[0108] Further, when the movement determination unit 50E does not hold the position information indicating the current position of the trailer, it may determine that the own vehicle has moved to the target position based on the image in front of the asphalt finisher 100 acquired by the space recognition device CM.

[0109] By doing so, it is not necessary to prepare in advance the information for specifying the trailer, and the labor can be reduced.

[0110] In step S609, when the asphalt finisher 100 has not moved to the target position, the controller 50 waits until the asphalt finisher 100 moves to the target position.

[0111] In step S609, when the asphalt finisher 100 has moved to the target position, the controller 50 stops the running of the asphalt finisher 100 by the running control unit 50C, and changes the first posture to the second posture by the posture control unit 50D (step S610).

[0112] Specifically, the posture control unit 50D lowers the screed 3 of the asphalt finisher 100 so that the screed 3 contacts the loading platform of the trailer. If the canopy 11 was not folded in step S605, the posture control unit 50D may fold the canopy 11 in step S607.

[0113] Subsequently, the controller 50 turns off the engine of the asphalt finisher 100 (step S611) and ends the process.

[0114] Note that the asphalt finisher 100 of the present embodiment may have a communication device that maintains a communicable state even when the engine is turned off.

[0115] By having such a communication device, the asphalt finisher 100 can receive various signals even when the engine is turned off. Specifically, by having such a communication device, the asphalt finisher 100 can receive a signal indicating an instruction to start loading / unloading of the trailer from the management device 200 or the support device 300 when the engine is turned off and the asphalt finisher 100 is loaded on the trailer bed.

[0116] As described above, when the trailer and the road plate are detected, the asphalt finisher 100 of the present embodiment starts traveling toward the trailer and changes its normal posture to the first posture during traveling. Note that the screed 3 is lifted by the contraction of the screed lift cylinder 25 before the start of traveling.

[0117] Therefore, in the present embodiment, it is not necessary to separately provide a time for the asphalt finisher 100 to change its posture, and the posture suitable for loading can be quickly achieved.

[0118] Further, when the asphalt finisher 100 of the present embodiment moves to near the rear end of the road plate disposed at the rear end of the trailer and its own posture is in the first posture, it moves across the road plate to the trailer bed.

[0119] Therefore, according to the present embodiment, loading is not performed in a state where the vehicle width of the asphalt finisher 100 exceeds the width of the trailer bed, and safety can be improved.

[0120] In the example of FIG. 6, during the travel of the asphalt finisher 100, the normal posture is changed to the first posture. However, the present invention is not limited to this. In the present embodiment, for example, the normal posture may be changed to the first posture before the travel starts in step S604, or the normal posture may be changed to the first posture after the asphalt finisher 100 moves to a position in front of the road plate.

[0121] In the present embodiment, for example, when a driver is in the driver's seat 10, the canopy 11 is not folded regardless of whether the asphalt finisher 100 has moved to a position in front of the road plate. In this case, the canopy 11 is folded after it is confirmed that the driver has gotten out of the driver's seat 10.

[0122] FIG. 7 is a first diagram for explaining the loading of the asphalt finisher. FIG. 7 shows a state where the asphalt finisher 100 is moving toward the loading platform 1010 of the trailer 1000.

[0123] In this case, the posture of the asphalt finisher 100 is set to the first posture before the selection of the asphalt finisher 100 moves to a position P1 near the rear end of the contact portion between the road plate 1020 and the ground.

[0124] In the present embodiment, when the asphalt finisher 100 is in the first posture at the position P1, it is possible to prevent the screed 3 from contacting the road plate 1020 when the asphalt finisher 100 travels on the inclined road plate 1020.

[0125] The asphalt finisher 100 may hold the absolute coordinates indicating the position P2 on the loading platform 1010 as position information indicating the target position. The absolute coordinates indicating the position P2 may be registered in the asphalt finisher 100 in advance, or may be obtained by the asphalt finisher 100 communicating with the trailer 1000.

[0126] FIG. 8 is a second diagram for explaining the loading of the asphalt finisher. FIG. 8 shows a state where the loading of the asphalt finisher 100 onto the loading platform 1010 is completed.

[0127] In the example of FIG. 8, the asphalt finisher 100 is in a second posture. That is, for the asphalt finisher 100, the hopper 2 is closed, the canopy 11 is folded, and the screed 3 is lowered so as to contact the loading platform 1010.

[0128] In this embodiment, by completing the loading with the screed 3 lowered in this way, it is possible to suppress the movement of the asphalt finisher 100 on the loading platform 1010 due to the shaking of the loading platform 1010 during the running of the trailer 1000, and the safety can be improved.

[0129] Next, with reference to FIG. 9, the unloading of the asphalt finisher 100 from the trailer will be described.

[0130] FIG. 9 is a flowchart for explaining the processing of the controller when receiving an instruction to start unloading.

[0131] The controller 50 of this embodiment determines whether or not an instruction to start unloading has been received by the instruction receiving unit 50A (step S901).

[0132] Note that the instruction receiving unit 50A may receive an instruction to start unloading by an operation on the operating device of the asphalt finisher 100. Further, the instruction receiving unit 50A may receive an instruction to start unloading via a communication device that maintains a communicable state even when the engine is turned off.

[0133] Also, the instruction to start unloading may be received when the current position of the asphalt finisher 100 reaches a predetermined unloading position.

[0134] In this case, for example, even when the engine is turned off, a communication device that maintains a communicable state is provided with a function of acquiring the position information of the asphalt finisher 100. When it is detected that the position indicated by the position information of the asphalt finisher 100 has entered a predetermined range including the loading and unloading position, it may be regarded that an instruction to start loading and unloading has been given.

[0135] In step S901, when the controller 50 has not received an instruction to start loading and unloading, the controller 50 waits.

[0136] In step S901, when the controller 50 has received an instruction to start loading and unloading, the controller 50 turns on the engine (step S902), and the monitoring unit 50B determines whether the travel route from the trailer bed to the rear area of the trailer satisfies the loading and unloading travel route conditions (step S903).

[0137] In step S903, when the loading and unloading travel route conditions are not satisfied, the controller 50 ends the process. At this time, the controller 50 may cause the display control unit 50F to display a notification indicating that the loading and unloading travel route conditions are not satisfied on the main monitor 57A, for example.

[0138] In step S903, when the loading and unloading travel route conditions are satisfied, the controller 50 causes the attitude control unit 50D to set the second attitude, which is the current attitude of the asphalt finisher 100, as the first attitude (step S904).

[0139] Subsequently, the controller 50 causes the travel control unit 50C to rotate the front wheels 6 and the rear wheels 5 to start traveling (step S905). At this time, the travel control unit 50C reverses the tractor 1 by a distance equal to or greater than the total of the length of the bed and the length of the road plate.

[0140] Subsequently, the controller 50 causes the movement determination unit 50E to determine whether the asphalt finisher 100 has moved to the rear area of the trailer (step S906).

[0141] Specifically, for example, after the asphalt finisher 100 is in the first posture, if the tractor 1 reverses a distance equal to or greater than the total of the length of the loading platform and the length of the road plate, the movement determination unit 50E may determine that the asphalt finisher 100 has moved to the rear area of the trailer. In this case, the predetermined distance may be the total length of the loading platform 1010 of the trailer 1000 and the length of the road plate 1020.

[0142] In this embodiment, by reversing a distance equal to or greater than the total of the length of the loading platform and the length of the road plate in this way, the asphalt finisher 100 can be stopped at a position where it does not contact the road plate 1020 in the rear area of the trailer.

[0143] In step S906, if the asphalt finisher 100 has not moved to the rear area of the trailer, the controller 50 waits.

[0144] In step S906, if the asphalt finisher 100 has moved to the rear area of the trailer, the controller 50 sets the first posture as the normal posture by the posture control unit 50D (step S907) and ends the process.

[0145] Note that in the example of FIG. 9, when it is determined that the asphalt finisher 100 has moved to the rear area of the trailer, the first posture is set as the normal posture, but it is not limited thereto. In this embodiment, for example, position information indicating the target position in loading and unloading may be set in advance. The target position in loading and unloading may be the position of the site where the work by the asphalt finisher 100 is performed.

[0146] In that case, after the asphalt finisher 100 moves from the loading platform 1010 of the trailer 1000 to the rear area of the trailer, it may travel to the target position while maintaining the first posture.

[0147] In this way, in the present embodiment, when the trailer 1000 arrives at the destination, the asphalt finisher 100 loaded on the trailer 1000 can be automatically loaded and unloaded.

[0148] In addition, in the present embodiment, even when the engine is turned off, an instruction to start loading may be received via a communication device that maintains a communicable state. In that case, when the controller 50 receives an instruction to start loading via this communication device, the engine may be turned on.

[0149] Further, in the present embodiment, during the above-described loading and unloading, an image showing the relative positional relationship between the asphalt finisher 100 and the trailer 1000 may be generated by the display control unit 50F and displayed on the main monitor 57A.

[0150] 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 by the space recognition device CM, and generate an image of a schematic diagram showing 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.

[0151] The image showing the schematic diagram may be a 2D image or a 3D image. Further, the image showing the schematic diagram may be a moving image in which the movement of the asphalt finisher 100 is immediately reflected.

[0152] In the present embodiment, by displaying such a schematic diagram, for example, when a driver is in the driver's seat 10 of the asphalt finisher 100, the driver can grasp the positional relationship between the asphalt finisher 100 and the trailer 1000.

[0153] A screen including an image of a schematic diagram showing the positional relationship between the asphalt finisher 100 and the trailer 1000 may be displayed, for example, on a display device of a management device 200 that manages the asphalt finisher 100, or on a display device of a support device 300 held by an operator or the like who supports the loading or unloading of the asphalt finisher 100.

[0154] Accordingly, in the present embodiment, it is possible to enable a manager or an operator who is located at a location away from the asphalt finisher 100 or the trailer 1000 to grasp the relative positional relationship between the asphalt finisher 100 and the trailer 1000.

[0155] Further, a screen including an image of a schematic diagram showing 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. By doing so, an operator who remotely operates the asphalt finisher 100 can grasp the positional relationship between the asphalt finisher 100 and the trailer 1000.

[0156] Hereinafter, with reference to FIG. 10, a management system for road machinery including the asphalt finisher 100 will be described. FIG. 10 is a diagram showing an example of the system configuration of the management system for road machinery.

[0157] The management system SYS for road machinery according to the present embodiment includes an asphalt finisher 100 which is an example of road machinery, a management device 200, and a support device 300, and the asphalt finisher 100, the management device 200, and the support device 300 are connected via a network.

[0158] The management device 200 is a computer having an arithmetic processing device and a storage device, and manages the asphalt finisher 100. Specifically, the management device 200 may manage the loading of the asphalt finisher 100 onto the trailer and the unloading of the asphalt finisher 100 from the trailer.

[0159] The support device 300 is a computer having an arithmetic processing unit and a storage device, and may be a portable terminal device held by an operator or the like who supports the work by the asphalt finisher 100. The support device 300 of the present embodiment may support the loading of the asphalt finisher 100 onto the trailer and the unloading of the asphalt finisher 100 from the trailer.

[0160] Further, the management device 200 may transmit, for example, a signal instructing the start of loading or a signal instructing the start of unloading to the asphalt finisher 100.

[0161] Further, the management device 200 may receive, for example, information indicating that the loading destination trailer and the road plate are not detected or the loading travel route conditions are not satisfied from the asphalt finisher 100 when the asphalt finisher 100 (see FIG. 6). Further, the management device 200 may cause the display device to display information indicating that the loading destination trailer and the road plate are not detected or the loading travel route conditions are not satisfied.

[0162] Further, the management device 200 may receive, for example, information indicating that the unloading travel route conditions are not satisfied from the asphalt finisher 100 when the asphalt finisher 100 (see FIG. 9). Further, the management device 200 may cause the display device to display information indicating that the unloading travel route conditions are not satisfied.

[0163] In this way, by causing the management device 200 to display various notifications, the situation of loading or unloading of the asphalt finisher 100 can be grasped by the administrator viewing the display device of the management device 200.

[0164] Also, in the road machinery management system SYS of the present embodiment, signals for instructing the start of loading or unloading to the asphalt finisher 100 may be transmitted from the support device 300 to the asphalt finisher 100.

[0165] In the present embodiment, in this way, by instructing the loading and unloading of the asphalt finisher 100 from the management device 200 or the support device 300, for example, it becomes unnecessary for a trailer driver or the like to get off the trailer to instruct loading and unloading with the operating device of the asphalt finisher 100, and the work efficiency can be improved.

[0166] Also, in the road machinery management system SYS of the present embodiment, the support device 300 may display various notifications on the display device of the support device 300 in the same manner as the management device 200. By displaying various notifications on the support device 300 in this way, for example, the safety at the site where the asphalt finisher 100 and the trailer 1000 are arranged can be improved.

[0167] Also, 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 have a monitoring unit 50B, a travel control unit 50C, an attitude control unit 50D, a movement determination unit 50E, and a display control unit 50F. By realizing these functions with the management device 200 in this way, the processing load of the controller 50 can be reduced. Also, when the management device 200 has these functions, the controller 50 does not necessarily have these functions. Also, in the present embodiment, the space recognition device CM is provided in the asphalt finisher 100, but it is not limited to this. The space recognition device CM may be provided, for example, at the work site where the asphalt finisher 100 performs work.

[0168] Also, in this embodiment, when the asphalt finisher 100 receives an instruction to start loading, the posture of the asphalt finisher 100 is set to the first posture, but it is not limited to this.

[0169] This embodiment can also be applied to the case where the asphalt finisher 100 parked at a certain point is automatically driven to another point. Specifically, for example, when a movement instruction to another point is given to the asphalt finisher 100 parked in the normal posture at a certain point, the controller 50 changes the posture of the asphalt finisher 100 from the normal posture to the first posture, drives it to another point, and after arriving at the other point, may change the first posture to the second posture and stop.

[0170] By doing so, the asphalt finisher 100 can be moved in a posture suitable for driving and stopped in a stable state at the target position.

[0171] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments. Various modifications, substitutions, etc. can be applied to the above-described embodiments without departing from the scope of the present invention. Also, the features described separately can be combined as long as there is no technical contradiction.

Explanation of Reference Numerals

[0172] 1 Tractor 2 Hopper 3 Screed 31 Rear Screed 50 Controller 50A Instruction Reception Unit 50B Monitoring Unit 50C Travel Control Unit 50D Posture Control Unit 50E Movement Determination Unit 50F Display Control Unit

Claims

1. a tractor, a hopper installed in front of the tractor for receiving paving materials, a screed for leveling the paving materials behind a screw for spreading the paving materials, and a control device that, upon receiving a predetermined instruction, causes the tractor to travel toward the bed of a trailer or from the bed of the trailer toward a rear region of the trailer. A road machine having the same.

2. The predetermined instruction is a loading start instruction for instructing the start of loading onto the bed of the trailer, and the control device, upon receiving the loading start instruction, sets the posture of the road machine to a first posture before the road machine travels over a road plate disposed at the rear end of the trailer, sets the first posture to a second posture after the road machine has moved to a target position on the bed, and turns off the drive source of the tractor in the state of the second posture. The road machine according to claim 1.

3. The predetermined instruction is an unloading start instruction for instructing the start of unloading from the bed of the trailer, and the control device, upon receiving the unloading start instruction, starts the drive source of the tractor, sets the posture of the road machine, which is in the second posture, to the first posture, and then reverses the tractor. The road machine according to claim 1.

4. The first posture is a posture in which the hopper is closed, the width of the screed is reduced to a minimum screed width, and the screed is lifted from the ground, and the second posture is a posture in which the hopper is closed, the width of the screed is reduced to the vehicle width of the tractor, and the screed is lowered so as to contact the bottom surface of the bed of the trailer. The road machine according to claim 2 or 3.

5. A canopy is attached to the tractor, and the canopy is folded in the first posture when no driver is sitting in the driver's seat of the tractor. The road machine according to claim 4.

6. The control device holds position information indicating the target position on the bed, and determines that the road machine has moved to the target position on the bed when the position indicated by the position information of the road machine is within a predetermined range including the target position on the bed. The road machine according to claim 2.

7. having a space recognition device for recognizing the space around the road machine, and the control device, The road machine according to claim 2, wherein the space recognition device recognizes the trailer, and based on the relative position information between the recognized trailer and the road machine, it is determined that the road machine has moved to a target position on the loading platform.

8. In a state where the drive source of the tractor is turned off, it has a communication device that receives a signal instructing the start of loading and a signal instructing the start of unloading from an external device. The control device is The road machine according to claim 3, wherein when the communication device receives a signal instructing the start of loading or a signal instructing the start of unloading, the control device starts the drive source of the tractor.

9. The control device is It holds information indicating the length of the loading platform and information indicating the length of the road plate arranged at the rear end of the trailer. The road machine according to claim 3, after being in the first posture, reverses the tractor by a distance equal to or greater than the sum of the length of the loading platform and the length of the road plate.

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

11. A road machine management system including a road machine and a management device for managing the road machine, wherein the road machine is a tractor, a hopper installed in front of the tractor for receiving paving material, a screed for leveling the paving material behind a screw for spreading the paving material, and a control device that, when receiving a predetermined instruction from the management device, runs the tractor toward the loading platform of the trailer or from the loading platform of the trailer to the rear area of the trailer.

Images