Asphalt finisher, asphalt finisher construction support system

Abstract

Provided is technology capable of suppressing offsets in the left-right direction when a dump truck contacts an asphalt finisher. An asphalt finisher 100 according to one embodiment of the present disclosure comprises: a tractor 1; a hopper 2 that is installed on the front side of the tractor 1 and receives a paving material PV; a conveyor CV that feeds the paving material in the hopper 2 to the rear side of the tractor 1; a screw SC that spreads out the paving material fed by the conveyor CV to the rear side of the tractor 1; a screed 3 that levels the paving material spread by the screw SC to the rear side of the screw SC; and an indicator 64 that displays, toward a dump truck 200, information related to the offset in the left-right direction of the asphalt finisher 100 and the dump truck 200 forward of the asphalt finisher 100.

Description

[Technical field]

[0001] The present disclosure relates to an asphalt finisher and a construction support system for an asphalt finisher. [Background technology]

[0002] An asphalt finisher is known that includes a tractor, a hopper, a conveyor that transports the paving material in the hopper to the rear of the tractor, a screw that spreads the paving material transported by the conveyor, and a screed that spreads the paving material behind the screw (see Patent Document 1).

[0003] The asphalt finisher constructs asphalt paving while receiving paving material from the loading platform of the dump truck adjacent to the front of the asphalt finisher. During this process, the dump truck driver backs up the dump truck and brings it closer to the asphalt finisher until it reaches a designated position to supply the paving material to the hopper. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-63650 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, when the dump truck approaches the specified position with the dump truck and the asphalt finisher (hopper) misaligned in the left-right direction (vehicle width direction), there is a possibility that the dump truck will come into contact with the side of the hopper depending on the amount of misalignment. Even if the dump truck approaches the asphalt finisher without coming into contact with the side of the hopper, a difference will occur between the orientation of the dump truck and the orientation of the asphalt finisher at the curved portion of the road to be worked on. Therefore, when the dump truck and the asphalt finisher are misaligned in the left-right direction, there is a possibility that the rear overhang of the dump truck will come into contact with the inside of the side of the hopper.

[0006] Therefore, an object of the present invention is to provide a technology that can suppress left-right misalignment when a dump truck approaches an asphalt finisher. [Means for solving the problem]

[0007] In order to achieve the above object, in one embodiment of the present disclosure, A tractor, A hopper installed in front of the tractor to receive paving materials; a conveyor that conveys the paving material in the hopper to the rear side of the tractor; A screw that spreads the paving material transported by the conveyor behind the tractor; A screed that spreads the paving material spread by the screw on the rear side of the screw; An acquisition unit that acquires data regarding a left-right deviation between a dump truck approaching the asphalt finisher from the front of the asphalt finisher and the asphalt finisher; When it is determined that the dump truck is approaching the asphalt finisher from the front based on a predetermined input received from an operator or data obtained by an imaging device or a distance sensor, the data obtained by the acquisition unit is used to Left-right misalignment between the dump truck and the asphalt finisher The first represents the quantity information Or, second information indicating a return amount for suppressing a left-right deviation between the dump truck and the asphalt finisher. of In a manner that the driver of the dump truck can recognize Towards the dump truck output do output Department and at least one of a transmission unit that transmits the first information or the second information to an external device to notify the driver of the dump truck based on data acquired by the acquisition unit when it is determined that the dump truck is approaching an asphalt finisher from the front based on the predetermined input or data acquired by the imaging device or the distance sensor. and An asphalt finisher is provided.

[0008] In another embodiment of the present disclosure, A construction support system for an asphalt finisher comprising: a tractor; a hopper installed in front of the tractor for receiving paving material; a conveyor for transporting the paving material in the hopper to the rear of the tractor; a screw for spreading the paving material transported by the conveyor at the rear of the tractor; and a screed for spreading the paving material spread by the screw at the rear of the screw, An acquisition unit that acquires data regarding a left-right deviation between a dump truck approaching the asphalt finisher from the front of the asphalt finisher and the asphalt finisher; When it is determined that the dump truck is approaching the asphalt finisher from the front based on a predetermined input received from an operator or data obtained by an imaging device or a distance sensor, the data obtained by the acquisition unit is used to Lateral misalignment between the dump truck and the asphalt finisher The first represents the quantity information Or, second information indicating a return amount for suppressing a left-right deviation between the dump truck and the asphalt finisher. Towards the dump truck output do output Department, and When it is determined that the dump truck is approaching the asphalt finisher from the front based on the predetermined input or the data acquired by the imaging device or the distance sensor, the first information or the second piece of information of To notify the driver of the dump truck and at least one transmitting unit for transmitting to the outside. An asphalt finisher construction support system is provided. Effect of the Invention

[0009] According to the above-described embodiment, it is possible to suppress left-right misalignment when the dump truck comes into contact with the asphalt finisher. [Brief description of the drawings]

[0010] [Figure 1A] FIG. 1 is a diagram showing an example of an asphalt finisher. [Figure 1B] FIG. 1 is a diagram showing an example of an asphalt finisher. [Figure 1C] FIG. 1 is a diagram showing an example of an asphalt finisher. [Diagram 2] FIG. 1 is a functional block diagram showing an example of a configuration of a forward monitoring system. [Diagram 3] 1A to 1C are diagrams illustrating a first example of the operation of the forward monitoring system. [Figure 4] 11A to 11C are diagrams illustrating a second example of the operation of the forward monitoring system. [Diagram 5]11A to 11C are diagrams illustrating a third example of the operation of the forward monitoring system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment will be described with reference to the drawings.

[0012] [Overall configuration] First, the overall configuration of an asphalt finisher 100 according to this embodiment will be described with reference to Figs. 1A to 1C.

[0013] Fig. 1 is a diagram showing an example of an asphalt finisher 100 according to this embodiment. Specifically, Fig. 1A to Fig. 1C are a left side view, a top view, and a back view, respectively, of the asphalt finisher 100. Hereinafter, the directions of front, rear, left, right, top, and bottom will be used as directions seen from the asphalt finisher 100.

[0014] 1A to 1C show the screed 3 in a state where it is maximally extended in the vehicle width direction (left-right direction).

[0015] As shown in FIGS. 1A to 1C, the asphalt finisher 100 is made up of a tractor 1, a hopper 2, and a screed 3.

[0016] The tractor 1 corresponds to the main body of the asphalt finisher 100, and drives the asphalt finisher 100. The tractor 1 drives the asphalt finisher 100, for example, by rotating the front and rear wheels using a hydraulic motor for traveling. The hydraulic motor for traveling rotates by receiving a supply of hydraulic oil from a hydraulic source (for example, a hydraulic pump for traveling) mounted on the asphalt finisher.

[0017] The tractor 1 is also equipped with a controller 30, a main monitor 60, a driver's seat 61, an imaging device 62, an audio output device 63, an indicator 64, and the like.

[0018] The controller 30 is housed within a frame 1a of the tractor 1, for example, as shown in FIGS. 1A to 1C.

[0019] The main monitor 60 and the driver's seat 61 are provided in a cab that is installed on the top surface of the tractor 1, for example, as shown in FIGS. 1A to 1C.

[0020] The imaging device 62 and the audio output device 63 are installed, for example, at the center of the front end of the upper surface of the tractor 1 as shown in FIGS. 1A to 1C.

[0021] 1A to 1C, the indicator 64 is installed on the right side of the tractor 1. The indicator 64 may also be installed on the left side of the tractor 1, or on both the right and left sides of the tractor 1. In other words, the indicator may be installed in any location as long as it is visible directly or indirectly via the rearview mirror or side mirror to the driver of a dump truck approaching while backing up from in front of the asphalt finisher 100 to supply paving material to the hopper 2.

[0022] 1B, the indicator 64 may be disposed so as to protrude outward from the right side of the frame 1a of the tractor 1 when in use and to be located inside the end 3b of the screed 3. The indicator 64 may be configured to be foldable so as to fit within the vehicle width of the asphalt finisher 100 when not in use, as shown in FIG.

[0023] The hopper 2 receives the paving material supplied from the bed of a dump truck. The paving material is, for example, an asphalt mixture.

[0024] As shown in Figs. 1A to 1C, the hopper 2 is provided at the front of the tractor 1. The hopper 2 is configured to be openable and closable in the vehicle width direction (left and right direction) by a hopper cylinder 2a. The asphalt finisher 100 normally receives paving material from the bed of a dump truck serving as a paving material transport vehicle with the hopper 2 fully open. Even when receiving paving material from the bed of the dump truck, the asphalt finisher 100 continues traveling (construction) while pushing the dump truck forward via the push rollers 2b. The paving material received inside the hopper 2 is fed to the screed 3 using a conveyor and a screw.

[0025] The screed 3 spreads and levels the paving material that is spread on the roadbed by the screw. The screed 3 is a floating screed pulled by the tractor 1 and is connected to the tractor 1 via a leveling arm 3a.

[0026] [An example of a forward monitoring system] Next, an example of a forward monitoring system 150 mounted on the asphalt finisher 100 will be described with reference to FIG. 2 in addition to FIGS. 1A to 1C.

[0027] FIG. 2 is a diagram showing an example of the configuration of the forward monitoring system 150. As shown in FIG.

[0028] The forward monitoring system 150 (an example of a construction support system) monitors the area ahead of the asphalt finisher 100.

[0029] For example, the forward monitoring system 150 provides the user with a function of monitoring the approach of a dump truck that is reversing and approaching from the front of the asphalt finisher 100 in order to replenish paving material to the hopper 2 (hereinafter, the “dump truck approaching situation monitoring function”).

[0030] Also, for example, the forward monitoring system 150 may provide the user with a function (hereinafter, "object presence monitoring function") of monitoring the presence or absence of an object between the asphalt finisher 100 and a dump truck approaching in reverse from in front of the asphalt finisher 100. The object monitoring function may be an additional function that is executed when the dump truck approaching situation monitoring function is enabled.

[0031] The forward monitoring system 150 includes a controller 30 , a main monitor 60 , an imaging device 62 , an audio output device 63 , and an indicator 64 .

[0032] The controller 30 controls various forward monitoring functions (for example, a function for monitoring the approach of a dump truck, a function for monitoring the presence or absence of an object, etc.) performed by the forward monitoring system 150.

[0033] The controller 30 may be a dedicated controller for the forward monitoring system 150, or may be a controller that is also used for controlling other functions of the asphalt finisher 100. In addition, the functions of the controller 30 related to the forward monitoring system 150 may be shared by multiple controllers.

[0034] The functions of the controller 30 may be realized by any hardware or any combination of hardware and software. The controller 30 is mainly composed of a computer including, for example, a central processing unit (CPU), a memory device such as a random access memory (RAM), an auxiliary storage device such as a read only memory (ROM), and an interface device for input and output with the outside. The controller 30 realizes various functions by, for example, loading a program installed in the auxiliary storage device into the memory device and having the CPU execute the program.

[0035] The controller 30 includes a determination unit 31 and a warning unit 32 as functional units.

[0036] The main monitor 60 displays various information to the operator of the asphalt finisher 100. The main monitor 60 is, for example, a liquid crystal display or an organic EL (Electroluminescence) display. The main monitor 60 can display various information under the control of the controller 30. The main monitor 60 may also include an input device (for example, a button, a toggle, a lever, a touch panel incorporated into the panel of the liquid crystal display, etc.) that receives operational input from the operator of the asphalt finisher 100.

[0037] The imaging device 62 (an example of an acquisition section) captures an image of the space in front of the asphalt finisher 100 and acquires an image (captured image) of the space. The imaging device 62 may include, for example, a monocular camera, a stereo camera, a distance image camera, a depth camera, a three-dimensional camera, an infrared camera, etc. The imaging device 62 outputs the acquired image data, and the image data output from the imaging device 62 is taken into the controller 30.

[0038] Furthermore, the forward monitoring system 150 may include a distance sensor (an example of an acquisition unit) capable of measuring the distance to an object in the space ahead of the asphalt finisher 100, instead of or in addition to the imaging device 62. The distance sensor may include, for example, a LIDAR (Light Detecting and Ranging), a millimeter wave radar, an ultrasonic sensor, etc. A signal corresponding to the measurement result output from the distance sensor may be input to the controller 30.

[0039] The audio output device 63 outputs audio toward the surroundings including the front of the asphalt finisher 100. The audio output device 63 is, for example, a speaker or a buzzer. Under the control of the controller 30, the audio output device 63 can output a predetermined sound toward the driver of a dump truck in front of the asphalt finisher 100, a worker between the dump truck and the asphalt finisher, etc. In addition, the audio output device 63 may output an audio message, for example, under the control of the controller 30.

[0040] The indicator 64 (an example of a display unit) displays visual information and is configured so that the visual information can be seen by the driver or worker of the dump truck in front of the asphalt finisher 100. For example, the indicator 64 is arranged so that its display area faces forward. The indicator 64 is, for example, a small electronic display board made of a large number of LEDs (Light Emitting Diodes), a liquid crystal panel, an organic EL panel, or the like arranged in a matrix. As shown in Figs. 1A to 1C, the indicator 64 is arranged above the frame 1a in which the controller 30 is stored, that is, the indicator 64 is arranged at a position higher than the upper surface of the frame 1a. The indicator 64 can display various information under the control of the controller 30. For example, the indicator 64 may display a reverse instruction to the driver of the dump truck loaded with paving material in front of the asphalt finisher 100, and inform the driver that the dump truck can be reversed.

[0041] The determination unit 31 performs various determinations regarding the forward monitoring function based on output data from the imaging device 62 and the distance sensor.

[0042] The determination unit 31 performs a determination regarding, for example, a dump truck approaching situation monitoring function.

[0043] Specifically, when a dump truck that supplies paving material to the hopper 2 is reversing and approaching the asphalt finisher 100 from the front, the determination unit 31 may determine whether or not the amount of left-right misalignment between the dump truck and the asphalt finisher 100 is within a predetermined range. The amount of left-right misalignment between the dump truck and the asphalt finisher 100 represents the amount of left-right misalignment between the central axis of the dump truck in the vehicle width direction and the central axis of the asphalt finisher 100 (hopper 2) in the vehicle width direction (left-right direction). For example, the determination unit 31 may simply determine the amount of left-right misalignment between the dump truck and the asphalt finisher 100 as the amount of misalignment between the center of the rear end of the dump truck in the vehicle width direction and the center of the asphalt finisher 100 in the vehicle width direction (left-right direction). In addition, the determination unit 31 may take into consideration a case where the central axis of the dump truck in the vehicle width direction and the central axis of the asphalt finisher 100 in the vehicle width direction (left-right direction) are not parallel. A case where the central axis of the dump truck in the vehicle width direction and the central axis of the asphalt finisher 100 in the vehicle width direction (left-right direction) are not parallel corresponds to a case where the backward movement of the dump truck is deviated obliquely with respect to the vehicle length direction of the asphalt finisher 100. For example, the determination unit 31 may determine the amount of left-right misalignment between the dump truck and the asphalt finisher 100 as the amount of misalignment between the central axes of both at a predetermined fore-aft position as viewed from the asphalt finisher 100. The predetermined fore-aft position may be, for example, the front end position of the hopper 2, etc.

[0044] The predetermined range is defined as a left-right range within which the bed of the dump truck and the hopper 2 do not come into contact with a certain degree of margin when the dump truck reaches a vehicle approach position (hereinafter simply referred to as "vehicle approach position") where the rear tire of the dump truck and the push roller 2b come into contact. The predetermined range may be fixed as a range defined in advance, or may be variable depending on the size of the dump truck in the vehicle width direction and the size of the asphalt finisher 100 on which the forward monitoring system 150 is mounted, etc.

[0045] The determination unit 31 may apply, for example, known image processing technology or image recognition technology using machine learning to recognize the dump truck in front of the asphalt finisher 100 and recognize the central axis (center) of the dump truck in the vehicle width direction. Then, the determination unit 31 may determine whether or not the amount of left-right misalignment between the dump truck and the asphalt finisher 100 is within a predetermined range based on the left-right position of the recognized central axis (center) of the dump truck in the vehicle width direction with the asphalt finisher 100 as a reference. Furthermore, when the amount of left-right misalignment between the dump truck and the asphalt finisher 100 deviates from the predetermined range, the determination unit 31 may output the amount of deviation and the direction of deviation (leftward or rightward) together.

[0046] The dump truck approaching situation monitoring function may be manually switched between enabled (ON) and disabled (OFF) in response to a predetermined input received from the operator of the asphalt finisher 100. That is, the operator may visually confirm a situation in which a dump truck is approaching from the front of the asphalt finisher 100 to replenish paving material, and may perform a predetermined input via an input device or the like of the main monitor 60 to enable (ON) the dump truck approaching situation monitoring function. In this case, for example, when the dump truck approaching situation monitoring function is switched to an enabled state, the determination unit 31 recognizes the dump truck in front of the asphalt finisher 100 based on image data of the imaging device 62. Then, when the determination unit 31 recognizes the dump truck in front of the asphalt finisher 100, it repeatedly calculates the amount of deviation between the dump truck and the asphalt finisher 100 in the vehicle width direction for each predetermined control period, and determines whether the amount of deviation is within a predetermined range. This determination process may be continued until any of the following conditions is met: the dump truck reaches a predetermined approaching position, the dump truck is no longer recognized, or the dump truck approach monitoring function is disabled (OFF).

[0047] The dump truck approaching situation monitoring function may be automatically switched between enabled (ON) and disabled (OFF). In this case, the forward monitoring system 150 may be provided with a function (hereinafter, "dump truck approaching recognition function") as a backup function for automatically recognizing a situation in which a dump truck replenishing the hopper 2 with paving material is approaching backward from the front of the asphalt finisher 100. For example, in a disabled (OFF) state of the dump truck approaching situation monitoring function, the controller 30 repeats a process of attempting to recognize a dump truck that is approaching backward from the front of the asphalt finisher 100 or that may be approaching backward from the front of the asphalt finisher 100 based on the captured image of the imaging device 62 at each predetermined control period. At this time, the controller 30 may perform the dump truck recognition process taking into consideration the presence or absence of paving material in the loading platform of the dump truck. Then, when the controller 30 recognizes a dump truck that is approaching backward from the front of the asphalt finisher 100 or that may be approaching, the controller 30 may automatically switch the dump truck approaching situation monitoring function to an enabled (ON) state.

[0048] Furthermore, the determination unit 31 may perform a determination regarding, for example, an object presence / absence monitoring function.

[0049] Specifically, the determination unit 31 determines whether or not there is a monitored object (hereinafter, "monitored object") between the asphalt finisher 100 and a dump truck approaching backward from in front of the asphalt finisher 100. The monitored object may include, for example, a person such as a worker, a road cone, a ramp, a tamper, or other small machine. The determination unit 31 may apply, for example, a known image processing technology or an image recognition technology using machine learning or the like to recognize the presence or absence of an object present in the front-rear position between the dump truck and the asphalt finisher 100, and may recognize the type of the object if the object is recognized. The determination unit 31 may then determine whether or not there is a monitored object between the dump truck and the asphalt finisher 100 by recognizing an object between the dump truck and the asphalt finisher 100 and determining whether or not the type of the object corresponds to the monitored object.

[0050] The attention calling unit 32 calls the attention of the operator of the asphalt finisher 100, the driver of the dump truck, surrounding workers, etc., through the audio output device 63, the indicator 64, etc., based on the judgment result of the judgment unit 31. Specifically, the attention calling unit 32 repeats processing for calling the attention of the operator of the asphalt finisher 100, the driver of the dump truck, surrounding workers, etc., based on the judgment result of the judgment unit 31, in synchronization with the judgment unit 31, for each predetermined control period.

[0051] The warning unit 32 issues a warning to the driver of the dump truck based on the result of the judgment made by the judgment unit 31 as to whether or not the amount of left-right misalignment between the dump truck and the asphalt finisher 100 is within a predetermined range, for example.

[0052] Specifically, when the determination unit 31 determines that the amount of left-right misalignment between the dump truck and the asphalt finisher 100 is within a predetermined range, the attention calling unit 32 may cause the indicator 64 to display that it is possible to reverse in the current state (see FIG. 3 described later). This allows the driver of the dump truck to check the display content of the indicator 64 through the rearview mirror or side mirror and recognize that it is possible to reverse the dump truck in the current state.

[0053] On the other hand, when the determination unit 31 determines that the amount of deviation in the left-right direction between the dump truck and the asphalt finisher 100 deviates from the predetermined range, the attention calling unit 32 may display attention calling information on the indicator 64 (see FIG. 4 described later). For example, the attention calling unit 32 may display information notifying the occurrence of deviation such as the amount of deviation or the direction of deviation on the indicator 64 (hereinafter, "left-right deviation notification information"). For example, the attention calling unit 32 may also display information notifying the occurrence of deviation amount deviating from the predetermined range (for example, information indicating the deviation direction or deviation amount) (hereinafter, "deviation notification information"). This allows the driver of the dump truck to recognize the occurrence of deviation in the left-right direction of the dump truck with respect to the asphalt finisher 100, the direction and degree of deviation, and correct the left-right position of the dump truck according to the recognition. For example, the attention calling unit 32 may also display information prompting the elimination of the deviation state of the deviation amount from the predetermined range on the indicator 64 (hereinafter, "deviation elimination information"). The deviation elimination information may include, for example, information indicating a direction and a return amount for returning the deviation amount to a predetermined range. The deviation elimination information may also include, for example, information indicating a direction and a return amount for eliminating the deviation in the left-right direction between the dump truck and the asphalt finisher 100, i.e., for making it approximately zero. This allows the driver of the dump truck to directly grasp and execute the direction and degree of correction of the left-right position of the dump truck to eliminate the deviation state. In addition, when the determination unit 31 determines that the deviation amount in the left-right direction between the dump truck and the asphalt finisher 100 deviates from the predetermined range, the attention calling unit 32 may convey deviation notification information and deviation elimination information to the driver of the dump truck through the audio output device 63.

[0054] The attention calling unit 32 may change the content (level) of the attention calling information depending on the degree of deviation from a predetermined range of the left-right misalignment amount between the dump truck and the asphalt finisher 100. For example, when the degree of deviation from the predetermined range of the left-right misalignment amount between the dump truck and the asphalt finisher 100 is relatively small, the attention calling unit 32 may cause the indicator 64 to display the deviation notification information and deviation resolution information. On the other hand, when the degree of deviation from the predetermined range of the left-right misalignment amount between the dump truck and the asphalt finisher 100 is relatively large, the attention calling unit 32 may cause the indicator 64 to display information instructing the dump truck to slow down or stop moving backward (hereinafter, "deceleration / stop instruction information") (see FIG. 5 described later). The same may be true when the audio output device 63 is used. A case where the deviation of the left-right misalignment amount between the dump truck and the asphalt finisher 100 from the predetermined range is relatively small corresponds to, for example, a case where the possibility of contacting the hopper 2 when the dump truck backs up to the approaching position is low, but the distance becomes very narrow. Also, a case where the deviation of the left-right misalignment amount between the dump truck and the asphalt finisher 100 from the predetermined range is relatively large corresponds to, for example, a case where the dump truck is highly likely to collide with the hopper 2 when it backs up to the approaching position. In this way, the attention calling unit 32 changes the level of the attention calling information in accordance with the deviation of the left-right misalignment amount between the dump truck and the asphalt finisher 100 from the predetermined range, and can urge the driver to perform appropriate driving operations.

[0055] In addition, the attention alert unit 32 alerts the driver of the dump truck and surrounding workers, for example, based on the result of the determination by the determination unit 31 of the presence or absence of a monitored object between the dump truck and the asphalt finisher 100.

[0056] Specifically, when the determination unit 31 determines that a monitored object exists between the dump truck and the asphalt finisher 100, the attention calling unit 32 causes the indicator 64 to display attention calling information. For example, the attention calling unit 32 may cause the indicator 64 to display information indicating that a monitored object exists between the dump truck and the asphalt finisher 100 (hereinafter, "monitored object presence information"). This allows the driver of the dump truck to recognize the presence of the monitored object, and then reverse the dump truck while checking the presence of the monitored object in the rearview mirror or side mirror, thereby avoiding contact between the monitored object and the dump truck. In addition, for example, the attention calling unit 32 may cause the indicator 64 to display information instructing the dump truck to decelerate or stop (deceleration / stop instruction information). This allows the driver of the dump truck to decelerate or stop the dump truck in accordance with the instruction, thereby directly avoiding contact between the monitored object and the dump truck. Furthermore, when the determination unit 31 determines that a monitored object exists between the dump truck and the asphalt finisher 100, the attention calling unit 32 may transmit monitored object presence information to the driver of the dump truck, surrounding workers, etc. through the audio output device 63. Furthermore, when the determination unit 31 determines that a monitored object exists between the dump truck and the asphalt finisher 100, the attention calling unit 32 may transmit deceleration / stop instruction information to the driver of the dump truck through the audio output device 63.

[0057] In this way, in this example, the voice output device 63 and the indicator 64 installed on the asphalt finisher 100 can notify the driver of the dump truck of support information when approaching the dump truck.

[0058] [Example of the operation of the forward monitoring system] Next, a specific example of the operation of the forward monitoring system will be described with reference to FIGS. 1A to 1C, 2, and also to FIGS.

[0059] <First example of forward monitoring system operation> Fig. 3 is a diagram illustrating a first example of the operation of the forward monitoring system 150. Specifically, Fig. 3 is a left side view 300A and a top view 300B showing a first example of a situation in which a dump truck 200 is backing up and approaching from in front of the asphalt finisher 100 to replenish paving material.

[0060] 3, an area RM1 indicated by a dashed line represents a spatial range reflected in the rearview mirror M1 of the dump truck 200, and an area RM2 indicated by a dashed double-dashed line represents a spatial range reflected in the right side mirror M2 of the dump truck 200. The same applies to FIGS. 4 and 5 below.

[0061] 3, in this example, the central axis of the dump truck 200 in the vehicle width direction and the central axis of the asphalt finisher 100 in the vehicle width direction are aligned at approximately the same position in the left-right direction. As a result, the controller 30 (determination unit 31) determines that the amount of left-right deviation between the dump truck 200 and the asphalt finisher 100 is approximately zero and is within a predetermined range. Therefore, the controller 30 (attention calling unit 32) causes the indicator 64 to display information indicating that it is possible to continue backing up.

[0062] Specifically, the indicator 64 displays an image of "○" indicating that the dump truck can continue to back up in the vertical center 64A of its display area under the control of the controller 30 (attention calling unit 32). This allows the driver to check the indicator 64 through the rearview mirror M1 or the right side mirror M2 and understand that there is no problem in backing up in the current state.

[0063] Moreover, under the control of the controller 30, the indicator 64 displays information on the remaining distance to the approaching position ("5.0 m remaining") in the upper part 64B in the vertical direction of the display area. The controller 30 may recognize the positional relationship in the front-rear direction between the imaging device 62 or the distance sensor and the dump truck 200 based on the output data of the imaging device 62 or the distance sensor, and calculate the remaining distance from the dump truck 200 to the approaching position. This allows the driver to specifically grasp the remaining distance to the approaching position as a numerical value. Moreover, under the control of the controller 30, the indicator 64 displays text information indicating the remaining distance from the dump truck 200 to the approaching position in mirror text that is reversed from left to right. This allows the driver of the dump truck 200 to appropriately recognize the text information indicating the remaining distance when checking the indicator 64 through the rearview mirror M1 or the right side mirror M2. The same applies to the second and third examples described below.

[0064] The information indicating the remaining distance from the dump truck 200 to the approaching position may be displayed on the indicator 64 as information in another format instead of or in addition to text information. The same applies to the second and third examples described below. For example, the remaining distance from the dump truck 200 to the approaching position may be displayed on the indicator 64 by a bar graph that changes continuously or in stages (discretely). In this case, the driver of the dump truck 200 can visually recognize the distance between the dump truck 200 and the asphalt finisher 100 from the change in the bar graph displayed on the indicator 64.

[0065] <Second example of forward monitoring system operation> Fig. 4 is a diagram illustrating a second example of the operation of the forward monitoring system 150. Specifically, Fig. 4 is a left side view 400A and a top view 400B showing a second example of a situation in which a dump truck 200 is backing up and approaching from in front of the asphalt finisher 100 to replenish paving material.

[0066] As shown in FIG. 4, in this example, a deviation GP1 occurs in the right direction of the central axis of the dump truck 200 in the vehicle width direction relative to the central axis of the asphalt finisher 100 in the vehicle width direction. As a result, the controller 30 (determination unit 31) determines that the amount of deviation in the left-right direction between the dump truck 200 and the asphalt finisher 100 deviates from a predetermined range. In addition, the deviation GP1 is relatively small from the predetermined range, and even if the dump truck 200 retreats to the approaching position in this state, the possibility of colliding with the hopper 2 is low, but the distance between the loading platform of the dump truck 200 at the approaching position and the inner wall of the hopper 2 becomes very narrow. Therefore, the controller 30 (attention calling unit 32) causes the indicator 64 to display deviation resolution information as attention calling information.

[0067] Specifically, the indicator 64 displays an arrow image ("→") indicating a return direction (in this example, a leftward direction) for eliminating the deviation state of the deviation amount from the predetermined range in a vertical center portion 64A of the display area under the control of the controller 30 (attention calling portion 32). In addition, the indicator 64 displays information ("return 50 cm") indicating a return amount (in this example, 50 cm) for eliminating the deviation state of the deviation amount from the predetermined range in a vertical lower portion 64C of the display area under the control of the controller 30 (attention calling portion 32). This allows the driver to check the indicator 64 through the rearview mirror M1 or the right side mirror M2 and easily recognize that the left-right position of the dump truck 200 should be corrected by 50 cm to the left. In addition, the indicator 64 displays text information indicating the return amount for eliminating the deviation state of the deviation amount from the predetermined range in mirror characters that are reversed left-right under the control of the controller 30. As a result, when checking the indicator 64 through the rearview mirror M1 or the right side mirror M2, the driver of the dump truck 200 can properly recognize the text information indicating the return amount required to eliminate the deviation from the specified range.

[0068] When the indicator 64 is viewed directly from the front of the asphalt finisher 100, the arrow image appears to point to the right, but when the indicator 64 is viewed through the rearview mirror M1 or the right side mirror M2, the arrow image appears to point to the left. Moreover, the indicator 64 may display deviation notification information instead of deviation resolution information under the control of the controller 30 (attention calling unit 32). Specifically, the indicator 64 may display, as the deviation notification information, an arrow image ("←") indicating the deviation direction (in this example, to the right) in the vertical center 64A of its display area, and information indicating the deviation amount (in this example, 50 cm) in the lower part 64C.

[0069] Also, similar to the first example described above, the indicator 64 displays information on the remaining distance to the approaching position ("5.0 m remaining") in the upper portion 64B of the vertical direction of its display area under the control of the controller 30. This allows the driver to concretely grasp the remaining distance to the approaching position as a numerical value, similar to the first example described above.

[0070] <Third example of forward monitoring system operation> Fig. 5 is a diagram for explaining a third example of the operation of the forward monitoring system 150. Specifically, Fig. 4 is a left side view 500A and a top view 500B showing a third example of a situation in which a dump truck 200 is backing up and approaching from in front of the asphalt finisher 100 to replenish paving material.

[0071] As shown in Fig. 5, in this example, a deviation GP2 occurs to the right of the central axis of the dump truck 200 in the vehicle width direction relative to the central axis of the asphalt finisher 100 in the vehicle width direction. As a result, the controller 30 (determination unit 31) determines that the amount of left-right deviation between the dump truck 200 and the asphalt finisher 100 deviates from a predetermined range. In addition, the deviation GP2 is relatively large from the predetermined range, and if the dump truck 200 were to back up to the approaching position in this state, there is a high possibility that it will collide with the hopper 2. Therefore, the controller 30 (attention calling unit 32) causes the indicator 64 to display deceleration / stop instruction information as attention calling information.

[0072] Specifically, the indicator 64 displays information ("x") instructing the dump truck 200 to stop moving backward in the vertical center 64A of the display area under the control of the controller 30 (attention calling unit 32). In addition, the indicator 64 displays information ("contact will occur") indicating the possibility of contact between the dump truck 200 and the asphalt finisher 100 in the vertical lower portion 64C of the display area under the control of the controller 30 (attention calling unit 32). This allows the driver of the dump truck 200 to check the indicator 64 through the rearview mirror M1 or the right side mirror M2, temporarily stop the backing of the dump truck 200, and perform left-right positioning while moving forward. Then, the driver of the dump truck can back the dump truck 200 toward the asphalt finisher 100 again after appropriately adjusting the left-right position relative to the asphalt finisher 100. Furthermore, under the control of the controller 30, the indicator 64 displays text information indicating the possibility of contact between the dump truck 200 and the asphalt finisher 100 in mirror text that is inverted from left to right. This allows the driver of the dump truck 200 to properly recognize the text information indicating the possibility of contact between the dump truck 200 and the asphalt finisher 100 when checking the indicator 64 through the rearview mirror M1 or the right side mirror M2.

[0073] Also, similar to the above-mentioned first example, the indicator 64 displays information on the remaining distance to the approaching position ("5.0 m remaining") in the upper part 64B in the vertical direction of its display area under the control of the controller 30. This allows the driver to concretely grasp the remaining distance to the approaching position as a numerical value, similar to the above-mentioned first example.

[0074] [Other examples of forward monitoring systems] Next, another example of the forward monitoring system 150 will be described with reference to FIG.

[0075] In this example, the forward monitoring system 150 includes a voice output device 63 and an indicator 64 instead of the forward monitoring system 150. Alternatively, in addition, a monitor or a voice output device in the cabin of the dump truck may be used to convey information to the driver of the dump truck in front of the asphalt finisher 100. The forward monitoring system 150 may also convey information to the driver of the dump truck in front of the asphalt finisher 100 using a user terminal that the driver brings into the cabin of the dump truck, instead of or in addition to the voice output device 63 and the indicator 64. The user terminal includes a portable terminal device (mobile terminal) that the driver can bring into the cabin of the dump truck, such as a smartphone, a tablet terminal, or a laptop computer terminal. In this case, various text information displayed on the monitor of the cabin of the dump truck or the user terminal is displayed in normal characters that are not mirror characters and are not reversed left and right, unlike the text information displayed on the indicator 64. This is because the driver can directly see the information without going through the room mirror M1 or the right side mirror M2.

[0076] Specifically, the controller 30 (an example of a transmission unit) may use a built-in or externally connected communication device to transmit a signal including information to at least one of the dump truck and the user terminal through a predetermined communication line. As a result, a monitor in the cabin of the dump truck can display information to the driver based on a signal received from the asphalt finisher 100 through a communication device mounted on the dump truck. In addition, a sound output device in the cabin of the dump truck can notify the driver of information by sound based on a signal received from the asphalt finisher 100 through a communication device mounted on the dump truck. In addition, the user terminal can notify the driver of information by displaying information in a display area or outputting information by sound through a speaker based on a signal received from the asphalt finisher 100 through a communication device mounted on the user terminal. In addition, the communication device of the dump truck and the communication device of the asphalt finisher 100 may be directly connected to be able to communicate with each other through short-range communication.

[0077] Specifically, when the judgment unit 31 determines that the amount of left-right deviation between the dump truck and the asphalt finisher 100 is within a predetermined range, the warning unit 32 may send a signal to the dump truck or a user terminal including information that it is possible to continue backing up.

[0078] On the other hand, when the determination unit 31 determines that the amount of left-right deviation between the dump truck and the asphalt finisher 100 deviates from a predetermined range, the attention calling unit 32 may transmit a signal including attention calling information to the dump truck or a user terminal. As described above, the attention calling information includes deviation notification information, deviation resolution information, deceleration / stop instruction information, etc.

[0079] Furthermore, the attention calling unit 32 may transmit a signal including attention calling information to the dump truck or the user terminal when the determination unit 31 determines that a monitored object exists between the dump truck and the asphalt finisher 100. As described above, the attention calling information includes monitored object presence information, deceleration / stop instruction information, and the like.

[0080] In this way, in this example, the driver of the dump truck can be notified of assistance information when approaching the dump truck through a monitor and audio output device installed in the cabin of the dump truck and a user terminal (mobile terminal) that the driver of the dump truck brings into the cabin.

[0081] In addition, this example and the above-mentioned example may be combined. That is, the forward monitoring system 150 may be capable of both notifying the driver of the dump truck of the support information using the indicator 64 and notifying the driver of the dump truck of the support information using communication between the dump truck and the user terminal.

[0082] [Effect] Next, the operation of the asphalt finisher 100 (forward monitoring system 150) according to this embodiment will be described.

[0083] In this embodiment, the asphalt finisher 100 (forward monitoring system 150) is provided with an indicator 64 that displays information regarding the left-right deviation between the dump truck ahead and the asphalt finisher 100 toward the dump truck.

[0084] As a result, the asphalt finisher 100 (forward monitoring system 150) can use the indicator 64 to allow the driver of the dump truck to grasp the presence or absence and the degree of left-right misalignment between the dump truck and the asphalt finisher 100. Therefore, the asphalt finisher 100 (forward monitoring system 150) can appropriately assist the driver of the dump truck in driving the dump truck to pull up to the asphalt finisher 100, and can suppress contact between the dump truck and the asphalt finisher 100.

[0085] In this embodiment, the asphalt finisher 100 (forward monitoring system 150) may include an imaging device 62, a distance sensor, etc. that acquire data regarding the left-right misalignment between the dump truck and the asphalt finisher. The indicator 64 may display attention-calling information toward the dump truck when the amount of left-right misalignment between the dump truck and the asphalt finisher 100 based on the data acquired by the imaging device 62, the distance sensor, etc. deviates from a predetermined range.

[0086] As a result, the asphalt finisher 100 (forward monitoring system 150) can alert the driver of the dump truck in a situation where the amount of deviation between the dump truck and the asphalt finisher is relatively large.

[0087] In this embodiment, the indicator 64 may display, toward the dump truck, the remaining distance until the dump truck reaches a predetermined position (vehicle approach position) for supplying paving material to the hopper 2.

[0088] This allows the driver of the dump truck to easily grasp the remaining distance to the approaching position as a specific numerical value.

[0089] Furthermore, in this embodiment, the indicator 64 may display, toward the dump truck, the degree of left-right misalignment between the dump truck and the asphalt finisher 100 (for example, the amount of misalignment itself or the amount of deviation from a predetermined range). The indicator 64 may also display, toward the dump truck, the amount of return for suppressing left-right misalignment between the dump truck and the asphalt finisher 100 (for example, the amount of return for eliminating the deviation from a predetermined range or the amount of return for eliminating the misalignment itself).

[0090] This allows the driver of the dump truck to grasp, as specific numerical values, information required for driving operations to eliminate the misalignment between the dump truck and the asphalt finisher 100. Therefore, the asphalt finisher 100 can more appropriately assist the driver of the dump truck in driving the dump truck to approach the asphalt finisher 100, and can suppress contact between the dump truck and the asphalt finisher 100.

[0091] Furthermore, in this embodiment, the indicator 64 may vary the content of the attention-calling information depending on the degree to which the left-right misalignment amount between the dump truck and the asphalt finisher 100 deviates from a predetermined range.

[0092] This allows the asphalt finisher 100 to change the content (level) of the warning according to the possibility of contact between the dump truck and the asphalt finisher 100. Therefore, the asphalt finisher 100 can more appropriately support the driving operation by the dump truck driver for docking the dump truck with the asphalt finisher 100, and can suppress contact between the dump truck and the asphalt finisher 100.

[0093] In addition, in this embodiment, the asphalt finisher 100 (forward monitoring system 150) may be equipped with a controller 30 that transmits information regarding the left-right deviation between the dump truck in front and the asphalt finisher 100 to an external device (e.g., a dump truck or a user terminal of its driver).

[0094] As a result, the asphalt finisher 100 (forward monitoring system 150) can allow the driver of the dump truck to grasp, via an external device, the presence or absence and the degree of left-right misalignment between the dump truck and the asphalt finisher 100. Therefore, the asphalt finisher 100 (forward monitoring system 150) can appropriately assist the driver of the dump truck in driving the dump truck to pull up to the asphalt finisher 100, and can suppress contact between the dump truck and the asphalt finisher 100.

[0095] Although the embodiments have been described in detail above, the present disclosure is not limited to such specific embodiments, and various modifications and variations are possible within the scope of the gist described in the claims.

[0096] Finally, this application claims priority based on Japanese Patent Application No. 2021-057824, filed on March 30, 2021, the entire contents of which are incorporated by reference into this application. [Explanation of symbols]

[0097] 1 Tractor 1a Frame 2 Hopper 2a Hopper cylinder 2b Push roller 3. Screed 3a Leveling Arm 3b end 30 Controller (transmitter) 31 Judgment section 32 Alert section 60 Main Monitor 61 Driver's seat 62 Imaging Device 63 Audio output device 64 Indicator (display) 100 Asphalt finisher 150 Forward Monitoring System 200 Dump Truck

Claims

1. A tractor, A hopper installed in front of the tractor to receive paving materials; a conveyor that conveys the paving material in the hopper to the rear side of the tractor; A screw that spreads the paving material transported by the conveyor behind the tractor; A screed that spreads the paving material spread by the screw on the rear side of the screw; An acquisition unit that acquires data regarding a left-right deviation between a dump truck approaching the asphalt finisher from the front of the asphalt finisher and the asphalt finisher; an output unit that outputs, to the dump truck so that the driver of the dump truck can recognize, first information indicating the amount of left-right deviation between the dump truck and the asphalt finisher, or second information indicating a return amount for suppressing the left-right deviation between the dump truck and the asphalt finisher, based on data acquired by the acquisition unit when it is determined that the dump truck is approaching the asphalt finisher from the front based on a predetermined input received from an operator or data acquired by an imaging device or a distance sensor that indicates the state in front of the asphalt finisher; and at least one of a transmission unit that transmits, to the outside, the first information or the second information to notify the driver of the dump truck, based on the data acquired by the acquisition unit, when it is determined that the dump truck is approaching the asphalt finisher from the front based on the predetermined input or data acquired by the imaging device or the distance sensor. Asphalt finisher.

2. In the case where the output unit is provided, when it is determined that the dump truck is approaching the asphalt finisher from the front, the output unit outputs information regarding the remaining distance until the dump truck reaches a predetermined position for supplying the paving material to the hopper to the dump truck so that the driver of the dump truck can recognize the information, In the case where the transmission unit is provided, when it is determined that the dump truck is approaching the asphalt finisher from the front, the transmission unit transmits information regarding the remaining distance until the dump truck reaches the predetermined position for supplying the paving material to the hopper to the outside in order to notify the driver of the dump truck. An asphalt finisher as claimed in claim 1.

3. The first information is information representing an amount of deviation from a predetermined range when the amount of deviation deviates from the predetermined range, the second information is information representing the return amount for eliminating a deviation state from the predetermined range when the deviation amount deviates from the predetermined range or for making the deviation amount zero, An asphalt finisher according to claim 1 or 2.

4. The first information is first warning information when the amount of deviation deviates from a predetermined range, and the content of the first warning information is variable depending on the degree of deviation of the amount of deviation from the predetermined range. An asphalt finisher according to claim 1 or 2.

5. The first warning information is information notifying a driver of a deviation from the specified range or information encouraging the driver to eliminate the deviation of the deviation from the specified range when the deviation from the specified range is relatively small, and is information instructing the driver to slow down or stop the dump truck when the deviation from the specified range is relatively large. An asphalt finisher as claimed in claim 4.

6. In the case where the output unit is provided, when the output unit recognizes the dump truck approaching from in front of the asphalt finisher or the dump truck that may approach from in front of the asphalt finisher based on the data acquired by the imaging device or the distance sensor, the output unit starts an operation of outputting information regarding the left-right deviation between the dump truck and the asphalt finisher to the dump truck, In the case where the transmission unit is provided, when the transmission unit recognizes the dump truck reversing from in front of the asphalt finisher or the dump truck that may be reversing and approaching the asphalt finisher based on the data acquired by the imaging device or the distance sensor, the transmission unit starts an operation of transmitting information regarding the left-right deviation between the dump truck and the asphalt finisher to the outside. An asphalt finisher according to any one of claims 1 to 5.

7. In the case where the output unit is provided, when it is determined that the dump truck is approaching the asphalt finisher from the front, if a predetermined object exists between the dump truck and the asphalt finisher, the output unit outputs second attention calling information to the dump truck so that the driver of the dump truck can recognize it, In the case where the transmission unit is provided, when the predetermined object is present between the dump truck and the asphalt finisher, the transmission unit transmits the second attention information to the outside to notify the driver of the dump truck. An asphalt finisher according to any one of claims 1 to 6.

8. The output unit includes at least one of a display unit that displays information toward the dump truck and a sound output unit that outputs information by sound toward the dump truck, An asphalt finisher as claimed in any one of claims 1 to 7.

9. A construction support system for an asphalt finisher comprising: a tractor; a hopper installed in front of the tractor for receiving paving material; a conveyor for transporting the paving material in the hopper to the rear of the tractor; a screw for spreading the paving material transported by the conveyor at the rear of the tractor; and a screed for spreading the paving material spread by the screw at the rear of the screw, An acquisition unit that acquires data regarding a left-right deviation between a dump truck approaching the asphalt finisher from the front of the asphalt finisher and the asphalt finisher; an output unit that outputs, to the dump truck, first information indicating a left-right deviation amount between the dump truck and the asphalt finisher, or second information indicating a return amount for suppressing left-right deviation between the dump truck and the asphalt finisher, based on data acquired by the acquisition unit when it is determined that the dump truck is approaching the asphalt finisher from the front based on a predetermined input received from an operator or data acquired by an imaging device or a distance sensor, and at least one of a transmission unit that transmits, to the outside, the first information or the second information to notify the driver of the dump truck, based on the data acquired by the acquisition unit when it is determined that the dump truck is approaching the asphalt finisher from the front based on the predetermined input or data acquired by the imaging device or the distance sensor. Construction support system for asphalt finishers.

Images