Management System

Abstract

To provide a management system capable of improving a workability of a filling.SOLUTION: A management system 50 manages a layer thickness after rolling compaction of each filling layer FL when constructing a filling F which is formed by laminating a plurality of filling layers FL rolling-compacted by a rolling compaction heavy machine comprising a roller part 20. The management system comprises: a first position detecting unit 61 and a second position detecting unit 62 provided at positions different from each other in the roller part 20 and detecting a three dimensional coordinate position of the roller part 20 in rolling compaction of each filling layer FL; slope angle detecting means provided in the roller part 20 and detecting a slope angle of the roller part 20 in rolling compaction of each filling layer FL; and a layer thickness specifying unit specifying a layer thickness after rolling compaction of each rolling compaction position in each filling layer FL based on a detection result of the first position detecting unit 61 and the second position detecting unit 62 and a detection result of the slope angle detecting unit.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a management system. [Background technology]

[0002] One technique proposed for managing embankment construction is to monitor the position and posture of a compaction roller vehicle during compaction, while recording the number of times each area in the embankment is compacted, thereby managing the compaction of each compacted area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-311022 Summary of the Invention [Problem to be solved by the invention]

[0004] However, as described above, the above-mentioned conventional technology merely records the number of times each compaction has been performed in each compaction area. Therefore, for example, if the amount of soil dispensed into a compaction area differs from the design amount, even if the number of times each compaction has been performed in that area is accurately controlled, it is difficult to accurately control the layer thickness in that area after compaction, and there is therefore room for improvement in terms of the workability of the embankment.

[0005] The present invention has been made in consideration of the above, and aims to provide a management system that makes it possible to improve the workability of embankments. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, the management system described in claim 1 is a management system for managing a post-compaction layer thickness, which is a layer thickness of each of a plurality of embankment layers after compaction, when constructing an embankment formed by stacking a plurality of embankment layers compacted by a compaction heavy machine equipped with at least one roller unit, comprising at least one position detection means provided on the roller unit, which detects a three-dimensional coordinate position of the roller unit when each of the plurality of embankment layers is compacted; an inclination angle detection means provided on the roller unit, which detects an inclination angle of the roller unit when each of the plurality of embankment layers is compacted; and a layer thickness specification means for specifying the post-compaction layer thickness at each compaction point of each of the plurality of embankment layers based on the detection result of the position detection means and the detection result of the inclination angle detection means; A thickness determination means for determining a thickness of the embankment layer to be stacked next to the embankment layer corresponding to the thickness after the rolling based on the thickness after the rolling; Equipped with.

[0007] The management system described in claim 2 is the management system described in claim 1, and further comprises a pair of position detection means provided at different positions on the roller unit, wherein the inclination angle detection means detects a first inclination angle, which is the inclination angle of the roller unit relative to a first axis along the traveling direction of the compaction heavy machine, and the layer thickness identification means calculates a second inclination angle, which is the inclination angle of the roller unit relative to a second axis along the vertical direction, and a third inclination angle, which is the inclination angle of the roller unit relative to a third axis perpendicular to the first axis and the second axis, based on the detection results of the pair of position detection means, and identifies the post-compaction layer thickness at each of the compaction points based on the detection results of at least one of the pair of position detection means, the first inclination angle detected by the inclination angle detection means, and the calculated second inclination angle and third inclination angle.

[0008] The management system according to a third aspect of the present invention is the management system according to the second aspect, wherein the pair of position detection means are arranged side by side at a distance from each other substantially along the axial direction of the rotation shaft of the roller portion.

[0009] The management system according to a fourth aspect of the present invention is the management system according to the second or third aspect, wherein a part of the position detection means and the tilt angle detection means is configured with a GNSS antenna.

[0010] The management system described in claim 5 is the management system described in claim 1, and further includes a pair of position detection means provided at different positions on the roller unit, and the inclination angle detection means detects a first inclination angle, which is the inclination angle of the roller unit relative to a first axis along the traveling direction of the compaction machine, a second inclination angle, which is the inclination angle of the roller unit relative to a second axis along the vertical direction, and a third inclination angle, which is the inclination angle of the roller unit relative to a third axis perpendicular to the first axis and the second axis, and the layer thickness determination means determines the layer thickness after compaction at each of the compaction points based on the detection result of at least one of the pair of position detection means and the first inclination angle, the second inclination angle, and the third inclination angle detected by the inclination angle detection means.

[0011] The management system described in claim 6 is the management system described in claim 1, and further includes a pair of position detection means provided at different positions on the roller unit, and the inclination angle detection means detects a first inclination angle, which is the inclination angle of the roller unit relative to a first axis along the vertical direction, and a second inclination angle, which is the inclination angle of the roller unit relative to a second axis along the traveling direction of the compaction machine and a third axis perpendicular to the first axis, and the layer thickness identification means calculates a third inclination angle, which is the relative inclination angle of the pair of position detection means in the planar direction, based on the detection results of the pair of position detection means, and identifies the post-compaction layer thickness of each of the multiple compaction points based on the detection results of at least one of the pair of position detection means, the first inclination angle and the second inclination angle detected by the inclination angle detection means, and the calculated third inclination angle. Effect of the Invention

[0013] According to the management system of claim 1, the system includes at least one position detection means provided on the roller section for detecting the three-dimensional coordinate position of the roller section when each of the plurality of embankment layers is compacted, an inclination angle detection means provided on the roller section for detecting the inclination angle of the roller section when each of the plurality of embankment layers is compacted, and a layer thickness determination means for determining the post-compacted layer thickness of each compaction point on each of the plurality of embankment layers based on the detection results of the pair of position detection means and the detection results of the inclination angle detection means, so that the post-compacted layer thickness of each compaction point on each of the plurality of embankment layers can be determined. Therefore, compared to the conventional technology (technology for managing the number of times each embankment layer is compacted), the post-compacted layer thickness of each embankment layer can be managed more accurately, and the workability of the embankment can be improved. In addition, the system is provided with a casting thickness specifying means for specifying the casting thickness of the embankment layer to be stacked next to the embankment layer corresponding to the post-compaction layer thickness based on the post-compaction layer thickness specified by the layer thickness specifying means. This makes it possible to accurately specify the casting thickness of the embankment layer to be stacked next to the embankment layer corresponding to the post-compaction layer thickness, thereby further improving the workability of the embankment.

[0014] According to the management system described in claim 2, the layer thickness identification means calculates a second inclination angle, which is the inclination angle of the roller part relative to a second axis along the vertical direction, and a third inclination angle, which is the inclination angle of the roller part relative to a third axis perpendicular to the first and second axes, based on the detection results of at least one of the pair of position detection means, and identifies the layer thickness after compaction at each compaction point based on the detection results of at least one of the pair of position detection means, the first inclination angle detected by the inclination angle detection means, and the calculated second inclination angle and third inclination angle.Since it is only necessary to provide an inclination angle detection means that detects only the first inclination angle, the installation costs of the inclination angle detection means can be reduced.

[0015] According to the management system described in claim 3, a pair of position detection means are arranged side by side at a distance from each other approximately along the axial direction of the rotation shaft of the roller unit, so that the detection accuracy of at least the third inclination angle can be improved, and the thickness of each embankment layer after compaction can be accurately determined.

[0016] According to the management system described in claim 4, a portion of the position detection means and the inclination angle detection means is configured using a GNSS antenna, so that a portion of the position detection means and the inclination angle detection means can be configured without using an inclinometer, making it possible to reduce the manufacturing costs of the management system.

[0017] According to the management system described in claim 5, the layer thickness identification means identifies the post-compaction layer thickness at each compaction point based on the detection results of at least one of the pair of position detection means and the first inclination angle, second inclination angle, and third inclination angle detected by the inclination angle detection means, thereby improving the detection accuracy of the first inclination angle, second inclination angle, and third inclination angle, and enabling the post-compaction layer thickness of each embankment layer to be accurately identified.

[0018] According to the management system described in claim 6, the layer thickness identification means calculates a third inclination angle, which is the relative inclination angle of a pair of position detection means in the planar direction, based on the detection results of the pair of position detection means, and identifies the layer thickness after compaction at each of the multiple compaction points based on the detection result of at least one of the pair of position detection means, the first inclination angle and the second inclination angle detected by the inclination angle detection means, and the calculated third inclination angle.Since there is no need to calculate the first inclination angle and the second inclination angle, the management process can be simplified. [Brief description of the drawings]

[0020] [Figure 1] 1 is a diagram conceptually illustrating a compaction heavy machine and a management system according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram showing an electrical configuration of the management system. [Diagram 3] FIG. 4 is a diagram showing an example of the configuration of a first tilt angle table. [Figure 4] 4 is a flowchart of a management process according to the first embodiment. [Diagram 5] 1A and 1B are diagrams showing the posture of a rolling compaction heavy machine, in which (a) shows a normal state and (b) shows a state inclined by a first inclination angle. [Figure 6] 5A and 5B are diagrams showing the posture of the compaction heavy machine, in which (a) shows the normal state and (b) shows the state inclined by a second inclination angle. [Figure 7] 1A and 1B are diagrams showing the posture of the compaction heavy machine, in which (a) shows the normal state and (b) shows the state inclined by a third inclination angle. [Figure 8]FIG. 13 is a diagram showing information indicating construction surface data and layer thickness after compaction. [Figure 9] FIG. 11 is a diagram showing construction surface data and information on the number of rolling compactions. [Figure 10] FIG. 2 is a block diagram showing an electrical configuration of the management system. [Figure 11] 13 is a flowchart of a management process according to the second embodiment. [Figure 12] 13 is a flowchart of a management process according to the third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, an embodiment of the management system according to the present invention will be described in detail with reference to the accompanying drawings. First, [I] the basic concept of the embodiment will be described, then [II] the specific contents of the embodiment will be described, and finally, [III] modified examples of the embodiment will be described. However, the present invention is not limited to the embodiment.

[0022] [I] Basic Concept of the Embodiment First, a basic concept of the embodiment will be described. The embodiment generally relates to a management system for managing a post-compacted layer thickness, which is a layer thickness of each of a plurality of embankment layers after compaction, when constructing an embankment formed by stacking a plurality of embankment layers each of which is compacted by a compaction machine having at least one roller unit.

[0023] Here, the term "compactor" refers to heavy machinery for compacting (i.e., compacting) soil (in the embodiment, soil spread on the ground) at a construction site where a structure (e.g., a civil engineering structure, an architectural structure) is to be constructed by applying pressure to the soil, and the concept includes, for example, vibrating compactor (one example is a vibrating roller type compactor, etc.) and non-vibrating compactor (one example is a tire roller type compactor, a road roller type compactor, etc.), but in the embodiment, it will be described as a non-vibrating compactor. Furthermore, "embankment" means piling up soil on the ground. Furthermore, "managing the layer thickness after compaction" corresponds to, for example, checking whether the layer thickness after compaction is within the design allowable thickness or not.

[0024] [II] Specific Contents of the Embodiments Next, the specific contents of the embodiment will be described.

[0025] [First embodiment] First, a description will be given of a management system according to embodiment 1. In this embodiment 1, a part of a position detection means and an inclination angle detection means, which will be described later, is configured with a GNSS antenna.

[0026] (composition) First, the configuration of a management system 50 according to the first embodiment and a rolling compaction machine 1 to which the management system 50 is applied will be described.

[0027] (Configuration: Rolling Machine) First, the configuration of the rolling compaction machine 1 will be described. Fig. 1 is a conceptual diagram of the rolling compaction machine 1 and the management system 50 according to the first embodiment of the present invention. In the following description, the X direction in Fig. 1 is referred to as the left-right direction or width direction of the rolling compaction machine 1 (-X direction is the left direction of the rolling compaction machine 1, and +X direction is the right direction of the rolling compaction machine 1), the Y direction in Fig. 1 is referred to as the front-rear direction or travel direction of the rolling compaction machine 1 (+Y direction is the front direction of the rolling compaction machine 1, and -Y direction is the rear direction of the rolling compaction machine 1), and the Z direction in Fig. 1 is referred to as the up-down direction or height direction of the rolling compaction machine 1 (+Z direction is the upward direction of the rolling compaction machine 1, and -Z direction is the downward direction of the rolling compaction machine 1).

[0028] The rolling compaction heavy machine 1 is a heavy machine for rolling an embankment F on the ground G at a construction site. This rolling compaction heavy machine 1 is configured using, for example, a known rolling compaction heavy machine (as an example, a non-vibration type rolling compaction heavy machine), and is installed on the ground G or the embankment layer FL as shown in FIG. 1, and includes a main body unit 10 and a roller unit 20.

[0029] In addition, the method of compaction by the compaction machine 1 is arbitrary, but in the first embodiment, the compaction is performed by making the compaction machine 1 travel back and forth multiple times so that each compaction point in each of the multiple embankment layers FL is rotated multiple times. However, without being limited to this, for example, if the desired compaction is possible, the compaction may be performed by making the compaction machine 1 travel only once.

[0030] (Configuration - Rolling machine - Main body) The main body 10 is the basic structure of the rolling compaction heavy machine 1. As shown in Fig. 1, the main body 10 includes a control unit 11 that allows an operator to control the rolling compaction heavy machine 1, a running unit 12 that is provided behind the control unit 11 and that runs the rolling compaction heavy machine 1 using a pair of tires 12a and a motor (not shown), and a support unit 13 that supports the control unit 11 and the running unit 12.

[0031] (Configuration - Roller - Roller section) The roller portion 20 is a rolling means for rolling the embankment F, and includes a roller portion main body 21 and a connecting portion 22, as shown in FIG.

[0032] (Configuration - Roller - Roller unit - Roller unit body) The roller unit body 21 is the basic structure of the roller unit 20. This roller unit body 21 is formed, for example, of a hollow body made of steel (specifically, a long hollow cylindrical body), and as shown in Fig. 1, only one roller unit body 21 is provided in front of the steering unit 11 such that the axial direction of the rotation shaft of the roller unit body 21 is approximately along the left-right direction.

[0033] (Configuration - Roller - Roller section - Connection section) The connecting portion 22 is a connecting means for connecting the roller portion main body 21 and the support portion 13. The connecting portion 22 is formed of, for example, a rectangular ring-shaped body made of steel, and is provided so as to cover the four sides of the roller portion 20 forward of the steering portion 11, as shown in FIG. 1. In the following, as necessary, of the frame portions 23 constituting the connecting portion 22, the frame portion 23a located on the left side will be referred to as the "left frame portion 23a", the frame portion 23b located on the right side will be referred to as the "right frame portion 23b", the frame portion 23c located on the front side will be referred to as the "front frame portion 23c", and the frame portion 23d located on the rear side will be referred to as the "rear frame portion 23d".

[0034] Furthermore, the method of connecting the roller portion main body 21 and the support portion 13 by the connecting portion 22 is arbitrary, but in embodiment 1, as shown in Figure 1, the rear frame portion 23d and the support portion 13 are rotatably connected by a fastener or the like, and the left frame portion 23a and the right frame portion 23b are each rotatably connected to the roller portion main body 21 by a fastener or the like, thereby connecting them.

[0035] (Configuration Management System) Next, a description will be given of the configuration of the management system 50. FIG.

[0036] The management system 50 is a system for managing the post-compaction layer thickness of each of multiple embankment layers FL when constructing an embankment F consisting of multiple stacked embankment layers FL that are compacted by a compaction machine 1, and as shown in Figure 2, it is equipped with a first position detection unit 61, a second position detection unit 62, a first inclination angle detection unit 71, a second inclination angle detection unit 72, a terminal device 80, and a management device 90.

[0037] (Configuration-Management System-First Location Detection Unit, Second Location Detection Unit) The first position detection unit 61 and the second position detection unit 62 are a pair of position detection means that detect the three-dimensional coordinate position of the roller unit 20 of the compaction heavy machine 1 when compacting each of the multiple embankments FL. As shown in Fig. 1, the first position detection unit 61 and the second position detection unit 62 are provided at different positions on the roller unit 20, and are connected to the roller unit 20 (specifically, the connecting unit 22) by a fastener or the like.

[0038] Further, the first position detection unit 61 and the second position detection unit 62 may be installed in any manner, but in the first embodiment, they are installed side by side at intervals approximately along the axial direction (left and right direction in FIG. 1) of the rotation shaft of the roller unit 20 (specifically, the roller unit main body 21), and specifically, as shown in FIG. 1, the first position detection unit 61 is provided on the left frame unit 23a, and the second position detection unit 62 is provided on the right frame unit 23b. With such an installation, it is possible to improve the detection accuracy of at least the third inclination angle θ3 described later, and it becomes possible to accurately identify the thickness of each embankment layer FL after compaction.

[0039] (Configuration-Management System-First Tilt Angle Detection Unit, Second Tilt Angle Detection Unit) The first inclination angle detection unit 71 and the second inclination angle detection unit 72 detect the inclination angle of the roller unit 20 during rolling of each of the multiple embankment layers FL. As shown in Fig. 1, the first inclination angle detection unit 71 and the second inclination angle detection unit 72 are provided at different positions on the roller unit 20, and are connected to the roller unit 20 (specifically, the connecting unit 22) by a fastener or the like.

[0040] The first and second inclination angle detection units 71 and 72 may be installed in any manner, but in the first embodiment, they are installed in substantially the same manner as the first and second position detection units 61 and 62. Specifically, as shown in Fig. 1, the first and second inclination angle detection units 71 and 72 are installed in the left and right frame units 23a and 23b, respectively. This installation can improve the detection accuracy of the first inclination angle θ1, which will be described later, and can accurately identify the thickness of each embankment layer FL after compaction.

[0041] In addition, the specific configurations of the first position detection unit 61, the second position detection unit 62, the first tilt angle detection unit 71, and the second tilt angle detection unit 72 are arbitrary, but in the first embodiment, the first position detection unit 61 and the first tilt angle detection unit 71 are configured with one GNSS antenna (specifically, a GNSS antenna having an azimuth detection function and a wireless communication function), and the second position detection unit 62 and the second tilt angle detection unit 72 are configured with another GNSS antenna (i.e., the position detection means and a part of the tilt angle detection means described later are configured with a GNSS antenna). This makes it possible to configure the first position detection unit 61, the second position detection unit 62, the first tilt angle detection unit 71, and the second tilt angle detection unit 72 without using an inclinometer, and to reduce the manufacturing cost of the management system 50.

[0042] In addition, in embodiment 1, of the two GNSS antennas, the GNSS antenna constituting the first position detection unit 61 and the first tilt angle detection unit 71 is treated as the "main GNSS antenna", and the GNSS antenna constituting the second position detection unit 62 and the second tilt angle detection unit 72 is treated as the "sub GNSS antenna", but this is not limited to the above, and for example, they may be treated the other way around.

[0043] In this case, the specific operations of the first position detection unit 61 and the second position detection unit 62 are arbitrary, but for example, they each wirelessly transmit information indicating the detection result (specifically, a three-dimensional coordinate position) to the terminal device 80 at a predetermined time interval (for example, 1 sec). In the following, as necessary, among the information indicating the detection result, the information transmitted from the first position detection unit 61 will be referred to as "first position detection information" and the information transmitted from the second position detection unit 62 will be referred to as "second position detection information."

[0044] Furthermore, the specific operations of the first tilt angle detection unit 71 and the second tilt angle detection unit 72 are arbitrary, but for example, they wirelessly transmit information indicating the detection result (specifically, the direction) to the terminal device 80 at a predetermined time interval (for example, 1 sec). In the following, as necessary, among the information indicating the detection result, the information transmitted from the first tilt angle detection unit 71 will be referred to as "first tilt angle detection information," and the information transmitted from the second tilt angle detection unit 72 will be referred to as "second tilt angle detection information."

[0045] (Configuration-Management System-Terminal Device) The terminal device 80 is a device that transmits various detection information (specifically, first position detection information, second position detection information, first inclination angle detection information, and second inclination angle detection information) to the management device 90 and performs various controls based on the information received from the management device 90, and as shown in Fig. 2, includes a terminal communication unit 81, a terminal operation unit 82, a terminal output unit 83, a terminal control unit 84, and a terminal storage unit 85. Note that the terminal device 80 can be configured, for example, by a known mobile terminal (such as a smartphone or a tablet terminal) carried by the worker or a stationary personal computer, and therefore a detailed description thereof will be omitted.

[0046] (Configuration-Management system-Terminal device-Terminal side communication unit) The terminal side communication unit 81 is a terminal side communication means for communicating between the terminal device 80 and each of the first position detection unit 61, the second position detection unit 62, the first inclination angle detection unit 71, the second inclination angle detection unit 72, and the management device 90 via the network 30, and is configured using, for example, a known communication means for communicating using a wireless communication network or a wired communication network (the same applies to the management side communication unit 91 of the management device 90 described later).

[0047] (Configuration-Management system-Terminal device-Terminal side operation unit) The terminal side operation unit 82 is a terminal side operation means that accepts operation input to the terminal device 80, and is configured using known operation means such as various switches and a touch pad.

[0048] (Configuration-Management system-Terminal device-Terminal side output part) The terminal side output unit 83 is a terminal side output means that outputs various information based on the control of the terminal side control unit 84, and is configured using, for example, a known display means (for example, a display) or audio output means (for example, a speaker).

[0049] (Configuration-Management system-Terminal device-Terminal side control unit) The terminal side control unit 84 is a terminal side control means that controls the terminal device 80, and specifically, is a computer that is equipped with a CPU, various programs that are interpreted and executed on the CPU (including basic control programs such as the OS, and application programs that are launched on the OS and realize specific functions), and an internal memory such as a RAM for storing programs and various data (the same applies to the management side control unit 92 of the management device 90 described later).

[0050] (Configuration-Management system-Terminal device-Terminal side memory unit) The terminal side storage unit 85 is a terminal side storage means for recording programs and various data necessary for the operation of the terminal device 80, and is configured using, for example, a hard disk (not shown) as an external recording device. However, instead of or together with the hard disk, any other recording medium including a magnetic recording medium such as a magnetic disk, an optical recording medium such as a DVD or a Blu-ray disk, or an electric recording medium such as a Flash Rom, a USB memory, or an SD card can be used (the same applies to the management side storage unit 93 of the management device 90 described later).

[0051] (Configuration-Management System-Management Device) The management device 90 is a device for managing the post-compaction layer thickness of each of a plurality of embankment layers FL when constructing the above-mentioned embankment F, and as shown in Fig. 2, includes a management-side communication unit 91, a management-side control unit 92, and a management-side storage unit 93. Note that this management device 90 can be configured, for example, by a known cloud server or the like provided on the network 30, and therefore a detailed description thereof will be omitted.

[0052] (Configuration-Management system-Management device-Management communication unit) The management side communication unit 91 is a management side communication means for communicating between the terminal device 80 and the management device 90 via the network 30 .

[0053] (Configuration-Management system-Management device-Management control unit) The management control unit 92 is a management control means for controlling the management device 90, and as shown in FIG. 2, conceptually includes a tilt angle detection unit 92a, a layer thickness specification unit 92b, and a discharge thickness specification unit 92c.

[0054] The tilt angle detection unit 92a detects a first tilt angle θ1, which will be described later, based on the detection result of the first tilt angle detection unit 71 and the detection result of the second tilt angle detection unit 72. The "first tilt angle detection unit 71," the "second tilt angle detection unit 72," and the "tilt angle detection unit 92a" correspond to the "tilt angle detection means" in the claims.

[0055] The layer thickness identification unit 92b is a layer thickness identification means that identifies the post-compaction layer thickness at each compaction point in each of the multiple embankment layers FL based on the detection results of the first position detection unit 61 and the second position detection unit 62 (or the detection results of either the first position detection unit 61 or the second position detection unit 62) and the detection results of the inclination angle detection unit 92a.

[0056] The casting thickness specifying unit 92c is a casting thickness specifying means for specifying the casting thickness of the embankment layer FL to be stacked next to the embankment layer FL corresponding to the rolling-compacted layer thickness based on the rolling-compacted layer thickness specified by the layer thickness specifying unit 92b. Details of the processing executed by the management side control unit 92 will be described later.

[0057] (Configuration-Management system-Management device-Management side memory unit) The management side memory unit 93 is a management side memory means for recording programs and various data necessary for the operation of the management device 90 (for example, information indicating the design layer thickness or design spreading thickness of the embankment layer FL described later), and is equipped with a first inclination angle table 93a, as shown in Figure 2.

[0058] The first tilt angle table 93a is a first tilt angle storage means for storing information indicating a first tilt angle θ1 (hereinafter referred to as "first tilt angle information"), which will be described later.

[0059] FIG. 3 is a diagram showing a configuration example of the first tilt angle table 93a. As shown in FIG. 3, the first tilt angle table 93a stores items "first tilt angle detection information", "second tilt angle detection information", and "first tilt angle information" and information corresponding to each item in a mutually associated manner. Among these, information corresponding to the item "first tilt angle detection information" is the first tilt angle detection information, and for example, "due west" which is the azimuth detected by the first tilt angle detection unit 71 shown in FIG. 3 corresponds to this. Furthermore, information corresponding to the item "second tilt angle detection information" is the second tilt angle detection information, and for example, "due east" which is the azimuth detected by the second tilt angle detection unit 72 shown in FIG. 3 corresponds to this. Furthermore, information corresponding to the item "first tilt angle information" is the first tilt angle information, and for example, "90°" which is the angle of the first tilt angle θ1 shown in FIG. 3, which will be described later, corresponds to this.

[0060] Such a management system 50 can identify the post-compaction layer thickness at each compaction point in each of the multiple embankment layers FL. Therefore, compared to the conventional technology (technology for managing the number of times each embankment layer FL is compacted), the post-compaction layer thickness of each embankment layer FL can be managed more accurately, and the workability of the embankment F can be improved. In particular, since it is necessary to provide only the inclination angle detection means (first inclination angle detection unit 71, second inclination angle detection unit 72, and inclination angle detection unit 92a) that detects only the first inclination angle θ1, the installation cost of the inclination angle detection means can be reduced.

[0061] (Management process) Next, a management process executed by the management side control unit 92 of the management device 90 in the management system 50 configured as described above will be described.

[0062] FIG. 4 is a flowchart of the management process according to the first embodiment (in the following description of each process, steps are abbreviated as "S"). FIG. 5 is a diagram showing the posture of the compaction heavy machine 1, where (a) shows the normal state and (b) shows the state inclined by a first inclination angle θ1 described later. FIG. 6 is a diagram showing the posture of the compaction heavy machine 1, where (a) shows the normal state and (b) shows the state inclined by a second inclination angle θ2 described later. FIG. 7 is a diagram showing the posture of the compaction heavy machine 1, where (a) shows the normal state and (b) shows the state inclined by a third inclination angle θ3 described later.

[0063] The management process is a process for managing the thickness of each of the plurality of embankment layers FL after compaction when constructing the embankment F. The timing for executing this management process is arbitrary, but in the first embodiment, it is started after the management system 50 is powered on.

[0064] When the management process is started, as shown in FIG. 4, the management side control unit 92 at SA1 acquires various detection information (specifically, first position detection information, second position detection information, first tilt angle detection information, and second tilt angle detection information).

[0065] The method of acquiring the various kinds of detection information is arbitrary, but in the first embodiment, the information is acquired as follows. That is, first, the terminal device 80 receives various kinds of detection information from the first position detection unit 61, the second position detection unit 62, the first inclination angle detection unit 71, and the second inclination angle detection unit 72 during the period from the start to the end of compaction of the embankment layer (hereinafter referred to as the "target embankment layer") that is the target of compaction among the multiple embankment layers FL, and then uploads information (hereinafter referred to as the "detection log information") that is configured by associating the various kinds of detection information, reception date and time information indicating the reception date and time, embankment layer FL identification information that identifies the target embankment layer as a position, and compaction count information indicating the number of times the target embankment layer has been compacted, etc., to the cloud. After that, the management side control unit 92 acquires the detection log information by automatically downloading it from the cloud at a predetermined timing (for example, a timing after a predetermined time has elapsed since the above upload, or at regular timing, etc.). However, this is not limited to the above, and for example, if the management device 90 and the terminal device 80 can communicate directly via the network 30, the management side control unit 92 may obtain the detection log information by directly receiving the information sent from the terminal device 80.

[0066] In SA2, the inclination angle detection unit 92a detects the first inclination angle θ1 of each compaction point in the target embankment layer based on the first inclination angle detection information and the second inclination angle detection information included in the detection log information acquired in SA1. Here, the "first inclination angle θ1" refers to the inclination angle of the roller unit 20 of the compaction heavy machine 1 relative to an axis A1 (hereinafter, "first axis A1") along the traveling direction of the compaction heavy machine 1 (front-rear direction in FIG. 5), as shown in FIG.

[0067] The reason for detecting this first inclination angle θ1 is that, as shown in Figure 5, an error occurs between the center position of the roller section 20 when the worker is operating the compaction machine 1 normally (see Figure 5(a)) and the center position of the roller section 20 when the worker is not operating the compaction machine 1 normally (see Figure 5(b)). By taking this error into account when determining the layer thickness after compaction, the accuracy of the layer thickness after compaction can be improved.

[0068] Furthermore, the method for detecting this first tilt angle θ1 is arbitrary, but in embodiment 1, it is detected by extracting first tilt angle information corresponding to the first tilt angle detection information and the second tilt angle detection information acquired by SA1 from the first tilt angle information contained in the first tilt angle table 93a, and identifying the angle of the extracted first tilt angle information as the first tilt angle θ1 to be detected.

[0069] Returning to FIG. 4, in SA3, the layer thickness determination unit 92b calculates the second inclination angle θ2 and the third detection angle θ3 of each compaction point in the target embankment layer based on the first position detection information and the second position detection information acquired in SA1. Here, the "second inclination angle θ2" refers to the inclination angle of the roller unit 20 with respect to an axis A2 (hereinafter referred to as the "second axis A2") along the vertical direction as shown in FIG. 6. Also, the "third inclination angle θ3" refers to the inclination angle of the roller unit 20 with respect to an axis (not shown) (hereinafter referred to as the "third axis") perpendicular to the first axis A1 and the second axis A2 as shown in FIG. 7.

[0070] The reason for detecting this second inclination angle θ2 is that, as shown in Figure 6, an error occurs between the center position of the roller part 20 when the axial direction of the rotation shaft of the roller part 20 is along the left-right direction while the compaction heavy machine 1 is running (see Figure 6(a)) and the center position of the roller part 20 when the axial direction of the rotation shaft of the roller part 20 is not along the left-right direction while the compaction heavy machine 1 is running (see Figure 6(b)). By determining the layer thickness after compaction taking this error into account, the accuracy of the layer thickness after compaction can be improved.

[0071] The reason for detecting this third inclination angle θ3 is that, as shown in Figure 7, an error occurs between the center position of the roller part 20 when the compaction machine 1 is running on a flat surface (see Figure 7(a)) and the center position of the roller part 20 when the compaction machine 1 is running on an inclined surface (see Figure 7(b)). By taking this error into account when determining the layer thickness after compaction, the accuracy of the layer thickness after compaction can be improved.

[0072] Further, the second tilt angle θ2 may be calculated by any method, but in the first embodiment, it is calculated using the following formula (1). θ2=z21-z22...Equation (1) (where θ2 is the second tilt angle, z21: Z-coordinate position of the first position detection information z22: Z-coordinate position of the second position detection information)

[0073] Further, the third tilt angle θ3 may be calculated by any method, but in the first embodiment, it is calculated using the following formula (2) and formula (3).

number

[0074] Returning to Figure 4, in SA4, the layer thickness identification unit 92b identifies the post-compaction layer thickness at each compaction point in the target embankment layer based on the first position detection information and the second position detection information (or either the first position detection information or the second position detection information) contained in the detection log information acquired in SA1, the first inclination angle θ1 detected in SA2, and the second inclination angle θ2 and the third inclination angle θ3 calculated in SA3.

[0075] The method for determining the post-compaction layer thickness is arbitrary, but in the first embodiment, the post-compaction layer thickness is determined using the following formulas (4) to (11). P=(Px, Py, Pz)...Equation (4) Px=x1-(-cos(θ2)×sin(θ1)+sin(θ2)×sin(θ3)×cos(θ1))×dC-(cos(θ3)×cos(θ1))×dB-(-cos(θ2)×sin(θ3)×cos(θ1)-sin(θ2)×sin(θ1))×dH...Equation (5) dy=y1-(cos(θ2)×cos(θ1)+sin(θ2)×sin(θ3)×sin(θ1))×dC-(cos(θ3)×sin(θ1))×dB-(-cos(θ2)×sin(θ3)×sin(θ1)+sin(θ2)×cos(θ1))×dH...Equation (6) dz=z1-dH×cos(θ3)×cos(θ2)-dB×sin(θ3)+dC×sin(θ2)×cos(θ3)...Equation (7) dB=0.0...Equation (8) dC=W / 2...Equation (9) dH=H1 / H2...Equation (10) Tt = Pz - Pz' Equation (11) (where P: three-dimensional coordinate position of the center point of the roller unit 20 during rolling of the target embankment layer, Px: coordinate position in the X direction of the center point of the roller unit 20 when the target embankment layer is compacted; Py: Y-coordinate position of the center point of the roller unit 20 when the target embankment layer is compacted; Pz: Z-direction coordinate position of the center point of the roller unit 20 when the target embankment layer is compacted; x1: X-coordinate position of the first position detection information at the current compaction point, y1: Y-coordinate position of the first position detection information at the current compaction point, z1: Z-coordinate position of the first position detection information at the current compaction point, θ1: first inclination angle, θ2: second inclination angle, θ3: third inclination angle, dB: offset amount of the first position detector 61 in the front-rear direction, dC: the left-right offset amount of the first position detector 61, dH: the vertical offset amount of the first position detector 61, W: width of roller portion 20, H1: height of the first position detector 61, H2: Height of the center point of the roller portion 20, Tt: Thickness of the target embankment layer after compaction, Pz': Z-coordinate position of the center point of the roller unit 20 at the time of rolling the embankment layer FL that was rolled immediately before the target embankment layer (Note that the X- and Y-coordinate positions of the center point of the roller unit 20 are assumed to be approximately the same as the X- and Y-coordinate positions of the center point of the roller unit 20 at the time of rolling the target embankment layer. In addition, when the target embankment layer is the first embankment layer FL, Pz' is the Z-coordinate position at the rolling point on the ground G.)

[0076] By processing SA1 to SA4 in this manner, the post-compaction layer thickness at each compaction point in the target embankment layer can be identified, the post-compaction layer thickness of the target embankment layer can be accurately managed, and the workability of the embankment F can be improved.

[0077] However, without being limited thereto, for example, x1 may be the average value of the X-direction coordinate position of the first position detection information at the current rolling point and the X-direction coordinate position of the second position detection information at the current rolling point (note that the same applies to y1, z1, dB, dC, and dH).

[0078] In SA5, the spreading thickness specifying unit 92c specifies the spreading thickness at each compaction point in the embankment layer (hereinafter referred to as the "next embankment layer") stacked next to the embankment layer FL corresponding to the post-compacted layer thickness based on the post-compacted layer thickness specified in SA4. Note that, for example, when the target embankment layer is the uppermost embankment layer FL, the process of SA5 may be omitted.

[0079] The method for determining the thickness of the next filling layer is arbitrary, but in the first embodiment, the thickness is determined using the following formula (12). Tn=(Td-Tt)×α+Tnd...Equation (12) Tn: Thickness of next filling layer Td: Design thickness of the target embankment layer, Tt: Thickness of the target embankment layer after compaction, α: coefficient Tnd: Design thickness of next filling layer)

[0080] By carrying out this type of SA5 processing, the thickness of the next embankment layer to be poured can be accurately determined, further improving the workability of embankment F.

[0081] In SA6, the management control unit 92 creates construction surface data based on the various information specified in SA4 and SA5 using a known image creation method. Here, in the first embodiment, the "construction surface data" refers to image data (specifically, three-dimensional image data) showing the state of the target embankment layer after compaction.

[0082] The method for creating this construction surface data is arbitrary, but in the first embodiment, it is created as follows. That is, first, using a known image creation software, nodes corresponding to all the three-dimensional coordinate positions of the center point of the roller part 20 at the time of compaction of the target embankment layer specified in SA4 are generated in the virtual space, and the generated nodes are arranged at the corresponding positions (that is, the coordinate positions are made into a point cloud). In this case, for example, at least one of information indicating the post-compaction layer thickness of the target embankment layer specified in SA4, information indicating the next embankment layer spreading thickness specified in SA5, or detection log information acquired in SA1 may be linked to the corresponding nodes (it is assumed that all of these pieces of information are linked to the corresponding nodes in the first embodiment). Then, in the virtual space, meshes (elements) are generated and illustrated using these nodes, thereby creating the data.

[0083] This makes it easier to visually grasp the compaction status of the target embankment layer, making it easier to check the compaction status, etc.

[0084] In SA7, the management-side control unit 92 provides the processing information to the terminal device 80. Here, the "processing information" refers to information including various information specified or created in the management processing, and in the first embodiment, the processing information is described as information including the detection log information acquired in SA1, information indicating the post-compaction thickness of the target embankment layer specified in SA4, information indicating the spread thickness of the next embankment layer specified in SA5, and the construction surface data created in SA6. However, without being limited thereto, for example, the processing information may include only the information indicating the post-compaction thickness of the target embankment layer specified in SA4 and the information indicating the spread thickness of the next embankment layer specified in SA5.

[0085] Further, the method of providing this processing information is arbitrary, but in the first embodiment, the management-side control unit 92 provides the processing information by uploading it to the cloud. This allows the terminal device 80 to obtain the processing information by downloading it from the cloud at a predetermined timing after the upload. However, this is not limited to the above, and for example, when the management device 90 and the terminal device 80 can directly communicate with each other via the network 30, the management-side control unit 92 may provide the processing information by directly transmitting it.

[0086] The specific processing content of the terminal device 80 after the processing information is provided by SA7 is arbitrary, but for example, the terminal side control unit 84 of the terminal device 80 may, after acquiring the processing information provided by SA7, generate a display area (hereinafter referred to as the "processing display area") on the screen of the terminal side output unit 83 (specifically, a display means), and display at least one of the various types of information contained in the processing information in the generated processing display area.

[0087] FIG. 8 is a diagram showing the construction surface data and information showing the layer thickness after compaction. FIG. 9 is a diagram showing the construction surface data and information on the number of compactions. In particular, when the construction surface data is displayed, as shown in FIG. 8, information showing the layer thickness after compaction of the target embankment layer (in FIG. 8, the average value of the layer thickness after compaction corresponding to the nodes constituting the mesh) (or information showing the spread thickness of the next embankment layer) may be displayed in association with the plan view of the construction surface data. Alternatively, information showing the spread thickness of the next embankment layer may be displayed in association with the plan view of the construction surface data. Alternatively, for example, as shown in FIG. 9, information on the number of compactions may be displayed in association with the plan view of the construction surface data. Alternatively, the history of the first position detection information (or the second position detection information) based on the reception date and time information may be displayed in association with the plan view of the construction surface data. This allows the processing information to be presented to the worker, and the worker can visually confirm the contents of the processing information.

[0088] In SA8, the management-side control unit 92 determines whether or not the time has come to end the management process (hereinafter, referred to as "end timing").

[0089] The method of determining whether or not the end timing has arrived is arbitrary, but for example, the determination is made based on whether or not an end signal indicating the end of the management process has been received from the terminal device 80, or whether or not the post-compacted layer thickness of the uppermost embankment layer FL has been specified at SA4. Here, if the end signal has been received or the post-compacted layer thickness of the uppermost embankment layer FL has been specified, it is determined that the end timing has arrived, and if the end signal has not been received or the post-compacted layer thickness of the uppermost embankment layer FL has not been specified, it is determined that the end timing has not arrived.

[0090] Then, if it is determined that the end timing has arrived (SA8, Yes), the management-side control unit 92 ends the management process. On the other hand, if it is determined that the end timing has not arrived (SA8, No), the management-side control unit 92 proceeds to SA1, and repeats the processes from SA1 to SA8 until it is determined in SA8 that the end timing has arrived.

[0091] By repeating the processes SA1 to SA8 through this management process, the thickness of each of the multiple embankment layers FL at each compaction point can be identified. Therefore, compared to the conventional technology (technology that manages the number of times each embankment layer FL is compacted), the thickness of each embankment layer FL after compaction can be managed more accurately, making it possible to improve the workability of the embankment F.

[0092] (Effects of the First Embodiment) Thus, according to embodiment 1, there are provided a first position detection unit 61 and a second position detection unit 62 provided at mutually different positions in the roller unit 20, which detect the three-dimensional coordinate position of the roller unit 20 when each of the multiple embankment layers FL is compacted, an inclination angle detection means provided in the roller unit 20, which detects the inclination angle of the roller unit 20 when each of the multiple embankment layers FL is compacted, and a layer thickness determination unit 92b that determines the post-compaction layer thickness of each compaction point in each of the multiple embankment layers FL based on the detection results of the first position detection unit 61 and the second position detection unit 62 (or the detection results of either the first position detection unit 61 or the second position detection unit 62) and the detection results of the inclination angle detection means, so that the post-compaction layer thickness of each compaction point in each of the multiple embankment layers FL can be determined. Therefore, compared to conventional technology (technology that manages the number of times each embankment layer FL is compacted), the thickness of each embankment layer FL after compaction can be accurately managed, making it possible to improve the workability of the embankment F.

[0093] In addition, the layer thickness determination unit 92b calculates a second inclination angle θ2, which is the inclination angle of the roller unit 20 with respect to the second axis A2 along the vertical direction, and a third inclination angle θ3, which is the inclination angle of the roller unit 20 with respect to a third axis perpendicular to the first axis A1 and the second axis A2, based on the detection results of the first position detection unit 61 and the second position detection unit 62 (or the detection results of either the first position detection unit 61 or the second position detection unit 62), and determines the layer thickness after compaction at each compaction point based on the detection results of the first position detection unit 61 and the second position detection unit 62, the first inclination angle θ1 detected by the inclination angle detection means, and the calculated second inclination angle θ2 and third inclination angle θ3.Since it is only necessary to provide an inclination angle detection means that detects only the first inclination angle θ1, the installation costs of the inclination angle detection means can be reduced.

[0094] In addition, since the first position detection unit 61 and the second position detection unit 62 are arranged side by side at a distance from each other approximately along the axial direction of the rotation shaft of the roller unit 20, the detection accuracy of at least the third inclination angle θ3 can be improved, and the thickness of each embankment layer FL after compaction can be accurately determined.

[0095] Furthermore, since the first position detection unit 61 (or the second position detection unit 62) and a part of the inclination angle detection means are configured using a GNSS antenna, the first position detection unit 61 (or the second position detection unit 62) and a part of the inclination angle detection means can be configured without using an inclinometer, making it possible to reduce the manufacturing costs of the management system 50.

[0096] In addition, the system is provided with a spreading thickness determination unit 92c which determines the spreading thickness of the embankment layer FL which is stacked next to the embankment layer FL which corresponds to the post-compaction layer thickness based on the post-compaction layer thickness determined by the layer thickness determination unit 92b. Therefore, the spreading thickness of the embankment layer FL which is stacked next to the embankment layer FL which corresponds to the post-compaction layer thickness can be accurately determined, thereby further improving the workability of the embankment F.

[0097] [Embodiment 2] Next, a management system according to a second embodiment will be described. In the second embodiment, the position detection means is configured with a GNSS antenna, and the tilt angle detection means is configured with an inclinometer. However, the configuration of the second embodiment is substantially the same as that of the first embodiment, except where otherwise specified, and the configuration substantially the same as that of the first embodiment is assigned the same reference numerals and / or names as those used in the first embodiment as necessary, and the description thereof will be omitted.

[0098] (composition) First, the configuration of a management system 100 according to the second embodiment and a rolling compaction machine 1 to which the management system 100 is applied will be described.

[0099] (Configuration: Rolling Machine) First, there will be described the configuration of the compaction heavy machine 1. The compaction heavy machine 1 according to the second embodiment has substantially the same configuration as the compaction heavy machine 1 according to the first embodiment.

[0100] (Configuration Management System) Next, a configuration of the management system 100 will be described. Fig. 10 is a block diagram showing an electrical configuration of the management system 100. As shown in Fig. 10, the management system 100 according to the second embodiment includes a first position detection unit 61, a second position detection unit 62, an inclination angle detection unit 110, a terminal device 80, and a management device 90.

[0101] (Configuration-Management System-First Location Detection Unit, Second Location Detection Unit) The first position detector 61 and the second position detector 62 according to the second embodiment are configured substantially the same as the first position detector 61 and the second position detector 62 according to the first embodiment.

[0102] (Configuration - Management System - Tilt Angle Detection Unit) The inclination angle detection unit 110 detects the inclination angle of the roller unit 20 when each of the multiple embankment layers FL is compacted, and is provided on the connecting portion 22 of the roller unit 20 and connected to the connecting portion 22 by a fixing device or the like.

[0103] In addition, the specific configurations of the first position detection unit 61, the second position detection unit 62, and the inclination angle detection unit 110 are arbitrary, but in the second embodiment, the first position detection unit 61 is configured with one GNSS antenna (specifically, a GNSS antenna having a wireless communication function), the second position detection unit 62 is configured with another GNSS antenna, and the inclination angle detection unit 110 is configured with an inclinometer (specifically, a three-axis inclinometer capable of measuring the first inclination angle θ1, the second inclination angle θ2, and the third inclination angle θ3). This makes it possible to improve the detection accuracy of the first inclination angle θ1, the second inclination angle θ2, and the third inclination angle θ3, and to accurately identify the thickness of each embankment layer FL after compaction.

[0104] In this case, the specific operation of the inclination angle detection unit 110 is arbitrary, but for example, information indicating the detection results (specifically, the first inclination angle θ1, the second inclination angle θ2, and the third inclination angle θ3) is transmitted wirelessly or via wire to the terminal device 80 at a predetermined time interval (for example, 1 sec). In the following, as necessary, among the information indicating the detection results, information indicating the first inclination angle θ1 detected by the inclination angle detection unit 110 is referred to as "first inclination angle detection information", information indicating the second inclination angle θ2 detected by the inclination angle detection unit 110 is referred to as "second inclination angle detection information", and information indicating the third inclination angle θ3 detected by the inclination angle detection unit 110 is referred to as "third inclination angle detection information".

[0105] (Configuration-Management System-Terminal Device) The terminal device 80 according to the second embodiment has substantially the same configuration as the terminal device 80 according to the first embodiment.

[0106] (Configuration-Management System-Management Device) As shown in FIG. 10, the management device 90 of embodiment 2 is configured almost identically to the management device 90 of embodiment 1, but is configured by omitting the inclination angle detection unit 92a of the management side control unit 92 and the first inclination angle table 93a of the management side memory unit 93.

[0107] (Management process) Next, a description will be given of the management process executed by the management-side control unit 92 of the management device 90 in the management system 100 configured as described above. Fig. 11 is a flowchart of the management process according to the second embodiment.

[0108] As for the management processing according to the second embodiment, SB3 to SB6 in FIG. 11 are similar to SA5 to SA8 in FIG. 4, respectively, and therefore the description thereof will be omitted.

[0109] When the management process is started, as shown in FIG. 11, the management side control unit 92 in SB1 acquires various detection information (specifically, first position detection information, second position detection information, first inclination angle detection information, second inclination angle detection information, and third inclination angle detection information).

[0110] The method of acquiring these various detection information is arbitrary, but in embodiment 2, in substantially the same manner as the processing of SA1 in embodiment 1, after the terminal device 80 uploads detection log information including various detection information etc. to the cloud, the management side control unit 92 acquires the detection log information by automatically downloading it from the cloud at a predetermined timing.

[0111] In SB2, the layer thickness identification unit 92b identifies the post-compaction layer thickness at each compaction point in the target embankment layer based on the first position detection information, the second position detection information, the first inclination angle detection information, the second inclination angle detection information, and the third inclination angle detection information contained in the detection log information acquired in SB1 (or based on either the first position detection information or the second position detection information, and the first inclination angle detection information, the second inclination angle detection information, and the third inclination angle detection information).

[0112] The method for determining this post-compaction layer thickness is arbitrary, but in the second embodiment, it is determined using the above formulas (4) to (11) in substantially the same manner as in the processing of SA4 in the first embodiment.

[0113] By such a management process, it is possible to specify the post-compaction layer thickness at each compaction point in each of the multiple embankment layers FL, as in the management process according to embodiment 1. In addition, since the first inclination angle detection information, the second inclination angle detection information, and the third inclination angle detection information can be acquired, it is not necessary for the management device 90 to calculate the first inclination angle θ1, the second inclination angle θ2, and the third inclination angle θ3, and therefore the management process can be simplified.

[0114] (Effects of the second embodiment) Thus, according to embodiment 2, the layer thickness identification unit 92b identifies the post-compaction layer thickness at each compaction point based on the detection results of the first position detection unit 61 and the second position detection unit 62 (or either the detection result of the first position detection unit 61 or the second position detection unit 62) and the first inclination angle θ1, the second inclination angle θ2, and the third inclination angle θ3 detected by the inclination angle detection unit 110.Therefore, the detection accuracy of the first inclination angle θ1, the second inclination angle θ2, and the third inclination angle θ3 can be improved, and the post-compaction layer thickness of each embankment layer FL can be accurately identified.

[0115] Third Embodiment Next, a management system according to a third embodiment will be described. In the third embodiment, an inclination angle detection means detects a first inclination angle and a second inclination angle, and a layer thickness specification unit calculates a third inclination angle based on the detection results of a pair of position detection means. However, the configuration of the third embodiment is substantially the same as that of the second embodiment, unless otherwise specified, and the configuration substantially the same as that of the second embodiment is denoted by the same reference numerals and / or names as those used in the second embodiment as necessary, and the description thereof will be omitted.

[0116] (composition) First, the configuration of a management system 100 according to the third embodiment and a rolling compaction machine 1 to which the management system 100 is applied will be described.

[0117] (Configuration: Rolling Machine) First, a description will be given of the configuration of the compaction heavy machine 1. The compaction heavy machine 1 according to the third embodiment has substantially the same configuration as the compaction heavy machine 1 according to the second embodiment.

[0118] (Configuration Management System) Next, the configuration of the management system 100 will be described. The management system 100 according to the third embodiment is configured substantially the same as the management system 100 according to the second embodiment. However, the details of the configuration of the tilt angle detection unit 110 are modified as described below.

[0119] (Configuration - Management System - Tilt Angle Detection Unit) The inclination angle detection unit 110 detects the inclination angle of the roller unit 20 when each of the multiple embankment layers FL is compacted, and is provided on the connecting portion 22 of the roller unit 20 and connected to the connecting portion 22 by a fixing device or the like.

[0120] Furthermore, the specific configurations of the first position detection unit 61, the second position detection unit 62, and the inclination angle detection unit 110 are arbitrary, but in embodiment 3, the first position detection unit 61 is configured with one GNSS antenna (specifically, a GNSS antenna having wireless communication function), and the second position detection unit 62 is configured with another GNSS antenna, and the inclination angle detection unit 110 is configured with an inclinometer (specifically, a two-axis inclinometer capable of measuring the first inclination angle θ1 and the second inclination angle θ2).

[0121] Furthermore, the specific operation of the inclination angle detection unit 110 is arbitrary, but for example, it transmits information indicating the detection results (specifically, the first inclination angle θ1 and the second inclination angle θ2) to the terminal device 80 wirelessly or via wire at a predetermined time interval (for example, 1 sec). In the following, as necessary, among the information indicating the detection results, information indicating the first inclination angle θ1 detected by the inclination angle detection unit 110 will be referred to as "first inclination angle detection information," and information indicating the second inclination angle θ2 detected by the inclination angle detection unit 110 will be referred to as "second inclination angle detection information."

[0122] Here, the "first inclination angle θ1" refers to the inclination angle of the roller part relative to an axis along the vertical direction (hereinafter referred to as the "first axis"), and more specifically, corresponds to the inclination angle corresponding to the second inclination angle θ2 in the second embodiment (see FIG. 6(b)). Moreover, the "second inclination angle θ2" refers to the inclination angle of the roller part relative to an axis along the traveling direction of the compaction heavy machine (hereinafter referred to as the "second axis") and an axis perpendicular to the first axis (hereinafter referred to as the "third axis"), and more specifically, corresponds to the inclination angle corresponding to the third inclination angle θ3 in the second embodiment (see FIG. 7(b)).

[0123] (Management process) Next, a description will be given of the management process executed by the management-side control unit 92 of the management device 90 in the management system 100 configured as described above. Fig. 12 is a flowchart of the management process according to the third embodiment.

[0124] As for the management processing according to the third embodiment, SC5 to SC7 in FIG. 12 are similar to SB4 to SB6 in FIG. 11, respectively, and therefore the description thereof will be omitted.

[0125] When the management process is started, as shown in FIG. 12, the management side control unit 92 at SC1 acquires various detection information (specifically, first position detection information, second position detection information, first tilt angle detection information, and second tilt angle detection information).

[0126] The method of acquiring this various detection information is arbitrary, but in embodiment 3, in substantially the same manner as the processing of SB1 in embodiment 2, after the terminal device 80 uploads detection log information including various detection information etc. to the cloud, the management side control unit 92 acquires the detection log information by automatically downloading it from the cloud at a predetermined timing.

[0127] In SC2, the layer thickness specifying unit 92b calculates the third inclination angle θ3 of each compaction point in the target embankment layer based on the first position detection information and the second position detection information acquired in SC1.

[0128] Here, the "third tilt angle θ3" refers to the relative tilt angle between the first position detection section 61 and the second position detection section 62 in the planar direction.

[0129] Further, the third tilt angle θ3 may be calculated by any method, but in the third embodiment, it is calculated by using the following formula (13). θ3=|tan -1 ((y31-y32) / (x31-x32)|...Equation (13) (where θ3 is the third tilt angle, x31: X-coordinate position of the first position detection information at the current compaction point, x32: X-coordinate position of the second position detection information at the current compaction point, y31: Y-coordinate position of the first position detection information at the current compaction point, y32: Y-coordinate position of the second position detection information at the current compaction point)

[0130] In SC3, the layer thickness identification unit 92b identifies the post-compaction layer thickness at each of the multiple compaction points in the target fill layer based on the first position detection information and the second position detection information (or either the first position detection information or the second position detection information) contained in the detection log information acquired in SC1, the first inclination angle detection information and the second inclination angle detection information contained in the detection log information, and the third inclination angle θ3 calculated in SC2.

[0131] The method for determining the post-compaction layer thickness is arbitrary, but in the third embodiment, the post-compaction layer thickness is determined using the following formulas (13) to (15).

number

number

number

[0132] Here, the method of setting Xdl, Ydl, and Zdl is arbitrary, but for example, before the embankment F is compacted by the rolling machine 1, the coordinate positions in the X direction, Y direction, and Z direction of the grounding point on the left end side of the roller unit 20 may be measured using a known measuring device, and the measured coordinate positions may be set as Xdl, Ydl, and Zdl. Also, the method of setting Xdr, Ydr, and Zdr is arbitrary, but for example, before the embankment F is compacted by the rolling machine 1, the coordinate positions in the X direction, Y direction, and Z direction of the grounding point on the right end side of the roller unit 20 may be measured using a known measuring device, and the measured coordinate positions may be set as Xdr, Ydr, and Zdr.

[0133] By processing from SC1 to SC3 in this manner, the post-compaction layer thickness of each of the multiple compaction points in the target embankment layer (the post-compaction layer thickness of the embankment layer FL corresponding to each of the left end contact point, the right end contact point, and the center point of the roller section 20) can be identified, the post-compaction layer thickness of the target embankment layer can be accurately managed, and the workability of the embankment F can be improved.

[0134] However, this is not limited to the above, and for example, Xgnss may be the average value of the X-direction coordinate position of the first position detection information at the current rolling point and the X-direction coordinate position of the second position detection information at the current rolling point (the same applies to Ygnss and Zgnss).

[0135] In SC4, the spreading thickness determination unit 92c determines the spreading thickness at each compaction point in the embankment layer (hereinafter referred to as the "next embankment layer") that is stacked next to the embankment layer FL corresponding to the post-compaction layer thickness based on the post-compaction layer thickness determined in SC3.

[0136] The method for determining the thickness of the next filling layer is arbitrary, but in the third embodiment, the thickness is determined using the following formula (19). Tn=(Td-Ttc)×α+Tnd...Equation (19) Tn: Thickness of next filling layer Td: Design thickness of the target embankment layer, Ttc: thickness of the embankment layer FL after compaction corresponding to the center point of the roller part 20 in the target embankment layer, α: coefficient Tnd: Design thickness of next filling layer)

[0137] However, this is not limited to the above, and for example, instead of Ttc, it may be determined using either Ttl (the post-compaction thickness of the embankment layer FL corresponding to the left end grounding point of the roller part 20 in the target embankment layer) or Ttr (the post-compaction thickness of the embankment layer FL corresponding to the right end grounding point of the roller part 20 in the target embankment layer).

[0138] By such a management process, it is possible to specify the post-compaction layer thickness at each compaction point in each of the multiple embankment layers FL, as in the management process according to embodiment 2. In addition, since the first inclination angle detection information, the second inclination angle detection information, and the third inclination angle detection information can be acquired, it is not necessary to calculate the first inclination angle θ1 and the second inclination angle θ2 in the management device 90, and therefore the management process can be simplified.

[0139] (Effects of the Third Embodiment) Thus, according to embodiment 3, the layer thickness determining unit 92b calculates the third inclination angle θ3, which is the relative inclination angle of a pair of position detection means in the planar direction, based on the detection results of the first position detection unit 61 and the second position detection unit 62, and determines the post-compaction layer thickness at each of the multiple compaction points based on the detection results of at least one of the first position detection unit 61 and the second position detection unit 62, the first inclination angle θ1 and the second inclination angle θ2 detected by the inclination angle detection unit 110, and the calculated third inclination angle θ3.Since there is no need to calculate the first inclination angle θ1 and the second inclination angle θ2, the management process can be simplified.

[0140] [III] Modifications to the embodiment Although the embodiments of the present invention have been described above, the specific configurations and means of the present invention can be modified and improved as desired within the scope of the technical ideas of the inventions described in the claims. Such modifications will be described below.

[0141] (About the problem to be solved and the effects of the invention) First, the problems that the invention aims to solve and the effects of the invention are not limited to those described above, and the present invention may solve problems that are not described above or achieve effects that are not described above, or may solve only some of the problems that are described or achieve only some of the effects that are described.

[0142] (shape, number, structure, time series) The components illustrated in the embodiments and drawings may be modified and improved as desired within the scope of the technical concept of the present invention with respect to the shape, numerical values, or structure or chronological relationships of multiple components.

[0143] (About compaction machines) In the first to third embodiments, the number of roller units 20 installed on the compaction heavy machine 1 has been described as one, but this is not limited thereto, and for example, two or more may be installed. In this case, in the first embodiment, each roller unit 20 may be provided with a first position detection unit 61, a second position detection unit 62, a first inclination angle detection unit 71, and a second inclination angle detection unit 72. Also, in the second embodiment, each roller unit 20 may be provided with a first position detection unit 61, a second position detection unit 62, and a inclination angle detection unit 110.

[0144] (About the management system) In the first embodiment, the management system 50 is described as including the management device 90, but this is not limited thereto. For example, when the terminal device 80 has the functions of the management device 90 (i.e., when the terminal device 80 has the inclination angle detection unit 92a, the layer thickness specification unit 92b, the discharge thickness specification unit, and the first inclination angle table 93a), the management device 90 may be omitted (note that the same applies to the management systems 100 according to the second and third embodiments).

[0145] In the second embodiment, the management system 50 is described as including the first position detection unit 61 and the second position detection unit 62, but the present invention is not limited thereto. For example, either the first position detection unit 61 or the second position detection unit 62 may be omitted. In this case, the inclination angle detection unit 110 may be configured using an inclination angle detection device (for example, a known gyro sensor) capable of detecting the first inclination angle θ1, the second inclination angle θ2, and the third inclination angle θ3. In addition, in SB2 of the management process, the layer thickness specification unit 92b may specify the post-compaction layer thickness of each compaction point in the target embankment layer based on either the first position detection information or the second position detection information included in the detection log information acquired in SB1, and the first inclination angle detection information, the second inclination angle detection information, and the third inclination angle detection information.

[0146] (Regarding position detection means) In the second embodiment, the position detection means is described as a GNSS antenna, but is not limited to this and may be, for example, a TS antenna.

[0147] In addition, in embodiments 1 to 3, the first position detection unit 61 and the second position detection unit 62 are described as being arranged side by side at a distance from each other approximately along the axial direction of the rotation shaft of the roller unit 20, but this is not limited thereto, and for example, they may be arranged side by side at a distance from each other so as not to be approximately along the axial direction of the rotation shaft of the roller unit 20.

[0148] (Inclination angle detection means) In the first embodiment, it has been described that the first position detection unit 61 and the first tilt angle detection unit 71 are configured with one GNSS antenna, and the second position detection unit 62 and the second tilt angle detection unit 72 are configured with another GNSS antenna, but this is not limited to the above. For example, the first position detection unit 61 may be configured with one GNSS antenna, and the second position detection unit 62 may be configured with another GNSS antenna, and one inclinometer may be configured as the tilt angle detection means instead of the first tilt angle detection unit 71, the second tilt angle detection unit 72, and the tilt angle detection unit 92a.

[0149] In addition, in the second embodiment, the tilt angle detection unit 110 is described as a three-axis inclinometer, but is not limited thereto. For example, three one-axis inclinometers may be provided and arranged so as to detect the first tilt angle θ1, the second tilt angle θ2, and the third tilt angle θ3.

[0150] (Regarding management devices) In the first to third embodiments, the management device 90 is described as including the discharge thickness specifying unit 92c, but is not limited thereto. For example, the discharge thickness specifying unit 92c may be omitted. In this case, SA5 and SB3 of the management process may be omitted.

[0151] In addition, in the first to third embodiments, the management device 90 has been described as being configured as a cloud server, but this is not limiting, and the management device 90 may be configured as, for example, a known server installed in an office.

[0152] (Regarding management processing) In the first embodiment, it has been described that the processing at SA6 is performed, but this is not limiting, and for example, the processing at SA6 may be omitted (the same applies to the processing at SB4 in the second embodiment and the processing at SC5 in the third embodiment).

[0153] In the third embodiment, the three-dimensional coordinate positions of the left end ground point, the right end ground point, and the center point of the roller unit 20 during the rolling of the target embankment layer are calculated using the formulas (13) to (15) in SC3, and the post-rolling layer thicknesses of the multiple rolling points in the target embankment layer are specified based on the calculated three-dimensional coordinate positions, but this is not limited to the above. For example, when the post-rolling layer thicknesses of multiple ground points located between the left end ground point and the right end ground point of the roller unit 20 are further specified, the three-dimensional coordinate positions of the left end ground point, the right end ground point, and the multiple ground points of the roller unit 20 during the rolling of the target embankment layer may be calculated using the formulas (13), (14), and (20), and the post-rolling layer thicknesses of the multiple ground points may be specified based on the calculated three-dimensional coordinate positions.

number

[0154] (Additional Note) The management system of Appendix 1 is a management system for managing a post-compacted layer thickness, which is the layer thickness of each of a plurality of embankment layers after compaction, when constructing an embankment consisting of a plurality of stacked embankment layers each compacted by a compaction machine equipped with at least one roller unit, and comprises: a position detection means provided on at least one of the roller units, which detects the three-dimensional coordinate position of the roller unit when each of the plurality of embankment layers is compacted; an inclination angle detection means provided on the roller unit, which detects the inclination angle of the roller unit when each of the plurality of embankment layers is compacted; and a layer thickness identification means for identifying the post-compacted layer thickness at each compaction point in each of the plurality of embankment layers based on the detection result of the position detection means and the detection result of the inclination angle detection means.

[0155] The management system of Appendix 2 is the management system described in Appendix 1, and further includes a pair of the position detection means provided at different positions on the roller unit, wherein the inclination angle detection means detects a first inclination angle, which is the inclination angle of the roller unit relative to a first axis along the traveling direction of the compaction heavy machine, and the layer thickness identification means calculates a second inclination angle, which is the inclination angle of the roller unit relative to a second axis along the vertical direction, and a third inclination angle, which is the inclination angle of the roller unit relative to a third axis perpendicular to the first axis and the second axis, based on the detection results of the pair of position detection means, and identifies the post-compaction layer thickness at each of the compaction points based on the detection results of at least one of the pair of position detection means, the first inclination angle detected by the inclination angle detection means, and the calculated second inclination angle and third inclination angle.

[0156] The management system of appendix 3 is the management system according to appendix 2, wherein the pair of position detection means are arranged side by side at a distance from each other substantially along an axial direction of the rotation shaft of the roller portion.

[0157] The management system of Supplementary Note 4 is the management system according to Supplementary Note 2 or 3, wherein a part of the position detection means and the inclination angle detection means is configured with a GNSS antenna.

[0158] The management system of Appendix 5 is the management system described in Appendix 1, and further includes a pair of the position detection means provided at different positions on the roller unit, and the inclination angle detection means detects a first inclination angle which is the inclination angle of the roller unit relative to a first axis along the traveling direction of the compaction machine, a second inclination angle which is the inclination angle of the roller unit relative to a second axis along the vertical direction, and a third inclination angle which is the inclination angle of the roller unit relative to a third axis perpendicular to the first axis and the second axis, and the layer thickness identification means identifies the post-compaction layer thickness at each of the compaction points based on the detection result of at least one of the pair of position detection means and the first inclination angle, the second inclination angle, and the third inclination angle detected by the inclination angle detection means.

[0159] The management system of Appendix 6 is the management system described in Appendix 1, and includes a pair of the position detection means provided at different positions on the roller unit, and the inclination angle detection means detects a first inclination angle, which is the inclination angle of the roller unit relative to a first axis along the vertical direction, and a second inclination angle, which is the inclination angle of the roller unit relative to a second axis along the traveling direction of the compaction heavy machine and a third axis perpendicular to the first axis, and the layer thickness identification means calculates a third inclination angle, which is the relative inclination angle of the pair of position detection means in a planar direction, based on the detection results of the pair of position detection means, and identifies the post-compaction layer thickness of each of the multiple compaction points based on the detection results of at least one of the pair of position detection means, the first inclination angle and the second inclination angle detected by the inclination angle detection means, and the calculated third inclination angle.

[0160] The management system of Appendix 7 is a management system described in any one of Appendixes 1 to 6, and is provided with a spreading thickness identification means for identifying the spreading thickness of the embankment layer to be stacked next to the embankment layer corresponding to the post-compaction layer thickness based on the post-compaction layer thickness identified by the layer thickness identification means.

[0161] (Effect of supplementary notes) According to the management system described in Supplementary Note 1, the system includes at least one position detection means provided on the roller section, which detects the three-dimensional coordinate position of the roller section when each of the plurality of embankment layers is compacted, an inclination angle detection means provided on the roller section, which detects the inclination angle of the roller section when each of the plurality of embankment layers is compacted, and a layer thickness determination means for determining the post-compacted layer thickness of each compaction point on each of the plurality of embankment layers based on the detection results of the pair of position detection means and the detection results of the inclination angle detection means, so that the post-compacted layer thickness of each compaction point on each of the plurality of embankment layers can be determined. Therefore, compared to the conventional technology (technology for managing the number of times each embankment layer is compacted), the post-compacted layer thickness of each embankment layer can be managed more accurately, and the workability of the embankment can be improved.

[0162] According to the management system described in Appendix 2, the layer thickness identification means calculates a second inclination angle, which is the inclination angle of the roller part relative to a second axis along the vertical direction, and a third inclination angle, which is the inclination angle of the roller part relative to a third axis perpendicular to the first and second axes, based on the detection results of at least one of the pair of position detection means, and identifies the layer thickness after compaction at each compaction point based on the detection results of at least one of the pair of position detection means, the first inclination angle detected by the inclination angle detection means, and the calculated second and third inclination angles.Since it is only necessary to provide an inclination angle detection means that detects only the first inclination angle, the installation costs of the inclination angle detection means can be reduced.

[0163] According to the management system described in Appendix 3, a pair of position detection means are arranged side by side at a distance from each other approximately along the axial direction of the rotation shaft of the roller unit, thereby improving the detection accuracy of at least the third inclination angle and making it possible to accurately identify the thickness of each embankment layer after compaction.

[0164] According to the management system described in Appendix 4, a portion of the position detection means and the inclination angle detection means is configured using a GNSS antenna, so that a portion of the position detection means and the inclination angle detection means can be configured without using an inclinometer, making it possible to reduce the manufacturing costs of the management system.

[0165] According to the management system described in Appendix 5, the layer thickness identification means identifies the post-compaction layer thickness at each compaction point based on the detection results of at least one of the pair of position detection means and the first inclination angle, second inclination angle, and third inclination angle detected by the inclination angle detection means, thereby improving the detection accuracy of the first inclination angle, second inclination angle, and third inclination angle, and enabling the post-compaction layer thickness of each embankment layer to be accurately identified.

[0166] According to the management system described in Appendix 6, the layer thickness identification means calculates a third inclination angle, which is the relative inclination angle of the pair of position detection means in the planar direction, based on the detection results of the pair of position detection means, and identifies the layer thickness after compaction at each of the multiple compaction points based on the detection result of at least one of the pair of position detection means, the first inclination angle and the second inclination angle detected by the inclination angle detection means, and the calculated third inclination angle.Since there is no need to calculate the first inclination angle and the second inclination angle, the management process can be simplified.

[0167] According to the management system described in Appendix 7, a casting thickness specifying means is provided for specifying the casting thickness of the embankment layer to be stacked next to the embankment layer corresponding to the post-compaction layer thickness based on the post-compaction layer thickness specified by the layer thickness specifying means, so that the casting thickness of the embankment layer to be stacked next to the embankment layer corresponding to the post-compaction layer thickness can be accurately specified, thereby further improving the workability of the embankment. [Explanation of symbols]

[0168] 1. Rolling machine 10 Main body 11 Control Unit 12 Running part 12a Tire 13 Support part 20 Roller section 21 Roller body 22 Connecting part 23 Frame section 23a Left frame section 23b Right side frame 23c Front frame section 30 Network 50 Management Systems 61 First position detection unit 62 Second position detection unit 71 First tilt angle detector 72 Second tilt angle detector 80 Terminal Equipment 81 Terminal communication unit 82 Terminal side operation unit 83 Terminal side output section 84 Terminal side control unit 85 Terminal side memory unit 90 Management device 91 Management Communication Department 92 Management control section 92a Inclination angle detector 92b Layer thickness identification part 92c Spout thickness specification part 93 Management side storage unit 93a 1st tilt angle table 100 Management Systems 110 Inclination angle detector A1 First axis A2 2nd axis F Embankment FL Fill layer G. Ground θ1 1st inclination angle θ2 2nd inclination angle θ3 3rd inclination angle

Claims

1. A management system for managing a thickness of a layer after compaction, which is a thickness of each of a plurality of embankment layers after compaction, when constructing an embankment formed by stacking a plurality of embankment layers each of which is compacted by a compaction machine having at least one roller unit, comprising: At least one position detection means is provided on the roller portion, the position detection means detecting a three-dimensional coordinate position of the roller portion when each of the plurality of embankment layers is being compacted; an inclination angle detection means provided on the roller portion, the inclination angle detection means detecting an inclination angle of the roller portion when each of the plurality of embankment layers is compacted; a layer thickness specifying means for specifying the layer thickness after compaction at each compaction point in each of the plurality of embankment layers based on the detection result of the position detection means and the detection result of the inclination angle detection means; A thickness determination means for determining a thickness of the embankment layer to be stacked next to the embankment layer corresponding to the thickness after the rolling based on the thickness after the rolling; A management system comprising:

2. a pair of the position detection means provided at different positions in the roller portion, The inclination angle detection means detects a first inclination angle which is an inclination angle of the roller portion with respect to a first axis along a traveling direction of the rolling compaction machine, The layer thickness specifying means is calculating a second inclination angle, which is an inclination angle of the roller portion with respect to a second axis along a vertical direction, and a third inclination angle, which is an inclination angle of the roller portion with respect to a third axis perpendicular to the first axis and the second axis, based on detection results of the pair of position detection means; Identifying a post-compacted layer thickness at each of the compaction points based on a detection result of at least one of the pair of position detection means, the first inclination angle detected by the inclination angle detection means, and the calculated second inclination angle and third inclination angle. The management system according to claim 1 .

3. The pair of position detection means are arranged in parallel at a distance from each other substantially along the axial direction of the rotation shaft of the roller portion. The management system according to claim 2.

4. A part of the position detection means and the tilt angle detection means is configured with a GNSS antenna. The management system according to claim 2 or 3.

5. a pair of the position detection means provided at different positions in the roller portion, the inclination angle detection means detects a first inclination angle which is an inclination angle of the roller portion relative to a first axis along a traveling direction of the compaction heavy machine, a second inclination angle which is an inclination angle of the roller portion relative to a second axis along a vertical direction, and a third inclination angle which is an inclination angle of the roller portion relative to a third axis perpendicular to the first axis and the second axis; The layer thickness specifying means specifies a post-compaction layer thickness at each of the compaction points based on a detection result of at least one of the pair of position detection means and the first inclination angle, the second inclination angle, and the third inclination angle detected by the inclination angle detection means. The management system according to claim 1 .

6. a pair of the position detection means provided at different positions in the roller portion, The inclination angle detection means detects a first inclination angle, which is an inclination angle of the roller portion relative to a first axis along a vertical direction, and a second inclination angle, which is an inclination angle of the roller portion relative to a second axis along a traveling direction of the rolling compaction machine and a third axis perpendicular to the first axis; The layer thickness specifying means is calculating a third tilt angle, which is a relative tilt angle of the pair of position detection means in a planar direction, based on detection results of the pair of position detection means; determining a post-compacted layer thickness at each of the plurality of compaction points based on a detection result of at least one of the pair of position detection means, the first inclination angle and the second inclination angle detected by the inclination angle detection means, and the calculated third inclination angle; The management system according to claim 1 .

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