Asphalt finisher and asphalt finisher construction support system

Abstract

This asphalt finisher comprises: a tractor; a hopper installed on the front side of the tractor; a conveyor for conveying paving material in the hopper to the rear side of the tractor; a screw for spreading, in the vehicle width direction, the paving material conveyed by the conveyor and scattered on a road surface; and a screed device for evenly spreading, behind the screw, the pavement material spread by the screw. The operation of a transport vehicle is synchronized so as to correspond to the operation of the asphalt finisher.

Description

[Technical field]

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

[0002] Conventionally, there has been known an asphalt finisher that includes a tractor, a hopper installed in front of the tractor to receive paving material, a conveyor that feeds the paving material in the hopper to the rear of the tractor, a screw that spreads the paving material fed by the conveyor behind the tractor, and a screed that evens out the paving material spread by the screw behind the screw.

[0003] When the asphalt finisher performs construction, a transport vehicle (e.g., a dump truck) is present in front of the asphalt finisher. The asphalt finisher is supplied with paving material from the transport vehicle. The asphalt finisher needs to continue construction. For this reason, after positioning the transport vehicle at the asphalt finisher, it needs to move forward together with the asphalt finisher to allow the asphalt finisher to continue construction. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2017 / 010541 Summary of the Invention [Problem to be solved by the invention]

[0005] While the paving material is being supplied from the transport vehicle to the asphalt finisher, the asphalt finisher is located behind the transport vehicle, making it difficult for the driver of the transport vehicle to check the status of the asphalt finisher.

[0006] In view of the above, it is desirable to provide an asphalt paver that can appropriately control a transport vehicle depending on the situation of the asphalt paver. [Means for solving the problem]

[0007] An asphalt finisher according to one aspect of the present invention includes a tractor, a hopper installed in front of the tractor, a conveyor that transports paving material in the hopper to the rear of the tractor, a screw that spreads the paving material transported by the conveyor and scattered on a road surface in the vehicle width direction, and a screed device that spreads the paving material spread by the screw behind the screw. An asphalt finisher comprising: The operation of the transport vehicle, Asphalt finisher In order to synchronize with the behavior of Asphalt finisher A construction plan showing the area to be constructed; Asphalt finisher and transmits steering information for steering the transport vehicle, the steering information being generated based on the position information of the transport vehicle to the transport vehicle. Effect of the Invention

[0008] According to one aspect of the present invention, the operation of the transport vehicle and the operation of the asphalt finisher can be synchronized, thereby reducing the burden on the driver of the transport vehicle. [Brief description of the drawings]

[0009] [Figure 1A] FIG. 1A is a left side view showing an asphalt finisher and a dump truck, which are an example of a road machine according to a first embodiment. [Figure 1B] FIG. 1B is a top view showing an asphalt finisher and a dump truck, which are examples of road machines according to the first embodiment. [Diagram 2] FIG. 2 is a block diagram showing the configuration of the asphalt finisher and the dump truck according to the first embodiment. [Diagram 3] FIG. 3 is a diagram showing a processing procedure performed in the asphalt finisher according to the first embodiment. [Figure 4] FIG. 4 is a top view of a construction site showing a first movement path and a second movement path generated by a path generating unit for constructing a curved portion (left curve) of a road. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding components are denoted by the same reference numerals, and the description thereof may be omitted.

[0011] (First embodiment) Fig. 1 is a diagram showing an asphalt finisher 100 and a dump truck 200, which are an example of a road machine according to the first embodiment. Specifically, Fig. 1A is a left side view, and Fig. 1B is a top view. Fig. 1 shows an example in which the dump truck 200 approaches the asphalt finisher 100 while moving backward.

[0012] The asphalt finisher 100 is mainly composed of a tractor 1, a hopper 2, and a screed device 3.

[0013] The screed device 3 is a mechanism for spreading and leveling the paving material. In this embodiment, the screed device 3 is a floating screed device towed by the tractor 1, and is connected to the tractor 1 via a leveling arm 3a.

[0014] The hopper 2 is provided at the front of the tractor 1 as a mechanism for receiving paving material. The hopper 2 in this embodiment has a mechanism that can be opened and closed in the vehicle width direction by a hopper cylinder 2a, with movable mechanism parts 81a, 81b as axes. When the paving material (e.g., asphalt mixture) in the hopper 2 is about to run out, the asphalt finisher 100 opens the hopper 2 fully to enable it to receive the paving material from a loading platform 201 of a dump truck 200 serving as a paving material transport vehicle. Then, with the dump truck 200 in contact with the asphalt finisher 100, the paving material is supplied from the loading platform 201 of the dump truck 200 to the hopper 2.

[0015] Also, while receiving paving material from the loading platform 201 of the dump truck 200, the asphalt finisher 100 continues traveling (construction) while moving forward together with the dump truck 200 in the forward direction. Specifically, the conveyor transports the paving material received in the hopper 2 to the rear side of the tractor 1. The screw spreads the paving material transported by the conveyor and scattered on the road surface in the vehicle width direction. The screed device 3 evenly spreads the paving material spread by the screw behind the screw.

[0016] After receiving the paving material from the loading platform 201 of the dump truck 200, the operator of the asphalt finisher 100 gradually closes the hopper 2, thereby allowing the paving material supplied to the hopper 2 to be placed on the conveyor. Thereafter, the paving material supplied to the hopper 2 is transported rearward, and when there is almost no paving material left in the hopper 2, the operator opens the hopper 2. Then, when the hopper 2 is fully open again, the hopper 2 is able to receive paving material from the dump truck 200. For this reason, it is preferable for the driver of the dump truck 200 to check that the hopper 2 is fully open before moving the dump truck 200 close to the asphalt finisher 100.

[0017] Furthermore, the asphalt finisher 100 is equipped with a roller 2b. The roller 2b is installed forward of the hopper 2. The roller 2b is configured to be able to come into contact with the rear wheels 202 of the dump truck 200, and is able to rotate together with the rear wheels 202 when the rear wheels 202 of the dump truck 200 are in contact with the roller 2b.

[0018] The tractor 1 is a mechanism for propelling the asphalt finisher 100. In this embodiment, the tractor 1 rotates the front and rear wheels using a hydraulic motor for traveling to move the asphalt finisher 100. The hydraulic motor for traveling rotates by receiving a supply of hydraulic oil from a hydraulic source. The tractor 1 may be equipped with crawlers instead of wheels.

[0019] The tractor 1 is also equipped with a controller 30, a wireless communication device 40, a GPS module 50, a main monitor 60, a driver's seat 61, an imaging device 62, and an audio output device 63. Specifically, a cab including the main monitor 60 and the driver's seat 61 is installed on the top surface of the tractor 1. The imaging device 62 and the audio output device 63 are installed in the center of the front end of the top surface of the tractor 1.

[0020] The wireless communication device 40 directly performs short-distance wireless communication with devices present around the asphalt finisher 100, such as the dump truck 200. In this embodiment, it is considered that, for example, Wi-Fi (registered trademark) is used as the wireless communication standard of the wireless communication device 40. Note that the wireless communication in this embodiment is not limited to a method using Wi-Fi (registered trademark), and wireless LAN, Bluetooth (registered trademark), or the like may also be used.

[0021] The GPS module 50 is an example of a GNSS (Global Navigation Satellite System) module, and receives position information indicating the results of two-dimensional positioning (two-dimensional positioning) by a GPS (Global Positioning System). The position information includes information expressing the position of the asphalt finisher 100 in latitude and longitude. Note that, although the present embodiment uses GPS as a method for acquiring position information, the method for acquiring position information is not limited thereto, and other well-known methods may be used.

[0022] The main monitor 60 is a device that displays various information to the operator of the asphalt finisher 100. In this embodiment, the main monitor 60 is a liquid crystal display, and is capable of displaying various information in response to commands from the controller 30. The main monitor 60 also includes an input device 60a that receives operational input from the operator of the asphalt finisher 100.

[0023] The imaging device 62 is a device that captures an image of the space in front of the asphalt finisher 100. In this embodiment, the imaging device 62 is a camera, and outputs the captured image to the controller 30. The imaging device 62 may be a distance imaging camera, an infrared camera, a stereo camera, or the like.

[0024] The imaging device 62 (an example of a detection device) according to this embodiment captures an image of a space within an imaging area RA1 (an example of a detection range) shown by a dashed line in FIG. 1A and FIG. 1B, which exists in front of the asphalt finisher 100. The imaging device 62 then outputs image information (an example of detection information) related to the captured image to the controller 30. In the example shown in FIG. 1A and FIG. 1B, the imaging device 62 can capture an image of a dump truck 200 existing in the imaging area RA1. In this embodiment, an example in which the imaging device 62 is used as an example of a device capable of recognizing a space will be described. However, this embodiment does not limit the spatial recognition device to the imaging device 62. In other words, any spatial recognition device capable of recognizing a space based on the asphalt finisher 100 may be used, and for example, a laser sensor or the like may be used.

[0025] The audio output device 63 is a device that outputs audio toward the periphery of the asphalt finisher 100. In this embodiment, the audio output device 63 is a speaker that outputs audio toward the front of the asphalt finisher 100, and is capable of outputting an alarm in response to a command from the controller 30. The audio output device 63 may also output an audio message.

[0026] The controller 30 is a control device that controls the asphalt finisher 100. The controller 30 is configured, for example, as a computer, and has a CPU, an internal memory, a storage medium, etc. The controller 30 performs various controls by causing the CPU to execute a program stored in the storage medium.

[0027] The controller 30 can assist the driving operation of the asphalt finisher 100 by means of an ADAS (Advanced driver-assistance systems) based on the image information received from the imaging device 62 and the detection signals received from various detection sensors (not shown). The driving operation assistance system used by the controller 30 according to this embodiment is not limited to a driving operation system using an ADAS, and may be another driving operation assistance system. For example, the controller 30 may use AD (Autonomous Driving). Furthermore, the controller 30 may use any system as long as it is a system capable of controlling the movement of the asphalt finisher 100 according to a movement route generated in advance.

[0028] The dump truck 200 is composed of a loading platform 201, a hoist cylinder (not shown), a first imaging device 261, a second imaging device 262, a controller 230, and a wireless communication device 240. The loading platform 201 is capable of carrying paving material to be supplied to the hopper 2 of the asphalt finisher 100. The hoist cylinder is a mechanism for tilting the loading platform 201 backward, and expands and contracts in response to commands from the controller 230 to switch between a tilted state in which the loading platform 201 is tilted backward and a horizontal state in which the loading platform 201 is horizontal.

[0029] The first imaging device 261 is, for example, a device provided near the emblem of the dump truck 200, and is a device that acquires an image of the space in front of the dump truck 200. The second imaging device 262 is a device that acquires an image of the space behind the dump truck 200. The first imaging device 261 and the second imaging device 262 according to this embodiment are cameras, and output the acquired images to the controller 230. Note that the first imaging device 261 and the second imaging device 262 may be a distance image camera, an infrared camera, a stereo camera, or the like. In this embodiment, an example using the first imaging device 261 and the second imaging device 262 as an example of a device capable of recognizing a space will be described. However, this embodiment does not limit the spatial recognition device to the first imaging device 261 and the second imaging device 262. In other words, any spatial recognition device capable of recognizing a space based on the dump truck 200 may be used, and for example, a laser sensor or the like may be used.

[0030] The first imaging device 261 according to this embodiment captures an image of a space within an imaging region RT1 indicated by a two-dot chain line in Fig. 1A and Fig. 1B, which exists in front of the dump truck 200. The first imaging device 261 outputs image information related to the captured image to the controller 230.

[0031] The second imaging device 262 according to the present embodiment captures an image of a space within an imaging region RT2 indicated by a two-dot chain line in Figures 1A and 1B, which exists behind the dump truck 200. The second imaging device 262 outputs image information relating to the captured image to the controller 230.

[0032] The wireless communication device 240 performs wireless communication with devices present around the dump truck 200, such as the wireless communication device 40 of the asphalt finisher 100. In this embodiment, it is considered that, for example, Wi-Fi (registered trademark) is used as the wireless communication standard of the wireless communication device 240. Note that the wireless communication in this embodiment is not limited to a method using Wi-Fi (registered trademark), and wireless LAN, Bluetooth (registered trademark), or the like may be used.

[0033] The controller 230 is a control device that controls the dump truck 200. The controller 230 is configured, for example, by a computer, and has a CPU, an internal memory, a storage medium, etc. The controller 230 performs various controls by causing the CPU to execute a program stored in the storage medium.

[0034] The controller 230 according to this embodiment can assist the driving operation of the dump truck 200 by the ADAS based on the image information received from the first imaging device 261, the image information received from the second imaging device 262, and the detection signals received from various detection sensors (not shown). Note that the driving operation assistance system used by the controller 230 according to this embodiment is not limited to the driving operation system by the ADAS, and may be another driving operation assistance system. For example, the controller 230 may use an AD. Furthermore, the controller 230 may use any system as long as it is a system capable of controlling movement according to a movement route and various control commands.

[0035] For example, the controller 230 according to this embodiment realizes control to stop the dump truck 200 near the hopper 2 of the asphalt finisher 100 by parking assistance of the ADAS. At that time, the controller 230 according to this embodiment may receive a control command from the asphalt finisher 100 via the wireless communication device 240, and perform drive control of the dump truck 200 based on the received control command.

[0036] When the dump truck 200 is positioned near the hopper 2 of the asphalt finisher 100, the asphalt finisher 100 is in the middle of construction. Therefore, after the dump truck 200 is positioned near the hopper 2 of the asphalt finisher 100, the dump truck 200 needs to travel together with the asphalt finisher 100 while the dump truck 200 is supplying paving material from the loading platform 201 to the hopper 2.

[0037] Therefore, the controller 30 of the asphalt finisher 100 according to this embodiment performs control to synchronize the operation of the dump truck 200 with the operation of the asphalt finisher 100 .

[0038] In this embodiment, the controller 30 of the asphalt finisher 100 generates a first movement path for the asphalt finisher 100 to move the asphalt finisher 100 so as to pave the area to be worked on, based on the work plan drawing. Then, the controller 30 controls the asphalt finisher 100 to follow the first movement path.

[0039] The construction plan drawing that can be stored in the storage medium of the controller 30 includes information that indicates the area of ​​the road surface to be paved by the asphalt finisher 100 in the reference coordinate system.

[0040] The reference coordinate system used in the construction plan is, for example, the World Geodetic System. The World Geodetic System is a three-dimensional orthogonal XYZ coordinate system with the origin at the center of gravity of the Earth, the X-axis being the axis passing through the origin and the intersection of the Greenwich meridian and the equator, the Y-axis being the axis passing through the origin and the intersection of the 90th meridian east of the equator, and the Z-axis being the axis passing through the North Pole and the origin. In other words, the construction plan includes information showing the area of ​​the road surface to be constructed in a three-dimensional orthogonal XYZ coordinate system (World Geodetic System).

[0041] The construction plan drawing may also include various information related to the road surface to be constructed. For example, the construction plan drawing may include information indicating the positions of obstacles present on the road surface to be constructed. The obstacles include, for example, information on steps present on the road surface. The step information includes, for example, information on manholes present on the road surface.

[0042] The asphalt finisher 100 acquires location information, which indicates the location of the asphalt finisher 100 by latitude and longitude, via the GPS module 50. Therefore, the controller 30 of the asphalt finisher 100 can identify the location indicated by the location information acquired by the GPS module 50 on the construction plan drawing.

[0043] The controller 30 generates a second movement path for the dump truck 200 based on the construction plan so that the dump truck 200 travels while maintaining an overlapping state between the loading platform 201 of the dump truck 200 and the hopper 2 of the asphalt finisher 100 (in other words, in a synchronized state). Then, the controller 30 generates a control command instructing the steering angle, speed, and the like of the dump truck 200 so that the dump truck 200 travels along the second movement path. Then, the controller 30 transmits the generated control command to the wireless communication device 240 of the dump truck 200 via the wireless communication device 40. As a result, the controller 30 synchronizes the operation of the dump truck 200 to correspond to the operation of the asphalt finisher 100.

[0044] 2 is a block diagram showing the configuration of the asphalt finisher 100 and the dump truck 200 according to this embodiment. As shown in FIG. 2, the dump truck 200 includes a first imaging device 261, a second imaging device 262, an input device 263, a controller 230, a wireless communication device 240, and a drive system controller 250. That is, in this embodiment, in an asphalt finisher construction support system including the asphalt finisher 100 and the dump truck 200, the controller 30 synchronizes the operation of the dump truck 200 with the operation of the asphalt finisher 100.

[0045] The controller 230 generates a control command related to drive control based on image information from a first imaging device 261 (for example, provided near an emblem on the front of the dump truck 200), image information from a second imaging device 262 (for example, provided at the rear end of the dump truck 200), and a control signal from a detection sensor (not shown). Then, the controller 230 outputs the generated control command to the drive system controller 250. In this way, the controller 230 realizes assistance for driving operation by the ADAS. The drive system controller 250 controls the drive system, engine, etc. of the dump truck 200 according to the control command.

[0046] Furthermore, the controller 230 receives operations from the driver via the input device 263 and performs various controls.

[0047] When the controller 230 receives a control command from the asphalt finisher 100 via the wireless communication device 240, the controller 230 outputs the received control command to the drive system controller 250. In this way, the dump truck 200 realizes the assistance of driving operation by the ADAS in response to a request from the asphalt finisher 100.

[0048] Furthermore, the controller 230 may transmit image information captured by the first imaging device 261 and image information captured by the second imaging device 262 to the asphalt finisher 100 via the wireless communication device 240.

[0049] The asphalt finisher 100 includes an imaging device 62, an input device 60a, a controller 30, a drive system controller 55, and a wireless communication device 40. The drive system controller 55 controls the tractor 1 according to a control command.

[0050] The controller 30 according to this embodiment enables the assistance of driving operation by ADAS (Advanced driver-assistance systems) based on image information received from the imaging device 62 and detection signals received from various detection sensors (not shown). Note that the controller 30 according to this embodiment may use other driving operation assistance instead of the assistance of driving operation by ADAS. For example, the controller 30 may use AD (Autonomous Driving).

[0051] The controller 30 of this embodiment accepts an input of a construction plan drawing via a connection I / F (not shown) or a wireless communication device 40.

[0052] The controller 30 performs various controls based on a construction plan or the like so that the asphalt finisher 100 and the dump truck 200 move over the road surface to be paved.

[0053] Each functional block of the controller 30 shown in FIG. 2 is conceptual, and does not necessarily have to be physically configured as shown in the figure. All or a part of each functional block may be functionally or physically distributed or integrated in any unit. All or any part of each processing function performed by each functional block is realized by a program executed by a CPU. Alternatively, each functional block may be realized as hardware using wired logic. As shown in FIG. 2, the controller 30 includes a dump truck identification information storage unit 31, an acquisition unit 32, a route generation unit 33, a route correction unit 34, a detection unit 35, a determination unit 36, a command generation unit 37, and a communication control unit 38.

[0054] The dump truck identification information storage unit 31 is provided on a storage medium in the controller 30. The dump truck identification information storage unit 31 stores information for the asphalt finisher 100 to identify the dump truck 200 with which the communication is to be performed. For example, the dump truck identification information storage unit 31 stores the license plate information of the dump truck 200 and the identification information (e.g., SSID) of the wireless communication device 240 mounted on the dump truck 200 in association with each other. This allows the controller 30 to identify the wireless communication device 240 with which the communication is to be performed based on the license plate that is captured when the rear part of the dump truck 200 is photographed by the imaging device 62.

[0055] The acquisition unit 32 acquires image information captured by the imaging device 62. The acquisition unit 32 also acquires operation information from the operator via the input device 60a.

[0056] The acquisition unit 32 also acquires a construction plan drawing. For example, the acquisition unit 32 may acquire the construction plan drawing from a non-volatile storage medium connected via a connection I / F (e.g., USB I / F) not shown. Furthermore, the acquisition unit 32 may acquire the construction plan drawing received by the communication control unit 38 from an external device via the wireless communication device 40.

[0057] The path generating unit 33 generates a movement path for the asphalt finisher 100 and the dump truck 200 based on the construction plan drawing acquired by the acquiring unit 32. In this embodiment, the movement path is generated after the construction plan drawing is acquired and before construction by the asphalt finisher 100 is started. This allows the path generating unit 33 to generate a movement path that includes the start position of construction by the asphalt finisher 100.

[0058] The path generating unit 33 of this embodiment generates a first movement path for the asphalt finisher 100 so that the entire area to be paved shown in the construction plan can be paved. Furthermore, the path generating unit 33 generates a second movement path for the dump truck 200 when the dump truck 200 travels in contact with the asphalt finisher 100 traveling along the first movement path.

[0059] If the road to be constructed as shown in the construction plan drawing includes an area with steps such as manholes, the path generating unit 33 generates a first movement path and a second movement path so that the wheels of the asphalt finisher 100 and the dump truck 200 do not pass through the area with the steps.

[0060] After the asphalt finisher 100 starts construction, the detection unit 35 detects a transport vehicle such as a dump truck 200 present in the space in front of the asphalt finisher 100 based on image information acquired from the imaging device 62. Any technology, including known image processing technology, may be used to detect a transport vehicle such as a dump truck 200 from an image. The detection unit 35 may detect other objects when detecting a transport vehicle from an image. The other objects may include, for example, road cones, people (workers, etc.), and small machines (rammers, tampers, etc.). The determination unit 36 ​​may be configured to recognize (detect) objects present around the asphalt finisher 100 (an example of a work machine) based on image information (output value) from the imaging device 62, which is a type of space recognition device. The objects to be recognized are, for example, the dump truck 200, a terrain shape (slope, hole, etc.), electric wires, electric poles, people, animals, vehicles, construction machinery, buildings, walls, helmets, safety vests, work clothes, or a predetermined mark on a helmet. In this manner, the determination unit 36 ​​may be configured to be able to identify at least one of the type, position, shape, etc. of the object. For example, the determination unit 36 ​​may be configured to be able to distinguish between the dump truck 200 and an object other than the dump truck.

[0061] The determination unit 36 ​​performs various determinations based on image information (an example of detection information) from an imaging device 62 (an example of a detection device).

[0062] For example, the determination unit 36 ​​determines the license plate information of the dump truck 200 present in front of the asphalt finisher 100 based on the image information from the imaging device 62. This allows the determination unit 36 ​​to identify the license plate information of the dump truck 200 to be controlled.

[0063] Furthermore, the determination unit 36 ​​may determine the distance between the dump truck 200 and the asphalt finisher 100. The determination unit 36 ​​according to this embodiment has a correspondence relationship between the size of the dump truck 200 shown in the image and the distance between the rear wheels 202 of the dump truck 200 and the roller 2b of the asphalt finisher 100. This allows the determination unit 36 ​​to specify the distance between the rear wheels 202 of the dump truck 200 and the roller 2b of the asphalt finisher 100 from the image information acquired by the acquisition unit 32.

[0064] For example, after detecting the dump truck 200 from the image captured by the imaging device 62, the determination unit 36 ​​determines whether or not it is possible to position the loading platform 201 of the dump truck 200 at the designated position. The designated position is a position of the loading platform 201 suitable for transferring the paving material in the loading platform 201 into the hopper 2, and is a position that partially overlaps with the position of the hopper 2 of the asphalt finisher 100 in the vertical direction. In addition, the designated position is a position to which the asphalt finisher 100 moves as it moves. Information about the designated position is typically stored in advance in a storage medium of the controller 30. In this embodiment, the information about the designated position is information about a rectangular area having approximately the same size (area) as the loading platform 201 in a top view. In other words, the information about the designated position is information about a rectangular parallelepiped space having approximately the same size (volume) as the loading platform 201. Therefore, "positioning the loading platform 201 of the dump truck 200 at the designated position" means, for example, matching a rectangular area corresponding to the actual loading platform 201 with a rectangular area corresponding to the designated position. The rectangular area ZN indicated by the dotted line in FIG. 1B is an example of a rectangular area corresponding to the designated position.

[0065] The path correction unit 34 corrects the movement path generated by the path generation unit 33. The path correction unit 34 of the present embodiment corrects the movement path (the first movement path or the second movement path) based on the determination result of the determination unit 36.

[0066] For example, based on the position information input from the GPS module 50, the image captured by the imaging device 62, and the first movement path, the determination unit 36 ​​determines whether or not a space corresponding to the first movement path of the asphalt finisher 100 is captured in the image. If the determination unit 36 ​​determines that a space corresponding to the first movement path of the asphalt finisher 100 is captured, it determines whether or not an obstacle (e.g., a manhole, etc.) is present on the path of the wheels of the asphalt finisher 100 moving along the first movement path.

[0067] When the determination unit 36 ​​determines that an obstacle (e.g., a manhole, etc.) exists on the path of the wheels of the asphalt finisher 100, the path correction unit 34 corrects the first movement path so that the obstacle does not overlap with the path of the wheels of the asphalt finisher 100. In this way, the path correction unit 34 can prevent the wheels of the asphalt finisher 100 from running over the obstacle. Furthermore, by performing this correction, the path correction unit 34 can prevent the quality of the paved asphalt from deteriorating as described above.

[0068] Furthermore, the determination unit 36 ​​determines whether or not a space corresponding to the second movement path of the dump truck 200 is captured in the image based on the position information input from the GPS module 50, the image captured by the imaging device 62, and the second movement path. If the determination unit 36 ​​determines that a space corresponding to the second movement path is captured in the image, the determination unit 36 ​​determines whether or not an obstacle (e.g., a manhole, etc.) is present on the path of the wheels of the dump truck 200 moving along the second movement path.

[0069] When the determination unit 36 ​​determines that an obstacle (e.g., a manhole, etc.) exists on the path of the wheels of the dump truck 200, the path correction unit 34 corrects the second movement path so that the obstacle does not overlap with the path of the wheels of the dump truck 200. In this way, the path correction unit 34 can prevent the wheels of the dump truck 200 from running over the obstacle. In addition, by performing this correction, the path correction unit 34 can prevent the quality of the paved asphalt from deteriorating as described above.

[0070] Furthermore, the determination unit 36 ​​determines whether or not the position of an obstacle (e.g., a step such as a manhole) described in the construction plan is misaligned with the position of an obstacle detected by the detection unit 35 from an image captured by the imaging device 62. The determination of whether or not the position is misaligned can be made by converting the position of the obstacle shown in the captured image into coordinates in the world geodetic system, and then comparing the position of the obstacle shown in the image with the position of the obstacle on the construction plan. The method of converting into coordinates in the world geodetic system can be realized by using a well-known method. Note that the method of determining whether or not the position of an obstacle (e.g., a step such as a manhole) described in the construction plan is misaligned with the actual position of the obstacle is not limited to the determination based on the image captured by the imaging device 62. For example, the determination unit 36 ​​may recognize that the position of the obstacle on the construction plan is misaligned according to an input from the operator.

[0071] Then, when the determination unit 36 ​​determines that the position of the obstacle on the construction plan drawing is misaligned, the path correction unit 34 corrects the position of the obstacle on the construction plan drawing based on the position of the obstacle captured in the image captured by the imaging device 62. Then, the path correction unit 34 corrects the first movement path so that the obstacle does not overlap with the path of the wheels of the asphalt finisher 100. Furthermore, the path correction unit 34 corrects the second movement path so that the obstacle does not overlap with the path of the wheels of the dump truck 200. As a method of correcting the first movement path and the second movement path, the path correction unit 34 may correct the position where the asphalt finisher 100 starts construction, for example, by shifting it to the left or right.

[0072] The command generating unit 37 generates a control command for running the asphalt finisher 100 along the first movement path. Specifically, the command generating unit 37 of this embodiment generates an acceleration command or deceleration command for the asphalt finisher 100 to continue construction. Furthermore, the command generating unit 37 generates a control command related to steering for moving along the first movement path based on the first movement path, the acceleration command or deceleration command, and the position information of the asphalt finisher 100 received from the GPS module 50. Furthermore, the command generating unit 37 may generate a control command for braking or the like as necessary. Then, the command generating unit 37 outputs the generated control command to the drive system controller 55.

[0073] The control command generated by the command generating unit 37 in this embodiment includes, for example, a control command for steering the bed 201 of the dump truck 200 to position it at a specified position. Other control commands include, for example, a control command for instructing the dump truck 200 to move backward or stop in order to bring the rear wheels 202 of the dump truck 200 into contact with the rollers 2b.

[0074] Furthermore, the command generating unit 37 generates a control command for causing the transport vehicle (e.g., the dump truck 200) to travel along the second movement path after steering the dump truck 200 to position the loading platform 201 at the designated position. Then, the command generating unit 37 outputs the generated control command to the communication control unit 38. The control command for traveling along the second movement path is, for example, a steering command to the right or left, a deceleration command, or a braking command.

[0075] The command generating unit 37 generates a control command for driving the dump truck 200 along the second moving path. Specifically, the command generating unit 37 of this embodiment generates an acceleration command or a deceleration command for the dump truck 200 so that the hopper 2 of the asphalt finisher 100 and the loading platform 201 of the dump truck 200 are kept overlapped in the vertical direction. Furthermore, the command generating unit 37 generates a control command related to steering for moving along the second moving path based on the second moving path, the acceleration command or the deceleration command for the dump truck 200, and the position information of the dump truck 200. The position information of the dump truck 200 is calculated by the command generating unit 37 from the position information of the asphalt finisher 100 acquired from the GPS module 50 and the relative positional relationship between the asphalt finisher 100 and the dump truck 200. Furthermore, the command generating unit 37 may generate a control command for braking the dump truck 200 as necessary. Then, the command generating unit 37 outputs the generated control command for the dump truck 200 to the wireless communication device 40.

[0076] The control command generated by the command generating unit 37 is not limited to the above-mentioned command, and may be various other control commands. For example, the control command generated by the command generating unit 37 may be a command that can be executed by the ADAS of the asphalt finisher 100, such as turning on / off the headlights of the asphalt finisher 100 or issuing a warning to the operator of the asphalt finisher 100. Similarly, the control command generated by the command generating unit 37 may include a command that can be executed by the ADAS of the dump truck 200, such as turning on / off the headlights of the dump truck 200 or issuing a warning to the driver of the dump truck 200.

[0077] The communication control unit 38 controls communication with a transport vehicle such as the dump truck 200 via the wireless communication device 240. For example, the communication control unit 38 controls communication with the wireless communication device 240 indicated by the identification information associated with the license plate information determined by the command generation unit 37. This enables the controller 30 to transmit a control command generated for the dump truck 200 to the dump truck 200. For example, the communication control unit 38 transmits a control command to the wireless communication device 240 to move the dump truck 200 according to the second movement route generated by the command generation unit 37.

[0078] Furthermore, the communication control unit 38 receives image information regarding the image captured by the first imaging device 261 of the dump truck 200 via the wireless communication device 240.

[0079] It is difficult for the operator of the asphalt finisher 100 to visually confirm the traveling direction when the dump truck 200 is present ahead. Therefore, the communication control unit 38 according to this embodiment receives image information relating to an image showing the front of the dump truck 200, captured by the first imaging device 261 of the dump truck 200. The communication control unit 38 outputs the received image information to the main monitor 60. This allows the operator of the asphalt finisher 100 to grasp the situation ahead of the dump truck 200.

[0080] Then, the determination unit 36 ​​determines whether or not an obstacle exists on the movement path of the dump truck 200 and the asphalt finisher 100 based on the received image information. The obstacle to be determined may be any object. For example, the obstacle to be determined may be a shovel, a pylon, or the like.

[0081] Then, when the determination unit 36 ​​determines that an obstacle exists, the audio output device 63 outputs warning information indicating the existence of an obstacle in accordance with an instruction from the determination unit 36. This allows the operator to recognize the presence or absence of an obstacle on the travel route. Furthermore, the operator can recognize the status of the travel route by visually checking the image information.

[0082] Fig. 3 is a diagram showing a processing procedure performed by the asphalt finisher 100 according to this embodiment. The processing procedure shown in Fig. 3 is executed before the asphalt finisher 100 performs construction. The dump truck 200 may be driven by a driver, or may be automatically steered by an ADAS or the like.

[0083] The acquisition unit 32 acquires a construction plan drawing (S301).

[0084] The path generating unit 33 generates a first movement path of the asphalt finisher 100 and a second movement path of the dump truck 200 based on the construction plan drawing acquired by the acquiring unit 32 (S302).

[0085] The determination unit 36 ​​determines whether or not an obstacle exists on the first movement path of the asphalt finisher 100 or the second movement path of the dump truck 200 (S303). The determination of whether or not an obstacle exists may be based on an image captured by the imaging device 62, or may be based on an operation from the operator received by the input device 60a. If the determination unit 36 ​​determines that no obstacle exists (S303: No), the controller 30 executes the process of S305.

[0086] On the other hand, if the determination unit 36 ​​determines that an obstacle exists on the first movement path of the asphalt finisher 100 or on the second movement path of the dump truck 200 (S303: Yes), the path correction unit 34 corrects the movement paths (first movement path and second movement path) so as to avoid contact with the obstacle (S304).

[0087] Then, the controller 30 starts controlling the movement of the asphalt finisher 100 along the first movement path of the asphalt finisher 100 (S305).

[0088] The acquisition unit 32 acquires image information indicating the image captured by the imaging device 62 (S306).

[0089] Then, the detection unit 35 determines whether or not the dump truck 200 is present ahead of the asphalt finisher 100 based on the image information (S307). If the detection unit 35 determines that the dump truck 200 is not present (S307: No), the controller 30 executes the process of S307 again after a predetermined time.

[0090] When the detection unit 35 determines that the dump truck 200 is present (S307: Yes), the communication control unit 38 identifies the identification information of the wireless communication device 240 from the license plate information of the dump truck 200. Then, the communication control unit 38 starts communication with the dump truck 200 equipped with the wireless communication device 240 indicated by the identified identification information (S308). As a result, the controller 30 starts automatic control of the dump truck 200.

[0091] The communication control unit 38 transmits the control command generated by the command generating unit 37 to the wireless communication device 240 of the dump truck 200 in order to steer the dump truck 200 so as to position the bed 201 of the dump truck 200 at the specified position (S309). As a result, the dump truck 200 moves to a position where the bed 201 of the dump truck 200 overlaps with the hopper 2 of the asphalt finisher 100 in the vertical direction. Thereafter, the dump truck 200 becomes able to move together with the asphalt finisher 100.

[0092] The acquisition unit 32 acquires the position information from the GPS module 50 (S310). This allows the controller 30 to recognize the position information of the asphalt finisher 100 and the position information of the dump truck 200.

[0093] The command generating unit 37 generates a control command such as acceleration or deceleration of the dump truck 200 so as to maintain an overlapping state between the dump truck 200 and the asphalt finisher 100 (a state in which the loading platform 201 of the dump truck 200 overlaps vertically with the hopper 2 of the asphalt finisher 100) (S311). More specifically, the command generating unit 37 monitors the distance between a component part (e.g., rear wheels, etc.) of the dump truck 200 and a component part (e.g., rollers, etc.) of the asphalt finisher 100, and performs control so that the speed of the dump truck 200 is approximately the same as the speed of the asphalt finisher 100 even if a change in the distance occurs.

[0094] Furthermore, the command generating unit 37 generates a steering control command for the dump truck 200 to move along the second movement path based on the position information of the dump truck 200, the second movement path of the dump truck 200, and control commands related to the current speed, acceleration, deceleration, or speed maintenance of the dump truck 200 (S312).

[0095] Then, the communication control unit 38 transmits a control command for steering and a control command for acceleration or deceleration, etc., to the wireless communication device 240 of the dump truck 200 via the wireless communication device 40 (S313).

[0096] The command generating unit 37 generates a control command for steering the asphalt finisher 100 to move along the first movement path, based on the first movement path and the position information of the asphalt finisher 100. Then, the drive system controller 55 performs steering control according to the control command (S314). Next, the control command generated by the command generating unit 37 will be described.

[0097] Fig. 4 is a top view of a construction site showing a first movement path and a second movement path generated by the path generating unit 33 to construct a curved section (left curve section) of a road. In the example shown in Fig. 4, the asphalt finisher 100 paves the road surface between the left boundary line LP and the right boundary line RP with an asphalt mixture. For this reason, the asphalt finisher 100 extends the screed device 3 until it reaches each of the left boundary line LP and the right boundary line RP.

[0098] The first movement path AFL is generated by the path generating unit 33 so that the asphalt finisher 100 can lay the asphalt mixture on the road surface between the left boundary line LP and the right boundary line RP. The first movement path AFL is generated by the path generating unit 33 as a movement path for the asphalt finisher 100 so that the road to be constructed can be paved with the asphalt mixture in accordance with the construction plan drawing.

[0099] In this embodiment, the path generating unit 33 generates the second movement path DTL based on the first movement path AFL of the asphalt finisher 100. The second movement path DTL is a movement path for the dump truck 200 that maintains a state in which the loading platform 201 of the dump truck 200 and the hopper 2 of the asphalt finisher 100 overlap in the vertical direction while the asphalt finisher 100 moves according to the first movement path AFL. Therefore, the dump truck 200 can realize a stable supply of paving material from the dump truck 200 to the asphalt finisher 100.

[0100] The second movement route DTL is a movement route used for control after the loading platform 201 of the dump truck 200 is positioned at the designated position. In other words, the controller 30 performs automatic control according to the second movement route DTL after controlling the dump truck 200 to position the loading platform 201 of the dump truck 200 at the designated position.

[0101] Then, after the supply of paving material from the dump truck 200 to the asphalt finisher 100 is completed, the controller 30 ends the control of the dump truck 200 according to the second movement route DTL. In this manner, the controller 30 of this embodiment controls the dump truck 200 according to the second movement route DTL only while the loading platform 201 of the dump truck 200 is positioned at the designated position. This allows the controller 30 to control a plurality of dump trucks 200 according to the second movement route DTL.

[0102] The first moving path AFL and the second moving path DTL are expressed using a reference coordinate system. The reference coordinate system is, for example, the World Geodetic System. The reference coordinate system is not limited to the World Geodetic System, and may be any position coordinate system that can be associated with the position information received by the asphalt finisher 100.

[0103] Point AP1 indicates the position of the front end of the asphalt finisher 100 at the first time point, which is the start of construction. Point AP2 indicates the position of the front end of the asphalt finisher 100 at the second time point after the asphalt finisher 100 has advanced a predetermined distance from the first time point according to the first movement path AFL. Point AP3 indicates the position of the front end of the asphalt finisher 100 at the third time point after the asphalt finisher 100 has advanced a predetermined distance from the second time point according to the first movement path AFL. The path generating unit 33 of this embodiment generates the second movement path DTL (an example of a second path) on the outer periphery side of the first movement path AFL (an example of a first path) in the curved portion (left curve portion) of the road surface to be constructed. As a result, this embodiment can maintain an overlapping state even in the curved portion.

[0104] The command generating unit 37 generates a control command to operate the asphalt finisher 100 so that the actual position coordinates indicated by the position of the front end of the asphalt finisher 100 (for example, point AP1, point AP2, or point AP3) coincide with one of the position coordinates that constitute the first movement path AFL.

[0105] Specifically, the steering control unit 50b calculates position information indicating the position of the front end of the asphalt finisher 100 (for example, point AP1, point AP2, point AP3) based on the position information from the GPS module 50. Then, when the steering control unit 50b determines that it is necessary to steer rightward or leftward to follow the first movement path AFL based on the calculated position information, it generates a control command to steer rightward or leftward. In addition, the steering control unit 50b calculates a steering angle for following the first movement path AFL according to at least one of the current speed and acceleration of the asphalt finisher 100. The calculated steering angle is included in the control command.

[0106] Point DP1 indicates the position of the front end of the dump truck 200 at a first time point, which is the start of construction. Point DP2 indicates the position of the front end of the dump truck 200 at a second time point after the dump truck 200 has traveled a predetermined distance from the first time point along the second movement path DTL. Point DP3 indicates the position of the front end of the dump truck 200 at a third time point after the dump truck 200 has traveled a predetermined distance from the second time point along the second movement path DTL.

[0107] The command generating unit 37 generates a control command to operate the dump truck 200 so that the actual position coordinates indicated by the position of the front end of the dump truck 200 (for example, point DP1, point DP2, or point DP3) match one of the position coordinates constituting the second movement path DTL. Furthermore, the command generating unit 37 generates a control command to maintain a state in which the hopper 2 of the asphalt finisher 100 and the loading platform 201 of the dump truck 200 overlap in the vertical direction. The speed of the dump truck 200 may be controlled based on the speed of the asphalt finisher 100.

[0108] Specifically, the command generating unit 37 generates a control command indicating acceleration, deceleration, or maintaining the speed of the dump truck 200 based on at least one of the speed and acceleration of the asphalt finisher 100. Furthermore, the command generating unit 37 calculates position information indicating the position of the front end of the dump truck 200 (for example, points DP1, DP2, and DP3) based on the position information from the GPS module 50. Then, when the command generating unit 37 determines that it is necessary to steer to the right or left in order to follow the second movement path based on the calculated position information, it generates a control command to steer to the right or left. Furthermore, the command generating unit 37 calculates a steering angle for following the second movement path according to at least one of the current speed and acceleration of the dump truck 200. The calculated steering angle is included in the control command. Then, the communication control unit 38 transmits a control command for the dump truck 200 to the wireless communication device 240 of the dump truck 200 via the wireless communication device 40.

[0109] Returning to FIG. 3, the communication control unit 38 receives image information captured by the first imaging device 261 of the dump truck 200 via the wireless communication device 40 (S315).

[0110] The determination unit 36 ​​determines whether or not an obstacle is present on the first movement path of the asphalt finisher 100 and the second movement path of the dump truck 200 based on the image information received by the communication control unit 38 (S316). If the determination unit 36 ​​determines that no obstacle is present (S316: No), the controller 30 executes the process of S318.

[0111] On the other hand, if the determination unit 36 ​​determines that an obstacle is present (S316: Yes), the audio output device 63 outputs warning information indicating the presence of an obstacle in accordance with an instruction from the determination unit 36 ​​(S317).

[0112] Thereafter, the controller 30 determines whether or not the supply of the asphalt mixture from the dump truck 200 has ended (S318). Any method may be used to determine whether or not the supply of the asphalt mixture has ended, and for example, the determination may be based on a notification from the dump truck 200. When the controller 30 determines that the supply of the asphalt mixture has not ended (S318: No), the controller 30 executes the processing from S310 onward.

[0113] If the controller 30 determines that the supply of asphalt mixture has ended (S318: No), the communication control unit 38 transmits a control command generated by the command generating unit 37 to the wireless communication device 240 of the dump truck 200 in order to move the dump truck 200 away from the asphalt finisher 100 (S319).

[0114] After that, the controller 30 determines whether or not the construction along the first movement path is completed (S320). If it is determined that the construction is not completed (S320: No), the controller 30 executes the processes from S307 onwards again.

[0115] On the other hand, if it is determined that the construction is completed (S320: No), the controller 30 ends the process.

[0116] The asphalt finisher 100 of this embodiment can pave the road surface to be worked on with asphalt mixture by carrying out the above-mentioned processes.

[0117] The controller 30 of the above-described embodiment generates a second movement path for a transport vehicle such as a dump truck 200 so that an overlap state can be maintained when the asphalt finisher 100 travels along the first movement path. As a result, the controller 30 can synchronize the steering of the asphalt finisher 100 and the steering of the dump truck 200. Furthermore, the controller 30 of this embodiment generates a control command regarding the acceleration and deceleration of the dump truck 200 according to the positional relationship between the asphalt finisher 100 and the dump truck 200. As a result, the controller 30 can synchronize the speed of the asphalt finisher 100 and the speed of the dump truck 200. The controller 30 according to this embodiment can determine whether the hopper 2 maintains an overlap state with the loading platform 201 based on the positional relationship between the rear wheels of the dump truck 20 and the rollers 2b of the asphalt finisher 100. However, in this embodiment, it is not necessary to use the rear wheels of the dump truck 20 or the rollers 2b of the asphalt finisher 100 to determine whether the overlapped state is being maintained. For example, it may be determined whether the hopper 2 maintains an overlapped state with the bed 201 based on the positional relationship between the front end of the hopper 2 and the rear end of the bed 201. In other words, the controller 30 according to this embodiment may perform control to maintain the overlapped state based on the positional relationship between the front end of the hopper 2 and the rear end of the bed 201.

[0118] The controller 30 of this embodiment uses the above-mentioned control to synchronize the operation of a transport vehicle such as the dump truck 200 with the operation of the asphalt finisher 100. Note that the operations to be synchronized are not limited to steering and speed, and may be turning on / off headlights or blinkers, output of warning information, etc.

[0119] In the above example, the case where the imaging device 62 captures an image of the space in front of the asphalt finisher 100 has been described. Then, when the dump truck 200 is detected in front of the asphalt finisher 100, the controller 30 controls the dump truck 200. However, this embodiment is not limited to the case where the transport vehicle to be controlled is in front of the asphalt finisher 100. The controller 30 may control a transport vehicle present around the asphalt finisher 100. For example, when the asphalt finisher 100 further includes an imaging device capable of capturing images in the left and right directions, the controller 30 may control a dump truck detected by the imaging device. In this case, for example, the controller 30 of the asphalt finisher 100 transmits a control command to the detected dump truck to move forward and then move backward. The subsequent control is similar to the above embodiment. In this way, the detection device such as the imaging device may have a detection range as long as it is around the asphalt finisher 100. The controller 30 may then control the transport vehicle that is detected within the detection range.

[0120] In the above example, the case where the imaging device 62 detects a transport vehicle such as the dump truck 200 has been described. However, in this embodiment, the detection device that detects the transport vehicle is not limited to the imaging device. The detection device may be a sensor or the like that can detect the position of the dump truck 200. For example, the detection device may be a distance sensor such as LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) or millimeter wave radar.

[0121] The steering information that the asphalt finisher 100 transmits to the dump truck 200 to steer the dump truck 200 is not limited to a steering control command, and may be any information necessary for steering the dump truck 200. For example, if the dump truck 200 is capable of steering according to the second movement route when it receives the second movement route, the asphalt finisher 100 may transmit the second movement route as the steering information.

[0122] In the above-described embodiment, the asphalt finisher 100, with the above-described configuration, can synchronize the operation of the asphalt finisher 100 with the operation of the dump truck 200, thereby reducing the burden on the driver of the dump truck 200 associated with manual steering.

[0123] Furthermore, by synchronizing the steering of the asphalt finisher 100 with the steering of the dump truck 200, the asphalt finisher 100 can prevent deviation in the positional relationship between the loading platform 201 of the dump truck 200 and the hopper 2 of the asphalt finisher 100, thereby stabilizing the supply of paving material from the dump truck 200 to the asphalt finisher 100. This allows the asphalt finisher 100 to prevent deterioration in the quality of the paved surface after construction.

[0124] (Modification) In the above-described embodiment, an example in which the first movement path for the asphalt finisher 100 and the second movement path for the dump truck 200 are generated in the asphalt finisher 100 has been described. However, the above-described embodiment is not limited to the case in which the first movement path for the asphalt finisher 100 and the second movement path for the dump truck 200 are generated in the asphalt finisher 100. Therefore, in the modified example, the movement path is generated by an external information processing device. That is, in the present modified example, in an asphalt finisher construction support system including the asphalt finisher 100, the dump truck 200, and the information processing device, the information processing device generates the first movement path for the asphalt finisher 100 and the second movement path for the dump truck 200 in order to synchronize the operation of the dump truck 200 with the operation of the asphalt finisher 100.

[0125] The externally provided information processing device inputs and processes the construction plan drawing, and then generates a first movement path for the asphalt finisher 100 and a second movement path for the dump truck 200.

[0126] Then, the information processing device transmits the first movement route for the asphalt finisher 100 and the second movement route for the dump truck 200 to the wireless communication device 40 of the asphalt finisher 100. The subsequent processing is the same as in the above-described embodiment, and a description thereof will be omitted. As in this modified example, if the device is included in the construction support system for the asphalt finisher, control may be executed to synchronize the operation of the dump truck 200 with the operation of the asphalt finisher 100.

[0127] In the above-mentioned embodiment and modified example, the transport vehicle and asphalt finisher are automatically controlled at the road paving site so as to follow the road to be paved, improving safety in road paving. Furthermore, in the above-mentioned embodiment and modified example, the operator of the asphalt finisher can check the surrounding situation based on image information captured in front of the transport vehicle, improving safety for the operator and surrounding workers.

[0128] Although the embodiments and modifications of the asphalt finisher, the dump truck (an example of a transport vehicle), and the construction support system for the asphalt finisher have been described above, the present invention is not limited to the above embodiments and modifications. Various changes, modifications, substitutions, additions, deletions, and combinations are possible within the scope of the claims. Naturally, these also fall within the technical scope of the present invention.

[0129] This application claims priority based on Japanese Patent Application No. 2021-056024, filed on March 29, 2021, the entire contents of which are incorporated herein by reference. [Explanation of symbols]

[0130] 100... Asphalt finisher 30... Controller 31... Dump truck identification information storage unit 32... Acquisition unit 33... Path generation unit 34... Path correction unit 35... Detection unit 36... Determination unit 37... Command generation unit 38... Communication control unit 62... Imaging device

Claims

1. A tractor, A hopper installed in front of the tractor; a conveyor for conveying the paving material in the hopper to the rear side of the tractor; A screw that spreads the paving material transported by the conveyor and scattered on the road surface in a vehicle width direction; An asphalt finisher comprising: a screed device that spreads the paving material spread by the screw on the rear side of the screw; In order to synchronize the operation of the transport vehicle with the operation of the asphalt finisher, steering information for steering the transport vehicle is generated based on a construction plan diagram showing the area to be worked on by the asphalt finisher and position information of the asphalt finisher, and is transmitted to the transport vehicle. Asphalt finisher.

2. The steering information to be transmitted to the transport vehicle is information indicating steering to follow a second route, The second path is a path along which the asphalt finisher moves on the outer periphery side of the first path along which the asphalt finisher is steered in a curved portion of the road surface. An asphalt finisher as claimed in claim 1.

3. Furthermore, a path along which the asphalt finisher moves is generated based on a construction plan showing an area to be constructed by the asphalt finisher. An asphalt finisher as claimed in claim 1.

4. Correcting the generated path; An asphalt finisher as claimed in claim 3.

5. and controlling the transport vehicle so as to maintain a state in which the platform of the transport vehicle and the hopper are overlapped in the vertical direction. An asphalt finisher as claimed in claim 1.

6. receiving information detected by a detection device provided in front of the transport vehicle from the transport vehicle; An asphalt finisher as claimed in claim 1.

7. determining whether or not there is an obstacle based on the information detected by the detection device; An asphalt finisher as claimed in claim 6.

8. An asphalt finisher construction support system for use in an asphalt finisher including a tractor, a hopper installed in front of the tractor, a conveyor that transports paving material in the hopper to the rear of the tractor, a screw that spreads the paving material transported by the conveyor and scattered on a road surface in the vehicle width direction, a screed device that spreads the paving material spread by the screw behind the screw, and a communication device, A control device is provided that is configured to transmit steering information for steering the transport vehicle to the transport vehicle using the communication device, the steering information being generated based on a construction plan showing an area to be worked on by the asphalt finisher and position information of the asphalt finisher in order to synchronize the operation of the transport vehicle with the operation of the asphalt finisher. Construction support system for asphalt finishers.

9. The steering information to be transmitted to the transport vehicle is information indicating steering to follow a second route, The second path is a path along which the asphalt finisher moves on the outer periphery side of the first path along which the asphalt finisher is steered in a curved portion of the road surface. An asphalt finisher construction support system according to claim 8.

10. Furthermore, the control device is configured to generate a path for the asphalt finisher to move based on a construction plan drawing showing an area to be constructed by the asphalt finisher. An asphalt finisher construction support system according to claim 8.

Images