Rolling compaction support system and work machine

Abstract

To provide a rolling compaction support system capable of improving the accuracy of rolling compaction work while suppressing deterioration of work efficiency by suppressing oversight of incomplete sections.SOLUTION: A rolling compaction support controller that notifies an operator of a rolling compaction state for each ground at various locations in a work site based on tire roller position information: calculates a predicted movement route from a reference time point to a time point at which a prescribed time has elapsed based on speed information, being information related to the movement speed of a tire roller and the position information; calculates a predicted rolling compaction state, being a rolling compaction state from the reference time point to the time point at which the prescribed time has elapsed based on a predicted movement route and vehicle body information for a work machine; and displays a predicted non-compacted ground display image to prompt the operator to perform an operation to suppress the occurrence of non-compacted ground based on non-compacted ground, being the ground remaining to be compacted after a prescribed time point from the reference time point calculated based on the rolling compaction state and the predicted rolling compaction state.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a rolling compaction assistance system and a work machine. [Background technology]

[0002] BACKGROUND ART Work machines such as road rollers and tire rollers used for compaction work at civil engineering sites have a frame that forms the main body, and tires or iron wheels for running, and perform the desired compaction work in response to operating instructions from an operator.

[0003] Conventionally, with such work machines, density measurements are taken using the sand displacement method, water displacement method, RI method, etc. after compaction work is completed, and the compaction status is managed by checking whether the compacted ground has reached the specified density. However, this manual management method requires a great deal of time and effort, and since it only manages the area where density measurements were actually taken, it is difficult to strictly manage the compaction status of the entire ground.

[0004] Given this situation, methods have been proposed in recent years for managing the condition of ground compaction by measuring the number of times a work machine is compacted.One example of this is a construction management system that uses a Global Navigation Satellite System (GNSS), represented by the Global Positioning System (GPS).

[0005] For example, Patent Document 1 discloses a compaction management method in which a vibratory roller is moved multiple times over an embankment area to compact the embankment, the embankment area is divided into multiple compaction target areas, and whether the embankment has been sufficiently compacted is determined for each of the compaction target areas. The compaction management method includes the following steps: a compaction count detection step of detecting the movement path of the vibratory roller over the embankment area and detecting the number of times the vibratory roller has rolled each of the compaction target areas from the movement path of the vibratory roller; a height acquisition step of acquiring the height of the embankment for each of the compaction target areas after the vibratory roller has moved over the embankment area; a subsidence calculation step of calculating the amount of subsidence of the embankment using the previous height of the embankment and the current height of the embankment for each of the compaction target areas through which the vibratory roller has moved; and a compaction determination step of determining that the embankment has been sufficiently compacted for a compaction target area where the amount of subsidence calculated in the subsidence calculation step is less than a predetermined value. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-52205 Summary of the Invention [Problem to be solved by the invention]

[0007] In the above-mentioned conventional technology, the position information of the work machine measured by GPS is used to manage the number of times the ground is compacted at each point that the work machine has passed through, and by monitoring changes in the amount of subsidence at each point in the ground, it is possible to accurately grasp the compaction situation.

[0008] However, for example, when construction is carried out by an operator with low levels of skill, it is difficult to predict the compaction condition after the compaction work based on the current compaction condition, so there is a risk that some of the ground will be left uncompacted after the compaction work, which could lead to delays in the work process due to rework and a decline in construction quality.

[0009] The present invention has been made in consideration of the above, and aims to provide a compaction support system that can improve the accuracy of compaction work while preventing a decrease in work efficiency by preventing incomplete sections (ground areas left uncompacted) from being overlooked. [Means for solving the problem]

[0010] The present application includes a plurality of means for solving the above-mentioned problems, and one example thereof is a rolling assistance system for assisting in the rolling work of compacting the ground in an area passed by a work machine at a work site, the system comprising: a position information acquisition device for acquiring position information of the work machine; a speed information acquisition device for acquiring speed information which is information relating to the movement speed of the work machine; and a controller for notifying an operator operating the work machine of the rolling status of the ground at each location on the work site based on the position information of the work machine, the controller acquiring a reference time at which the position information acquisition device acquired the position information based on the position information and the speed information. A predicted movement path that the work machine will take from the reference point until a predetermined time has elapsed is calculated, and a predicted compaction status, which is the compaction work to be performed by the work machine from the reference point until a predetermined time has elapsed, is calculated based on the predicted movement path and body information of the work machine, and information on left-over ground, where the work machine has not performed the compaction work from the reference point until the predetermined time has elapsed, is calculated based on the compaction status and the predicted compaction status, and operation guide information is notified to the operator based on the information on left-over ground, urging the operator to perform operations to prevent the occurrence of left-over ground. [Effects of the Invention]

[0011] According to the present invention, by suppressing the overlooking of incomplete sections, it is possible to improve construction quality while suppressing a decrease in work efficiency. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a perspective view showing a schematic external appearance of a pneumatic tire roller, which is an example of a work machine. [Figure 2] FIG. 2 is a functional block diagram showing the functions of the rolling compaction assistance controller according to the first embodiment together with the related configuration. [Figure 3] FIG. 3 is a sequence diagram showing the flow of processing in the rolling compaction assistance controller according to the first embodiment. [Figure 4] 10 is a flowchart showing the processing contents of a predicted remaining ground condition determination unit. [Figure 5] FIG. 1 is a diagram illustrating an example of a rolling compaction situation at a work site. [Figure 6] FIG. 1 is a diagram schematically illustrating an example of a predicted movement path at a work site. [Figure 7] FIG. 10 is a diagram illustrating an example of a predicted rolling compaction situation at a work site. [Figure 8] FIG. 1 is a diagram schematically illustrating an example of predicted remaining ground at a work site. [Figure 9] 10 is a diagram showing an example of a display of predicted remaining ground conditions output from a predicted remaining ground conditions determination unit to a display device and displayed. FIG. [Figure 10] FIG. 10 is a functional block diagram showing the functions of a rolling compaction assistance controller according to a second embodiment together with related configurations. [Figure 11] FIG. 10 is a sequence diagram showing the flow of processing in a rolling compaction assistance controller according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] An embodiment of the present invention will be described below with reference to the drawings. In this embodiment, a tire roller will be described as an example of a rolling machine, which is a work machine, but the present invention can also be applied to other work machines such as road rollers.

[0014] First Embodiment A first embodiment of the present invention will be described with reference to FIGS.

[0015] FIG. 1 is a perspective view that schematically shows the appearance of a pneumatic tire roller, which is an example of a work machine according to this embodiment.

[0016] In Figure 1, the tire roller 100 comprises a frame 101 that forms the main body, wheels 102 consisting of front wheels 102a and rear wheels 102b, a position sensor 104 that acquires position information that is information related to the position of the tire roller 100, a vehicle speed sensor 105 that acquires speed information that is information related to the movement speed of the tire roller 100, an input device 108 such as a keyboard that accepts various information input by an operator, a display device 109 such as a terminal monitor that displays various information to the operator, a compaction assistance controller 200 that displays the compaction status of the ground at each location on the work site on the display device and notifies the operator operating the work machine, and a travel control controller 300 that controls the travel operation of the work machine.

[0017] The position sensor 104 is a position information acquisition device that acquires position information related to the position of the pneumatic tire roller 100, and is configured, for example, by a Global Navigation Satellite System (GNSS). When a GNSS is used as the position sensor 104, the position (including height information) of the pneumatic tire roller 100 at the work site can be acquired.

[0018] The vehicle speed sensor 105 is a speed information acquisition device that acquires speed information related to the travel speed of the pneumatic tire roller 100, and is configured, for example, by a GNSS. When a GNSS is used as the position sensor 104, position information (including height information) of the pneumatic tire roller 100 at the work site is acquired, and the travel speed of the pneumatic tire roller 100 can be calculated from the amount of change in position per unit time. Note that, for example, the travel speed may be calculated from the outer diameter and rotation speed of the wheels 102.

[0019] The position sensor 104 and the vehicle speed sensor 105 also function as a traveling direction information acquisition device that acquires traveling direction information, which is information related to the moving direction (traveling direction), from changes in the position information of the tire roller 100.

[0020] FIG. 2 is a functional block diagram showing the functions of the rolling compaction assistance controller together with the related configuration.

[0021] In Figure 2, the compaction assistance controller 200 is roughly composed of a vehicle dimension memory unit 202, a vehicle position acquisition unit 204, a vehicle speed acquisition unit 205, a residual footing threshold memory unit 206, a compaction status calculation unit 210, a predicted movement path calculation unit 220, a predicted compaction status calculation unit 230, a predicted residual footing ground determination unit 260, and a predicted residual footing ground output unit 290.

[0022] The vehicle dimension storage unit 202 is a storage device that stores information about vehicle dimensions that has been input in advance by an operator operating an input device 108 such as a keyboard. The vehicle dimensions (VD) stored in the vehicle dimension storage unit 202 include information about the width of the wheels 102 of the pneumatic tire roller 100 (i.e., information about the width that is compressed as the pneumatic tire roller 100 advances), information about the length, and information about the mounting position of the position sensor 104 on the pneumatic tire roller 100.

[0023] The vehicle position acquisition unit 204 acquires the position information (VP) of the pneumatic tire roller 100 from the position sensor 104 .

[0024] The vehicle speed acquisition unit 205 acquires current speed information (VV) of the pneumatic tire roller 100 from the vehicle speed sensor 105 .

[0025] The residual pressure threshold storage unit 206 stores the residual pressure threshold (LT) input in advance by the operator via the input device 108.

[0026] The rolling condition calculation unit 210 calculates the rolling condition (CS) of each point of the ground that has been rolled by the tire roller 100 based on the current position information (VP) from the vehicle position acquisition unit 204 and the vehicle dimensions (VD) from the vehicle dimension memory unit 202.

[0027] FIG. 5 is a diagram showing a schematic example of a rolling compaction situation at a work site.

[0028] 5 shows a case where compaction work is being performed by the tire roller 100 along a preset lane, and the number of compactions (number of times compaction has been performed) is shown by different types of hatching for each predetermined management block. For example, FIG. 5 shows the second compaction of the second lane.

[0029] Here, a control block is a division of the construction area (the area to be compacted) into square areas (for example, 50cm square) of a predetermined size depending on the compaction machine (here, the tire roller 100). Note that the various specifications and regulations for compaction work, including control blocks, follow the "Guidelines for Embankment Compaction Management Using TS / GNSS" issued by the Ministry of Land, Infrastructure, Transport and Tourism.

[0030] The predicted movement path calculation unit 220 calculates a predicted movement path (VE) as the movement path of the tire roller 100 from the present (the point in time when the vehicle position acquisition unit 204 acquires the position of the tire roller 100: the reference point in time) to the point in time when a predetermined time has elapsed (for example, 5 seconds later) based on the current position information (VP) from the vehicle position acquisition unit 204 and the current speed information (VV) from the vehicle speed acquisition unit 205.

[0031] FIG. 6 is a diagram schematically illustrating an example of a predicted movement path in a work site.

[0032] As in Fig. 5, Fig. 6 shows a case where compaction work is being performed by the tire roller 100 along a preset lane, and the number of compactions (number of times compaction has been completed) is shown by different types of hatching for each predetermined management block. In Fig. 6, the predicted movement path (VE) is shown as a vector. Note that position information (VP') after a predetermined time can be obtained from the current position information (VP) and the vector of the predicted movement path (VE).

[0033] The predicted compaction status calculation unit 230 calculates the predicted compaction status (CE), which is the rolling status of each part of the ground that the tire roller 100 will update after a predetermined time (for example, 5 seconds), based on the vehicle dimensions (VD) from the vehicle dimension storage unit 202, the compaction status (CS) from the compaction status calculation unit 210, the predicted movement path (VE) from the predicted movement path calculation unit 220, and vehicle information about the tire roller 100 (information related to the compaction width, such as vehicle width).In other words, the predicted compaction status (CE), which is the compaction work status (rolling status) to be performed from the present (reference time) to the point when a predetermined time has elapsed (for example, 5 seconds from now), is calculated.The vehicle information about the compaction machine 100 may be input (manually input) by the operator using an input device 108 located in the driver's seat, or information that is pre-stored for each vehicle, may be used.

[0034] FIG. 7 is a diagram schematically illustrating an example of a predicted rolling compaction situation at a work site.

[0035] 7, similar to Fig. 5 etc., shows a case where compaction work is being performed by the tire roller 100 along a preset lane, and the number of compactions (number of times compaction has been completed) is shown by different types of hatching for each predetermined management block. Fig. 7 shows a predicted compaction situation (CE) obtained based on a predicted movement path (VE).

[0036] The predicted residual ground determination unit 260 calculates information about the ground that is predicted to be left behind by the tire roller 100 after a predetermined time (e.g., 5 seconds) (i.e., information about ground on which compaction work has not been performed) as the predicted residual ground (CL) based on the residual ground threshold (LT) from the residual ground threshold memory unit 206, the predicted compaction condition (CE) from the predicted compaction condition calculation unit 230, the compaction condition (CS) from the compaction condition calculation unit 210, and the predicted movement path (VE) from the predicted movement path calculation unit 220.

[0037] FIG. 8 is a diagram schematically illustrating an example of predicted remaining ground at a work site.

[0038] 8 shows a case where compaction work is being performed by the tire roller 100 along a preset lane, similar to Fig. 5 etc., and the number of compactions (number of times compaction has been performed) is shown by different types of hatching for each predetermined management block. Fig. 8 also shows the predicted remaining ground (CL) obtained based on the predicted compaction status (CE).

[0039] Here, an example of a method for determining ground that will be left uncompacted (predicted uncompacted ground (CL)) is shown. For example, if the set value of the uncompacted ground threshold (LT) is 1, the ground to the side of the predicted travel path (VE) (here, the first lane side (right side) where compaction work has already been completed) is the target of determination, for example, management blocks within 5 meters of the side. For the ground to be determined between a line that can be assumed to follow the rear end of the tire roller 100 at the current position and a line that can be assumed to follow the front end of the tire roller 100 at a position a predetermined time later, it is recursively determined whether the difference in the number of compactions of the surrounding ground is equal to or greater than the uncompacted ground threshold (LT). The set of adjacent management blocks that have the same number of compactions and are within the range of ground that is equal to or greater than the uncompacted ground threshold (LT) is determined to be the predicted uncompacted ground (CL). Note that areas adjacent to uncompacted blocks (compacted 0 times) are excluded from the determination target.

[0040] In this way, by limiting the management blocks to be judged to the ground on the side of the predicted movement path (VE), the area in which the pneumatic tire roller 100 can travel within 5 seconds is extracted, reducing the calculation load of the extraction process.

[0041] The predicted left-footed ground output unit 290 generates operation guide information that prompts the operator to perform an operation to prevent the occurrence of left-footed ground, based on the predicted left-footed ground (CL) from the predicted left-footed ground determination unit 260, the rolling condition (CS) from the rolling condition calculation unit 210, and the predicted movement path (VE) from the predicted movement path calculation unit 220, and outputs the generated operation guide information to the display device 109. In this embodiment, image information (predicted left-footed ground display image (PM)) for notifying the operator of the ground where left-footed ground is predicted is generated as the operation guide information, and output to the display device 109 to notify the operator of the ground where left-footed ground is predicted, thereby prompting the operator to perform an operation to prevent the occurrence of left-footed ground. Note that the operation guide information may be configured to notify the operator of the direction (left or right) in which left-footed ground will occur and the steering direction to be taken by voice or vibration, for example.

[0042] FIG. 9 is a diagram showing an example of a display of the predicted remaining ground condition output from the predicted remaining ground condition determining unit to a display device and displayed.

[0043] The predicted residual ground image (PM) displayed on the display device 109 shows, for example, the current position of the tire roller 100 with a symbol against the background of the current rolling status (CS), the predicted movement path (VE) with an arrow, and the predicted residual ground (CL) with a highlighted display (for example, an x ​​(cross) in FIG. 6 ) to encourage the operator to take action to prevent the occurrence of residual ground. Furthermore, the presence of ground that will become a predicted residual ground (CL) is further urged to the operator's attention by indicating it with a speech bubble or the like. By referring to the predicted residual ground image (PM) displayed on the display device 109, the operator can recognize that the current traveling direction will result in the occurrence of residual ground, and can take action to prevent the occurrence of residual ground, i.e., correct the traveling direction in advance to ensure an appropriate traveling direction. Note that FIG. 9 illustrates an example in which the management block of the predicted residual ground (CL) is shown with an x ​​mark, but other symbols may be used for highlighting, or the management block may be highlighted by flashing.

[0044] Figure 9 shows the vehicle travelling in a straight line through the construction area to compact it, but when compacting an embankment on a curved section of a road, for example, it is necessary to travel in a curved line through the construction area (lane) to compact it. When travelling in a curved line to compact it, advanced driving techniques are required, and it is more likely that uncompacted areas will occur, so presenting the predicted uncompacted ground (CL) is particularly effective.

[0045] Note that, in this embodiment, an example has been described in which the predicted remaining ground (CL) is calculated, but, for example, a method may be used in which a closed area in which the rolling condition is less than the surrounding area is extracted by referring only to the predicted rolling compaction condition (CE) without considering the predicted movement path (VE) of the tire roller 100. Furthermore, if the area to be worked on is predetermined by a drawing or the like, a method may be used in which the object to be determined is limited to the area to be worked on.

[0046] The operation of the present embodiment configured as above will now be described.

[0047] Fig. 3 is a sequence diagram showing the flow of processing in the rolling compaction assistance controller. Fig. 4 is a flowchart showing the processing content of the predicted remaining ground determination unit. Fig. 3 shows the flow of processing that is carried out from when the operator turns on the power of the tire roller 100, performs the specified construction work, and then turns off the power of the tire roller 100.

[0048] 3, to begin construction work, the operator first gets on the pneumatic tire roller 100 and turns on the pneumatic tire roller 100 (step S100). When the startup process for the pneumatic tire roller 100 is complete, the pneumatic tire compaction assistance application starts operating in the pneumatic tire compaction assistance controller 200. The pneumatic tire compaction assistance application displays a user interface related to the pneumatic tire compaction assistance on the display device 109 and requests the user to enter initial settings required for the pneumatic tire compaction assistance system (input settings for the vehicle dimensions (VD) and residual load threshold (LT)).

[0049] Next, in response to the initial setting request displayed on the display device 109, the operator inputs the vehicle dimensions (VD) via the input device 108 to perform the setting operation (step S110), and also inputs the remaining pedal pressure threshold (LT) via the input device 108 to perform the setting operation (step S120).

[0050] The vehicle dimensions (VD) also include offset information from the position of the position sensor 104 (for example, the GNSS antenna position) to the position of the wheel 102, which is the actual compaction position. Note that the offset information is a fixed value unless there is a change in the installation position of the position sensor 104, so the value input during the previous construction is set as the default input value.

[0051] The residual footing threshold (LT) is set to a judgment threshold used to judge the predicted residual footing ground (CL). In the judgment of the predicted residual footing ground (CL) in this embodiment, the rolling condition (CS) is managed by the number of times of rolling at each point of the ground, so for example, the residual footing threshold (LT) is set to a numerical value such as 1 time or 2 times. Note that when judging the predicted residual footing ground (CL), if the rolling condition (CS) is managed by the density of the ground, for example, the residual footing threshold (LT) is set to a numerical value such as 10% or 20%.

[0052] Once the operator has performed the initial settings, construction can begin. Thereafter, during the construction period until the operator finishes the construction, the rolling compaction assistance controller 200 periodically executes the processing of steps S210 to S301, which will be described later, as a loop processing, for example, at one-second intervals.

[0053] Next, the compaction assistance controller 200 calculates the compaction situation (CS) in the compaction situation calculation unit 210 (step S210), calculates the predicted movement path (VE) in the predicted movement path calculation unit 220 (step S220), calculates the predicted compaction situation (CE) in the predicted compaction situation calculation unit 230 (step S230), determines the predicted left-footed ground (CL) in the predicted left-footed ground determination unit 260 (step S240), and generates a predicted left-footed ground display image (PM) in the predicted left-footed ground output unit 290 and outputs it to the display device 109 (step S250).

[0054] As shown in Figure 4, in the processing at step S240 in Figure 3, the predicted residual ground determination unit 260 of the compaction support controller 200 first takes in the compaction status (CS) (step S241), takes in the predicted movement path (VE) (step S242), takes in the predicted compaction status (CE) (step S243), and takes in the residual ground threshold (LT) (step S244).

[0055] Next, closed areas (in this embodiment, closed areas with a low number of compactions) where the difference in compaction status (CS) from other surrounding management blocks is equal to or greater than the residual compaction threshold (LT) are extracted (step S245), and it is determined whether or not there are any closed areas (step S246).

[0056] If the determination result in step S246 is YES, that is, if there is a predicted left-over ground (CL), a closed area is output as the predicted left-over ground (CL) (step S247), and the process ends. Also, if the determination result in step S246 is NO, that is, if there is no predicted left-over ground (CL), an invalid value is output as the predicted left-over ground (CL) (step S248), and the process ends.

[0057] Return to Figure 3.

[0058] The operator performs driving operations such as acceleration / deceleration and steering by referring to the predicted residual pressure ground display image (PM) displayed on the display device 109 (step S130). If a predicted residual pressure ground (CL) is displayed, the operator corrects the traveling direction so that the predicted residual pressure ground (CL) disappears. If there is no predicted residual pressure ground (CL), the operator maintains the current traveling direction.

[0059] After the work is completed, the operator stops the pneumatic tire roller 100 and turns off the power to the pneumatic tire roller 100 (step S140).

[0060] The effects of the present embodiment configured as above will be described.

[0061] As with conventional technology, simply grasping the compaction situation with high accuracy makes it difficult for less skilled operators to predict the compaction situation after the compaction work from the current compaction situation, which can lead to the risk of some ground being left uncompacted after the compaction work, which can lead to delays in the work process due to rework and a decline in construction quality.

[0062] In contrast to this, in this embodiment, the tire roller 100 that performs the rolling work of compacting the ground in the area that it passes through at the work site is provided with a rolling compaction assistance controller 200 that displays the rolling status of the ground at each location on the work site on a display device 109 based on the position information of the tire roller 100 and notifies the operator operating the tire roller 100. The rolling compaction assistance controller 200 calculates the tire compaction status from the time when the vehicle position acquisition unit 204 acquires the position of the tire roller 100 (reference time) to the time when a predetermined time has elapsed based on the speed information, which is information related to the moving speed of the tire roller 100, and the position information. A predicted movement path (VE) is calculated as the movement path of the roller 100, and based on the predicted movement path (VE), a predicted compaction situation (CE) is calculated, which is the compaction situation (CS) at a predetermined time after the reference time point.Based on the compaction situation (CS) and the predicted compaction situation (CE), a left-over ground (CL) that the tire roller 100 will leave behind by the time a predetermined time has elapsed from the reference time point is predicted, and operation guide information (for example, a predicted left-over ground display image (PM)) that prompts the operator to perform an operation to prevent the occurrence of left-over ground is displayed, thereby improving the accuracy of the compaction work.

[0063] In other words, in this embodiment, since the locations where incomplete steps are likely to occur are notified to the operator in advance, the operator can correct the direction of travel in advance to avoid leaving incomplete steps, thereby preventing incomplete steps and enabling accurate ground compaction. In addition, since it is possible to prevent the need to re-compact incomplete steps, it is possible to prevent the reduction in ground strength due to ground kneading and over-compaction, and to improve the quality of ground compaction.

[0064] <Second embodiment> A second embodiment of the present invention will be described with reference to FIGS.

[0065] This embodiment shows a case where the present invention is applied to a work machine that performs automatic rolling compaction.

[0066] Fig. 10 is a functional block diagram showing the functions of the rolling compaction assistance controller together with the related configuration. Fig. 11 is a sequence diagram showing the flow of processing in the rolling compaction assistance controller. In the figure, the same reference numerals are used for the same components as in the first embodiment, and their explanations will be omitted.

[0067] In Figure 10, the compaction assistance controller 200A is roughly composed of a vehicle dimension memory unit 202, a vehicle position acquisition unit 204, a vehicle speed acquisition unit 205, a residual footing threshold memory unit 206, a compaction status calculation unit 210, a predicted movement path calculation unit 220, a predicted compaction status calculation unit 230, a predicted residual footing ground determination unit 260, and a predicted residual footing ground output unit 290A.

[0068] The predicted left-footed ground output unit 290A generates predicted left-footed ground information (PC) based on the predicted left-footed ground (CL) from the predicted left-footed ground determination unit 260, the rolling condition (CS) from the rolling condition calculation unit 210, and the predicted movement path (VE) from the predicted movement path calculation unit 220, and outputs it to the travel control controller 300. The predicted left-footed ground information (PC) in this embodiment is information in which the positions of management blocks of the ground corresponding to the predicted left-footed ground (CL) are stored in an array.

[0069] FIG. 11 shows the flow of processing that is carried out from when the operator turns on the power of the tire roller 100, performs a predetermined construction work, and then turns off the power of the tire roller 100.

[0070] 1, to begin construction work, the operator first gets on the pneumatic tire roller 100 and turns on the pneumatic tire roller 100 (step S100). When the startup process for the pneumatic tire roller 100 is complete, the pneumatic tire compaction assistance application starts operating in the pneumatic tire compaction assistance controller 200. The pneumatic tire compaction assistance application displays a user interface related to pneumatic tire compaction assistance on the display device 109 and requests the user to enter initial settings required for the pneumatic tire compaction assistance system (input settings for the vehicle dimensions (VD) and residual load threshold (LT)).

[0071] Next, in response to the initial setting request displayed on the display device 109, the operator inputs the vehicle dimensions (VD) via the input device 108 to perform the setting operation (step S110), and also inputs the remaining pedal pressure threshold (LT) via the input device 108 to perform the setting operation (step S120).

[0072] Next, the operator performs an operation to start the automatic rolling compaction work (step S300).

[0073] Once the operator has performed the initial settings, it becomes possible to start the automatic compaction work. Thereafter, during the construction work until the operator finishes the work, the compaction assistance controller 200 and the travel control controller 300 periodically execute the processing of steps S210 to S301 (described below) as a loop process, for example, at one-second intervals.

[0074] Next, the compaction support controller 200 calculates the compaction situation (CS) in the compaction situation calculation unit 210 (step S210), calculates the predicted movement path (VE) in the predicted movement path calculation unit 220 (step S220), calculates the predicted compaction situation (CE) in the predicted compaction situation calculation unit 230 (step S230), determines the predicted left-footed ground (CL) in the predicted left-footed ground determination unit 260 (step S240), and generates predicted left-footed ground information (PC) in the predicted left-footed ground output unit 290 and outputs it to the travel control controller 300 (step S251).

[0075] The travel controller 300 performs travel control while correcting the travel state based on the predicted unstepped ground information (PC) so that the predicted unstepped ground (CL) is eliminated (step S301). That is, when the travel along the predetermined travel route does not result in the expected rolling compaction condition, that is, when the predicted unstepped ground (CL) is present, the travel controller 300 corrects the travel direction so that the predicted unstepped ground (CL) is eliminated.

[0076] After the work is completed, the operator performs an operation to end the automatic rolling compaction work (step S310), and the operator stops the pneumatic tire roller 100 and performs an operation to turn off the power supply to the pneumatic tire roller 100 (step S140).

[0077] The other configurations are the same as those in the first embodiment.

[0078] The present embodiment configured as above can also achieve the same effects as the first embodiment.

[0079] In particular, embankments to be compacted are often not flat due to the properties of the material and the method of laying, so there is concern that the vehicle body will shake due to uneven ground conditions, reducing the accuracy of the automatic compaction work.However, in this embodiment, predicted residual ground information (PC) is used as feedback information for such situations to control travel, so the reduction in the accuracy of the automatic compaction work can be suppressed.

[0080] <Additional Notes> The present invention is not limited to the above-described embodiments, and includes various modifications and combinations within the scope of the gist thereof. Furthermore, the present invention is not limited to those including all of the configurations described in the above-described embodiments, and includes those in which some of the configurations are omitted. Furthermore, the above-described configurations, functions, etc. may be realized in part or in whole by designing them as, for example, integrated circuits. Furthermore, the above-described configurations, functions, etc. may be realized in software by a processor interpreting and executing a program that realizes each function. [Explanation of symbols]

[0081] 100... Tire roller, 101... Frame, 102... Wheel, 104... Position sensor, 105... Vehicle speed sensor, 108... Input device, 109... Display device, 200, 200A... Rolling compaction assistance controller, 202... Vehicle dimension memory unit, 204... Vehicle position acquisition unit, 205... Vehicle speed acquisition unit, 206... Threshold value memory unit, 210... Rolling compaction status calculation unit, 220... Predicted movement path calculation unit, 230... Predicted rolling compaction status calculation unit, 260... Ground determination unit, 290, 290A... Ground output unit, 300... Travel control controller

Claims

1. A rolling support system that supports rolling work to compact the ground in an area passed by a work machine at a work site, a position information acquisition device that acquires position information of the work machine; a speed information acquisition device that acquires speed information that is information related to the travel speed of the work machine; a controller that notifies an operator operating the work machine of the compaction status of the ground at each location at the work site based on position information of the work machine, The controller calculating a predicted movement path that the work machine will move until a predetermined time has elapsed from a reference time point when the position information acquisition device acquired the position information, based on the position information, the speed information, and movement direction information that is information related to the movement direction of the work machine, which is obtained based on the position information and the speed information; calculating a predicted rolling compaction status, which is the compaction work to be performed by the work machine until a predetermined time has elapsed from the reference time point, based on the predicted movement path and vehicle body information of the work machine; Based on the rolling compaction status and the predicted rolling compaction status, information on remaining ground that has not been compacted by the work machine until the predetermined time has elapsed from the reference time point is calculated; A rolling compaction support system characterized by providing the operator with operation guidance information that prompts the operator to perform operations to prevent the occurrence of the uncompacted ground based on the information on the uncompacted ground.

2. The rolling compaction support system according to claim 1, A rolling support system characterized in that the operation guide information that prompts the operator to perform operations to prevent the occurrence of left-over ground is at least one of visual information that displays information about the left-over ground along with the rolling status on a display device, and audio information that prompts the operator by voice to perform operations to prevent the occurrence of left-over ground.

3. The rolling compaction support system according to claim 1, The rolling support system is characterized in that the rolling status is at least one of the number of times the ground has been compacted, the height of the ground, and the density of the ground.

4. The rolling compaction support system according to claim 3, The controller is configured to designate, as the remaining ground, the area of ​​ground where the difference in the compaction condition from the surrounding ground in the predicted compaction condition is greater than a predetermined range, as the remaining ground that the work machine will leave uncompacted by the time the predetermined time has elapsed from the reference time point.

5. In a work machine that performs rolling work to compact the ground in the area it passes through at a work site, a controller that displays the compaction status of each ground at each location on the work site on a display device based on the position information of the work machine and notifies an operator who operates the work machine; The controller calculating a predicted movement path that the work machine will move until a predetermined time has elapsed from a reference time point when the position information was acquired, based on speed information that is information related to the movement speed of the work machine, traveling direction information that is information related to the traveling direction of the work machine, which is obtained based on the position information and the speed information, and the position information; calculating a predicted rolling compaction status, which is the compaction work to be performed by the work machine until a predetermined time has elapsed from the reference time point, based on the predicted movement path and vehicle body information of the work machine; Based on the rolling compaction status and the predicted rolling compaction status, information on remaining ground that has not been compacted by the work machine until the predetermined time has elapsed from the reference time point is calculated; A work machine characterized in that, based on information about the remaining ground, operation guide information is presented to the operator to prompt the operator to perform an operation to prevent the remaining ground from occurring.

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