Road machinery control systems

Abstract

To provide a control system capable of properly controlling the conveying speed of paving material by a conveyance device.SOLUTION: An asphalt finisher 100 includes: a tractor 1; a hopper 2 that is placed in the front of the tractor 1 for receiving paving material PV; a screed 3 that is capable of expanding and contracting in the vehicle width direction for spreading the paving material PV behind the tractor 1; and a conveyance device for transporting the paving material PV in the hopper 2 forward of the screed 3. A control system DS has a controller 50 that sets target conveying speed which is the target value of the speed at which the conveyance device transports the paving material PV based on information relevant to a feature (object AP) that defines the boundary line of the construction target area located in front (front boundary line FB).SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to control systems for road machinery. [Background technology]

[0002] A road finishing machine (road machine) equipped with a material conveying system that conveys paving material (paving material) from a storage device located at the front of the road finishing machine toward an extendable screed at the rear end of the road finishing machine is known (see Patent Document 1). This road machine is configured to change the conveying speed of the paving material depending on the height of the paving material in the material conveying system. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-155597 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the road machine can only change the conveying speed of the paving material after detecting a change in the height of the paving material in the material conveying system, which can result in an inability to properly control the amount of paving material spread in front of the screed.

[0005] It is therefore desirable to provide a control system for road machinery that can more appropriately control the speed at which paving material is conveyed by the conveying device. [Means for solving the problem]

[0006] A road machinery control system according to an embodiment of the present disclosure is a road machinery control system including a tractor, a hopper installed in front of the tractor to receive paving material, a screed that is extendable in the vehicle width direction and that spreads and levels the paving material behind the tractor, and a transport device that transports the paving material in the hopper to the front of the screed, and the system controls the speed at which the transport device transports the paving material based on information about features that define the boundary of a construction area located ahead. Conveying speed as A control device is provided to set a target conveying speed, which is a target value of the The control device is configured to control the extension and contraction of the screed and the conveying speed, and starts increasing or decreasing the conveying speed before starting the extension and contraction of the screed. . [Effects of the Invention]

[0007] The above-described control system can better control the speed at which the paving material is conveyed by the conveying device. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 2 is a side view of the asphalt finisher. [Figure 2] FIG. 2 is a top view of the asphalt finisher. [Figure 3] FIG. 1 is a diagram illustrating an example of the configuration of a control system. [Figure 4] FIG. 2 is a schematic perspective view of a paving formwork. [Figure 5] 10 is a flowchart showing an example of the flow of a goal setting process. [Figure 6] 10 is a flowchart showing an example of the flow of a travel trajectory generation process. [Figure 7] 10 is a flowchart illustrating an example of the flow of a transport amount adjustment process. [Figure 8] FIG. 1 is a top view of a construction site including a road with a short widening section. [Figure 9] FIG. 1 is a top view of a construction site including a road with a long widening section. [Figure 10] FIG. 10 is a side view of another example of the configuration of the asphalt finisher. DETAILED DESCRIPTION OF THE INVENTION

[0009] Fig. 1 is a side view of an asphalt finisher 100, which is an example of a road machine according to an embodiment of the present disclosure. Fig. 2 is a top view of the asphalt finisher 100. In the illustrated example, the asphalt finisher 100 is a wheel-type asphalt finisher, and is mainly composed of a tractor 1, a hopper 2, and a screed 3. In the following, the direction of the hopper 2 as seen from the tractor 1 (+X direction) is defined as the front, and the direction of the screed 3 as seen from the tractor 1 (-X direction) is defined as the rear.

[0010] The tractor 1 is a mechanism for moving the asphalt finisher 100. In the illustrated example, the tractor 1 rotates the rear wheels 5 using a rear-wheel drive hydraulic motor and rotates the front wheels 6 using a front-wheel drive hydraulic motor to move the asphalt finisher 100. The rear-wheel drive hydraulic motor and the front-wheel drive hydraulic motor are rotated by receiving a supply of hydraulic oil from a hydraulic pump. However, the front wheels 6 may be driven wheels.

[0011] The asphalt paver 100 may be a crawler type asphalt paver. In this case, the combination of the rear wheels 5 and the front wheels 6 is replaced with a combination of a left crawler and a right crawler.

[0012] The hopper 2 is a mechanism for receiving the paving material PV. In the illustrated example, the hopper 2 is installed in front of the tractor 1 and is configured to be able to open and close in the vehicle width direction (Y-axis direction) using a hopper cylinder. The asphalt finisher 100 typically receives the paving material PV (e.g., asphalt mixture) from the bed of a dump truck when the hopper 2 is fully open. A dump truck is an example of a transport vehicle that transports the paving material PV. Figures 1 and 2 show the hopper 2 in its fully open state. When the paving material PV in the hopper 2 decreases during construction, the operator of the asphalt finisher 100 closes the hopper 2 to collect the paving material PV near the inner wall of the hopper 2 in the center of the hopper 2. This is so that the conveyor CV located in the center of the hopper 2 can feed the paving material PV to the rear of the tractor 1. The paving material PV fed to the rear of the tractor 1 by the conveyor CV is spread in the vehicle width direction behind the tractor 1 and in front of the screed 3 by the screw SC.

[0013] The conveyor CV and screw SC are examples of conveying devices that convey the paving material PV. In the illustrated example, the screw SC includes a left screw SCL for spreading the paving material PV to the left of the front-rear axis AX of the asphalt finisher 100, and a right screw SCR for spreading the paving material PV to the right of the front-rear axis AX. The conveyor CV also includes a left conveyor CVL for conveying the paving material PV toward the left screw SCL, and a right conveyor CVR for conveying the paving material PV toward the right screw SCR. In other words, the conveying device includes a left conveying device including the left conveyor CVL and the left screw SCL, and a right conveying device including the right conveyor CVR and the right screw SCR.

[0014] In Figures 1 and 2, for clarity, the paving material PV in the hopper 2 is omitted, and the paving material PV spread by the screw SC is shown with a coarse dot pattern, while the new pavement NP laid and leveled by the screed 3 is shown with a fine dot pattern.

[0015] The screed 3 is a mechanism for spreading and leveling the paving material PV. In the illustrated example, the screed 3 includes a front screed 30 and a rear screed 31. The front screed 30 includes a left front screed 30L and a right front screed 30R. The rear screed 31 is a screed that is extendable and retractable in the vehicle width direction and includes a left rear screed 31L and a right rear screed 31R. Specifically, the rear screed 31 is extended and retracted by a screed telescopic cylinder 7 installed within the screed 3. More specifically, the screed telescopic cylinder 7 includes a left screed telescopic cylinder 7L and a right screed telescopic cylinder 7R. The left rear screed 31L is extended and retracted by the left screed telescopic cylinder 7L, and the right rear screed 31R is extended and retracted by the right screed telescopic cylinder 7R.

[0016] The screed 3 is a floating screed towed by the tractor 1 and is connected to the tractor 1 via a leveling arm 3A. The leveling arm 3A includes a left leveling arm 3AL disposed on the left side of the tractor 1 and a right leveling arm 3AR disposed on the right side of the tractor 1. An end leveling device may be disposed at the end of the rear screed 31.

[0017] A side plate 41 is attached to the distal end of the rear screed 31. In the illustrated example, a left side plate 41L is attached to the left end of the left rear screed 31L, and a right side plate 41R is attached to the right end of the right rear screed 31R.

[0018] A tread 32 is attached to the rear of the screed 3. Specifically, the tread 32 is attached to the rear of the screed 3 so that workers can move back and forth in the vehicle width direction behind the screed 3 without stepping on the new pavement NP. In the illustrated example, the treads 32 include a central tread 32C attached to the rear of the front screed 30, a left tread 32L attached to the rear of the left rear screed 31L, and a right tread 32R attached to the rear of the right rear screed 31R.

[0019] A moldboard 42 is attached to the front of the screed 3. The moldboard 42 is configured to adjust the amount of paving material PV that accumulates in front of the screed 3. The paving material PV passes through the gap between the lower end of the moldboard 42 and the roadbed BS and reaches underneath the screed 3. In the illustrated example, the moldboard 42 includes a left moldboard 42L that is positioned in front of the left rear screed 31L, and a right moldboard 42R that is positioned in front of the right rear screed 31R.

[0020] The screw SC is disposed in front of the moldboard 42, and the retaining plate 43 is disposed in front of the screw SC. Specifically, the retaining plate 43 includes a left retaining plate 43L disposed in front of the left screw SCL and a right retaining plate 43R disposed in front of the right screw SCR. Note that the retaining plate 43 may be omitted.

[0021] The tractor 1 is equipped with a traveling speed sensor S1, a height sensor S2, a controller 50, an object detection device 51, an on-board display device 52, a steering device 53, a screed extension / retraction device 54, a forward monitoring device 55, a conveyor control device 56, and a screw control device 57.

[0022] The traveling speed sensor S1 is configured to detect the traveling speed of the asphalt finisher 100. In the illustrated example, the traveling speed sensor S1 is a wheel speed sensor, and is configured to detect the rotational angular velocity and rotation angle of the rear wheels 5, and therefore the traveling speed and traveling distance of the asphalt finisher 100.

[0023] The height sensor S2 is configured to detect the height of the piles of paving material PV (paving material height) spread in the vehicle width direction behind the tractor 1 and in front of the screed 3 by the screw SC. In the illustrated example, the height sensor S2 is an ultrasonic sensor that detects the distance to the surface of the piles of paving material PV and is attached to the side of the tractor 1. However, the height sensor S2 may also be attached to the side (inner surface) of the side plate 41. Specifically, the height sensor S2 includes a left height sensor S2L that detects the height of the piles of paving material PV spread by the left screw SCL (left paving material height) and a right height sensor S2R that detects the height of the piles of paving material PV spread by the right screw SCR (right paving material height). The height sensor S2 may be a monocular camera, a stereo camera, a LIDAR, a millimeter-wave radar, a laser radar, a laser scanner, a distance imaging camera, a laser range finder, or a combination thereof. The height sensor S2 may also be omitted.

[0024] The controller 50 is a control device that controls the asphalt finisher 100. In the illustrated example, the controller 50 is configured with a microcomputer including a CPU, a volatile storage device, a non-volatile storage device, etc. Each function of the controller 50 is realized by the CPU executing a program stored in the non-volatile storage device. However, each function of the controller 50 may be realized not only by software, but also by hardware, or may be realized by a combination of hardware and software.

[0025] The object detection device 51 is an example of an information acquisition device (spatial recognition device) that acquires information about the surroundings of the asphalt finisher 100, and is configured to acquire information about features within a predetermined range of the road to be worked on and output the acquired information to the controller 50. In other words, the object detection device 51 is configured to monitor a predetermined range of the road to be worked on. The predetermined range on the road is, for example, a range located forward of the screed 3 and including the road boundary line. In the illustrated example, the predetermined range on the road is a range with a front-to-back width and left-to-right width that are greater than the width of the paving formwork, for example, a range that is 2 meters square.

[0026] The range located forward of the screed 3 is, for example, the range located forward of the hopper 2, the range located forward of the axle of the front wheels 6, the range located forward of the axle of the rear wheels 5, the range located forward of the screw SC, etc.

[0027] The features within the specified range include, for example, the roadbed BS and an object AP located outside the roadbed BS. The object AP is a feature used to determine the position of the widthwise edge of the pavement to be laid. In the example shown in Figures 1 and 2, the object AP is a paving formwork having a specified thickness (height), and includes a left object APL located on the left side of the asphalt finisher 100 and a right object APR located on the right side of the asphalt finisher 100. Specifically, the left object APL includes a first left object APL1 and a second left object APL2, and the right object APR includes a first right object APR1 and a second right object APR2. The object AP may be an L-shaped gutter block, a curb block, or a cut-out step of an existing pavement. The cut-out step of an existing pavement refers to a step between the surface of the cut portion and the surface of the uncut portion formed when cutting the old pavement to lay a new pavement. The object AP may be a feature with almost no thickness, such as a line drawn on the ground, tape stuck to the ground, or string stretched along the ground. Information about the feature includes, for example, the height of the feature, the color of the surface of the feature, or the reflectance of the surface of the feature. Note that the left object APL is not shown in FIG. 1 for clarity.

[0028] In the illustrated example, the object detection device 51 is a stereo camera configured to be able to monitor a predetermined range. Note that the object detection device 51 may also be a monocular camera configured to be able to monitor a predetermined range, a LIDAR, a millimeter wave radar, a laser radar, a laser scanner, a distance imaging camera, a laser range finder, an ultrasonic sensor, or a combination thereof.

[0029] Furthermore, the stereo camera serving as object detection device 51 is preferably configured to have an automatic exposure adjustment function. With this configuration, object detection device 51 can acquire information about features within a predetermined range regardless of day or night, i.e., without the need for special lighting or the like.

[0030] In the illustrated example, the object detection device 51 includes a left object detection device 51L installed on the left side of the asphalt finisher 100 and a right object detection device 51R installed on the right side of the asphalt finisher 100.

[0031] The left object detection device 51L is configured to be able to monitor the ground on the left side of the asphalt finisher 100. In the illustrated example, the left object detection device 51L is a stereo camera that monitors a left monitoring range ZL (the range surrounded by a dashed line in FIG. 2) on the ground on the left side of the asphalt finisher 100.

[0032] The right object detection device 51R is configured to be able to monitor the ground to the right of the asphalt finisher 100. In the illustrated example, the right object detection device 51R is a stereo camera that monitors a right monitoring range ZR (the range surrounded by a dashed line in FIG. 2) on the ground to the right of the asphalt finisher 100.

[0033] The object detection device 51 may be attached to the asphalt finisher 100 via an attachment member 60. The attachment member 60 is a member used to attach the object detection device 51 to the asphalt finisher 100. In the illustrated example, the attachment member 60 includes a left attachment member 60L and a right attachment member 60R. In the example shown in FIG. 2, the left object detection device 51L is attached to the left front end of the tractor 1 via the left attachment member 60L, and the right object detection device 51R is attached to the right front end of the tractor 1 via the right attachment member 60R. Note that the left object detection device 51L may be attached to another portion of the asphalt finisher 100, such as the left front end of the hopper 2, via the left attachment member 60L. Similarly, the right object detection device 51R may be attached to another portion of the asphalt finisher 100, such as the right front end of the hopper 2, via the right attachment member 60R.

[0034] The object detection device 51 may also be configured to be able to monitor the extension / retraction state of the rear screed 31. For example, the object detection device 51 may additionally include a stereo camera configured to be able to monitor the end of the left rear screed 31L and a stereo camera configured to be able to monitor the end of the right rear screed 31R. In this case, the object detection device 51 may be arranged on the screed 3. For example, the object detection device 51 may be arranged on the rear screed 31. Furthermore, if an end paving / leveling device is arranged at the end of the rear screed 31, the object detection device 51 may also be arranged on the end paving / leveling device.

[0035] In the example shown in FIG. 2, the object detection device 51 is attached to the attachment member 60 so as to face vertically downward, but it may also be attached to the attachment member 60 so as to face in another direction, such as diagonally downward.

[0036] In the example shown in Fig. 2, the left attachment member 60L is composed of an expandable member TA that is expandable in the width direction and a pivoting member SB that is pivotally connected to the distal end of the expandable member TA. The pivoting member SBa, represented by a dashed line in Fig. 2, indicates the state when the pivoting member SB is rotated. The same applies to the right attachment member 60R.

[0037] In this way, the mounting member 60 is configured so that the monitoring range of the object detection device 51 can be moved by the extendable member TA and the pivoting member SB. This is to enable the object detection device 51 to respond to changes in pavement width, etc. In this case, the controller 50 may be configured to control the rotation of the pivoting member SB, or to control the extension and contraction of the extendable member TA, so that the object detection device 51 follows the object AP. In this way, the controller 50 can ensure that the object AP is continuously included in the monitoring range of the object detection device 51, even if the position of the object AP changes in the vehicle width direction.

[0038] The attachment member 60 may include at least one of a sensor that detects the amount of expansion and contraction of the expandable member TA and a sensor that detects the amount of rotation (rotation angle) of the rotating member SB.

[0039] At least one of the telescopic member TA and the rotating member SB may be omitted. For example, the mounting member 60 may be configured to be non-telescopic and non-rotatable. That is, the mounting member 60 may be a rod-shaped member that is non-telescopic and non-rotatable.

[0040] Furthermore, the object detection device 51 may be attached directly to the asphalt finisher 100 without using the attachment member 60.

[0041] Furthermore, the object detection device 51 may be configured as a single device that can simultaneously monitor the ground on the left side of the asphalt finisher 100 and the ground on the right side of the asphalt finisher 100. Specifically, the object detection device 51 may be configured as a single device that can simultaneously monitor the left object APL and the right object APR. In this case, the object detection device 51 may be attached to the center of the front end of the top surface of the tractor 1.

[0042] In addition, the asphalt finisher 100 may be equipped with a steering angle sensor configured to detect the steering angle of the asphalt finisher 100, and a screed expansion / contraction amount sensor configured to detect the expansion / contraction amount of the rear screed 31.

[0043] The on-board display device 52 is configured to be able to display information related to the asphalt finisher 100. In the illustrated example, the on-board display device 52 is a liquid crystal display installed in front of the driver's seat 1S. However, the on-board display device 52 may also include a display device installed on at least one of the left end and right end of the screed 3.

[0044] The steering device 53 is configured to steer the asphalt paving machine 100. In the illustrated example, the steering device 53 is configured to extend and retract a front wheel steering cylinder installed near the front axle. Specifically, the steering device 53 includes a steering electromagnetic control valve that controls the flow rate of hydraulic oil flowing from a hydraulic pump to the front wheel steering cylinder and the flow rate of hydraulic oil discharged from the front wheel steering cylinder. The steering electromagnetic control valve is configured to control the flow of hydraulic oil in and out of the front wheel steering cylinder in response to the rotation of a steering wheel SH (handle) serving as an operating device. Note that the steering electromagnetic control valve may be configured to control the flow of hydraulic oil in and out of the front wheel steering cylinder in response to the operation of an input switch, which is an operating device separate from the steering wheel SH, regardless of the movement of the steering wheel SH. Furthermore, the steering electromagnetic control valve may be configured to control the flow of hydraulic oil in and out of the front wheel steering cylinder in response to a steering command from the controller 50, regardless of the rotation of the steering wheel SH. That is, the controller 50 may be configured to automatically steer the asphalt finisher 100 regardless of whether or not the driver operates the steering wheel SH.

[0045] If the asphalt finisher 100 is a crawler-type asphalt finisher, the steering device 53 is configured to be able to separately control the pair of left and right crawlers. Note that instead of a steering wheel SH, a crawler-type asphalt finisher has a left operating lever, which is an operating device for operating the left crawler, and a right operating lever, which is an operating device for operating the right crawler.

[0046] Specifically, the steering device 53 includes a left steering electromagnetic control valve that controls the flow rate of hydraulic oil flowing from the hydraulic pump to a left traveling hydraulic motor for rotating the left crawler, and a right steering electromagnetic control valve that controls the flow rate of hydraulic oil flowing from the hydraulic pump to a right traveling hydraulic motor for rotating the right crawler. The left steering electromagnetic control valve is configured to control the inflow and outflow of hydraulic oil to the left traveling hydraulic motor in accordance with the operation amount (tilt angle) of the left operating lever. Similarly, the right steering electromagnetic control valve is configured to control the inflow and outflow of hydraulic oil to the right traveling hydraulic motor in accordance with the operation amount (tilt angle) of the right operating lever. Note that the left steering electromagnetic control valve may be configured to control the inflow and outflow of hydraulic oil to the left traveling hydraulic motor in accordance with a steering command from the controller 50, regardless of whether the left operating lever is operated by the driver. Similarly, the right steering electromagnetic control valve may be configured to control the flow of hydraulic oil in and out of the right traveling hydraulic motor in response to a steering command from the controller 50, regardless of whether the driver operates the right operating lever.

[0047] The screed extension / retraction device 54 is configured to extend and retract the rear screed 31 in the vehicle width direction (Y-axis direction). In the illustrated example, the screed extension / retraction device 54 is configured to extend and retract the screed telescopic cylinder 7 installed inside the screed 3. Specifically, the screed extension / retraction device 54 includes a screed extension / retraction electromagnetic control valve that controls the flow rate of hydraulic oil flowing from the hydraulic pump to the screed telescopic cylinder 7 and the flow rate of hydraulic oil discharged from the screed telescopic cylinder 7. The screed extension / retraction electromagnetic control valve is configured to control the flow of hydraulic oil in and out of the screed telescopic cylinder 7 in response to operation of a telescopic button set (not shown) serving as an operating device provided near the on-board display device 52. The telescopic button set typically includes a left telescopic button set for extending and retracting the left rear screed 31L and a right telescopic button set for extending and retracting the right rear screed 31R. The screed extension / retraction electromagnetic control valve may be configured to control the flow of hydraulic oil in and out of the screed telescopic cylinder 7 in response to an extension / retraction command from the controller 50, regardless of operation of the telescopic button set. That is, the controller 50 may be configured to automatically extend and retract the rear screed 31 regardless of whether or not the operator operates the extension / retraction button set.

[0048] Specifically, the screed extension / retraction device 54 includes a left telescopic electromagnetic control valve that controls the flow rate of hydraulic oil from the hydraulic pump to the left screed telescopic cylinder 7L for extending and retracting the left rear screed 31L, and a right telescopic electromagnetic control valve that controls the flow rate of hydraulic oil from the hydraulic pump to the right screed telescopic cylinder 7R for extending and retracting the right rear screed 31R. The left telescopic electromagnetic control valve is configured to control the flow of hydraulic oil in and out of the left screed telescopic cylinder 7L in response to the operation of the left telescopic button set. Similarly, the right telescopic electromagnetic control valve is configured to control the flow of hydraulic oil in and out of the right screed telescopic cylinder 7R in response to the operation of the right telescopic button set. Note that the left telescopic electromagnetic control valve may be configured to control the flow of hydraulic oil in and out of the left screed telescopic cylinder 7L in response to an extension / retraction command from the controller 50, regardless of whether the operator operates the left telescopic button set. Similarly, the right telescopic electromagnetic control valve may be configured to control the flow of hydraulic oil in and out of the right screed telescopic cylinder 7R in response to a telescopic command from the controller 50, regardless of whether the operator operates the right telescopic button set.

[0049] The forward monitoring device 55 is another example of an information acquisition device (space recognition device) that acquires information about the surroundings of the asphalt finisher 100, and is configured to be able to monitor the space in front of the asphalt finisher 100.

[0050] In the illustrated example, the forward monitoring device 55 is a monocular camera that is configured to acquire information about features that define the boundary of the forward target construction range, which is the target construction range located ahead of the tractor 1. The forward target construction range, which is part of the target construction range, is, for example, an area that extends a predetermined distance forward from the front end of the hopper 2. The predetermined distance is a value within a range from several meters to several hundred meters, and may be a value stored in a non-volatile storage device or the like, a value input via an input device or the like, or a value dynamically calculated based on the output of the traveling speed sensor S1 or the like.

[0051] Specifically, the predetermined distance may be the same as the overall length (approximately 6 meters) of the asphalt finisher 100. This is to enable information for realizing automatic steering to be acquired in advance.

[0052] However, the predetermined distance is preferably at least twice the overall length of the asphalt finisher 100 (at least 12 meters), in order to allow information for realizing smooth automatic steering to be acquired in advance.

[0053] The predetermined distance may also be 20 times or more (120 meters or more) the total length of the asphalt finisher 100. This is to obtain information about features that define the boundary lines of the forward construction area as early as possible.

[0054] The forward monitoring device 55 may be a stereo camera, a LIDAR, a range image sensor, or the like. The forward monitoring device 55 may also be an object detection device 51. In this case, the object detection device 51 may be configured to monitor the downward and forward areas simultaneously. For example, if the object detection device 51 is a stereo camera, the object detection device 51 may be configured to capture images of the downward and forward areas simultaneously. The forward monitoring device 55 may also be configured to allow the controller 50 to calculate the distance in the vehicle width direction (Y-axis direction) between an object AP (object AP) that defines the boundary line of the forward construction area and the front and rear axes AX of the asphalt finisher 100. That is, the controller 50 may be configured to calculate the distance in the vehicle width direction (Y-axis direction) between the object AP that defines the boundary line of the forward construction area and the front and rear axes AX by performing various image processing on the images captured by the forward monitoring device 55.

[0055] In the illustrated example, the forward monitoring device 55 includes a left forward monitoring device 55L attached to the front of the left object detection device 51L, and a right forward monitoring device 55R attached to the front of the right object detection device 51R. As shown in Fig. 1 and Fig. 2, the left forward monitoring device 55L is disposed so as to be able to obtain information about a feature (left object APL) that defines the left boundary line of the forward construction target range located forward of the hopper 2, and the right forward monitoring device 55R is disposed so as to be able to obtain information about a feature (right object APR) that defines the right boundary line of the forward construction target range located forward of the hopper 2.

[0056] The two-dot chain line shown in each of FIGS. 1 and 2 represents the boundary of the monitoring range MZ of the forward monitoring device 55. Furthermore, the two-dot chain line extending forward from the left forward monitoring device 55L shown in FIG. 2 represents the boundary of the monitoring range (left monitoring range MZL) of the left forward monitoring device 55L, and the two-dot chain line extending forward from the right front monitoring device 55R shown in FIG. 2 represents the boundary of the monitoring range (right monitoring range MZR) of the right front monitoring device 55R. Note that the forward monitoring device 55 may also be configured to acquire information about features that define the boundary of the target construction area located forward of the front wheels 6 and rearward of the front end of the hopper 2. In other words, the monitoring range MZ of the forward monitoring device 55 may be set so that the target construction area located forward of the front wheels 6 and rearward of the front end of the hopper 2 can also be monitored. Alternatively, the forward monitoring device 55 may also be configured to acquire information about features that define the boundary of the target construction area located forward of the screed 3 and rearward of the front end of the hopper 2. That is, the monitoring range MZ of the forward monitoring device 55 may be set so that the construction target range located in front of the screed 3 and behind the front end of the hopper 2 can also be monitored.

[0057] Furthermore, the forward monitoring device 55 may be configured so that the controller 50 can calculate the distance between the asphalt finisher 100 and a transport vehicle such as a dump truck located in front of the asphalt finisher 100. In other words, the controller 50 may be configured so that it can calculate the distance between the asphalt finisher 100 and a transport vehicle such as a dump truck located in front of the asphalt finisher 100 by performing various types of image processing on images captured by the forward monitoring device 55. In this case, the forward monitoring device 55, which is a monocular camera, may be configured to have a wider field of view so that its monitoring range MZ includes the central portion of the construction target range.

[0058] Furthermore, the forward monitoring device 55 may be configured so that the controller 50 can detect objects located around the asphalt finisher 100. In other words, the controller 50 may be configured so that it can detect objects, such as workers, located around the asphalt finisher 100 by performing various types of image processing on images captured by the forward monitoring device 55. In this case, the controller 50 may be configured so that it can distinguish between a predetermined object (for example, a person) and objects other than the predetermined object.

[0059] The conveyor control device 56 is configured to control the feed speed of the conveyor CV. In the illustrated example, the conveyor control device 56 is a solenoid valve that controls the flow rate of hydraulic oil flowing into the hydraulic motor that drives the conveyor CV. Specifically, the conveyor control device 56 increases or decreases the flow path area, which is the cross-sectional area of ​​the pipe connecting the hydraulic motor that drives the conveyor CV and the hydraulic pump, in response to a control command from the controller 50. More specifically, the conveyor control device 56 increases the flow path area to increase the flow rate of hydraulic oil flowing into the hydraulic motor that drives the conveyor CV and increase the feed speed of the conveyor CV. Alternatively, the conveyor control device 56 decreases the flow path area to decrease the flow rate of hydraulic oil flowing into the hydraulic motor that drives the conveyor CV and decrease the feed speed of the conveyor CV. The conveyor control device 56 is also configured to separately control the feed speeds of the left conveyor CVL and the right conveyor CVR.

[0060] The screw control device 57 is configured to control the rotational speed of the screw SC. In the illustrated example, the screw control device 57 is a solenoid valve that controls the flow rate of hydraulic oil flowing into a hydraulic motor that drives the screw SC. Specifically, the screw control device 57 increases or decreases the flow path area, which is the cross-sectional area of ​​a pipe connecting the hydraulic motor that drives the screw SC and the hydraulic pump, in response to a control command from the controller 50. More specifically, the screw control device 57 increases the flow path area to increase the flow rate of hydraulic oil flowing into the hydraulic motor that drives the screw SC and increase the rotational speed of the screw SC. Alternatively, the screw control device 57 reduces the flow path area to decrease the flow rate of hydraulic oil flowing into the hydraulic motor that drives the screw SC and decrease the rotational speed of the screw SC. The screw control device 57 is also configured to separately control the rotational speeds of the left screw SCL and the right screw SCR.

[0061] Next, an example of the configuration of the control system DS installed in the asphalt finisher 100 will be described with reference to Fig. 3. Fig. 3 is a block diagram showing an example of the configuration of the control system DS.

[0062] The control system DS is mainly composed of a controller 50, a left object detection device 51L, a right object detection device 51R, a driving speed sensor S1, an on-board display device 52, a steering device 53, a screed extension / retraction device 54, and a forward monitoring device 55.

[0063] In the example shown in FIG. 3, the controller 50 includes a coordinate calculation unit 50a, a steering control unit 50b, a screed extension / retraction control unit 50c, a boundary line derivation unit 50d, a travel trajectory generation unit 50e, and a conveyance amount adjustment unit 50f.

[0064] The coordinate calculation unit 50a is configured to calculate coordinates on the boundary line of the construction area based on information about features acquired by the object detection device 51. The guide line GD shown by the thick dashed line in FIG. 2 is an example of the boundary line of the road to be constructed and is a virtual line representing a guide surface. Note that in FIG. 2, the guide line GD includes a portion that has not yet been derived (a portion that is ahead of the monitoring range of the object detection device 51). The guide surface is a virtual surface recognized as a surface with which the widthwise edge face of the pavement to be laid should be aligned. In the example shown in FIG. 2, the guide line GD includes a left guide line GDL representing the left guide surface with which the left edge face of the new pavement NP should be aligned, and a right guide line GDR representing the right guide surface with which the right edge face of the new pavement NP should be aligned.

[0065] Specifically, the coordinate calculation unit 50a calculates coordinates on the guide line GD based on information about the object AP acquired by the object detection device 51. More specifically, the coordinate calculation unit 50a calculates the coordinates of a point VL constituting the left guide line GDL based on information about the left object APL acquired by the left object detection device 51L, and calculates the coordinates of a point VR constituting the right guide line GDR based on information about the right object APR acquired by the right object detection device 51R.

[0066] For example, as shown in FIG. 4, the coordinate calculation unit 50a uses image recognition technology to generate a right guide line GDR so that the virtual line representing the angle (edge) between the left end face LE and the upper end face UE of the right object APR within the right monitoring range ZR of the right object detection device 51R becomes the right guide line GDR. The coordinate calculation unit 50a then calculates the coordinates of the intersection of the generated right guide line GDR and the transverse line TL as the coordinates of point VR. In the example shown in FIG. 4, the transverse line TL is a straight line that is parallel to the vehicle width direction (Y-axis direction) and intersects with the center line (optical axis OA) of the right object detection device 51R. Note that FIG. 4 is a schematic perspective view of a paving formwork serving as the right object APR as seen from behind the asphalt finisher 100, and schematically illustrates the positional relationship between the right object detection device 51R and the right object APR.

[0067] For example, the coordinate calculation unit 50a uses a distance image of the right monitoring range ZR generated based on the output of a stereo camera serving as the right object detection device 51R to calculate the coordinates of a pixel including the intersection of the right guide line GDR and the transverse line TL as the coordinates of a point VR. The distance image is a data set in which each pixel value of a two-dimensional array of pixels is represented by the distance from the right object detection device 51R.

[0068] The coordinates of point VR are one coordinate in a predetermined coordinate system. The predetermined coordinate system is, for example, the World Geodetic System. The World Geodetic System is a three-dimensional Cartesian XYZ coordinate system with its origin at the center of gravity of the Earth, its X axis pointing in the direction of the intersection of the Greenwich Meridian and the equator, its Y axis pointing in the direction of 90 degrees east longitude, and its Z axis pointing in the direction of the North Pole. However, the predetermined coordinate system may also be a local coordinate system whose origin is a predetermined point on the asphalt finisher 100. In other words, the predetermined coordinate system may be a local coordinate system whose origin moves as the asphalt finisher 100 moves. Specifically, the predetermined coordinate system may be, for example, a three-dimensional Cartesian coordinate system whose origin is the center point of the asphalt finisher 100. In this case, the center point of the asphalt finisher 100 may be, for example, the center point of the tractor 1 or the intersection of the axle of the rear wheels 5 and the front-rear axis AX (see FIG. 2). The predetermined coordinate system may also be a local coordinate system whose origin does not move even when the asphalt finisher 100 moves. In this case, the local coordinate system may be a coordinate system whose origin is the center point of the asphalt finisher 100 at the start of construction. The predetermined coordinate system may also be a plane rectangular coordinate system such as a surveying plane coordinate system used in a total station or the like.

[0069] The coordinate calculation unit 50a may be configured to extract pixels that make up the distance image and whose pixel value differs from the pixel value of the pixel to the left by a predetermined threshold or more, and derive a single line as the guide line GD from the arrangement of the extracted pixels. The single line may be a straight line, a curved line, or a combination thereof. Any image recognition technology, such as a Hough transform, may be used to derive the single line.

[0070] The coordinate calculation unit 50a may eliminate the influence of variations in the positions of the extracted pixels by performing an averaging process. Specifically, such variations may occur in image portions corresponding to the contact points between two paving forms or irregularities in the cutting steps.

[0071] In this example, the predetermined threshold value is a threshold value TH related to the height of the paving formwork. In this case, the coordinate calculation unit 50a can generate, as the right guide line GDR, a virtual line representing the upper left edge of the right object APR, which is a paving formwork having a height H1 equal to or greater than the threshold value TH, as shown in FIG.

[0072] The threshold value TH may be configured to be set in advance to match the height of the paving formwork that will actually be used. Using a threshold value TH set to match the height of the paving formwork that will actually be used enables the generation of guide lines based on the edges of thin paving formwork. Furthermore, using a threshold value TH set to match the height of the paving formwork that will actually be used prevents the coordinate calculation unit 50a from erroneously generating guide lines based on the shape (edge) of features other than the paving formwork.

[0073] Thereafter, the coordinate calculation unit 50a calculates the coordinates of the intersection point between the generated right guide line GDR and the transverse line TL as the coordinates of the point VR, as shown in FIG.

[0074] Note that the above explanation relates to the process of calculating the coordinates of point VR on the right guide line GDR from the distance image related to the right monitoring range ZR, but it also applies to the process of calculating the coordinates of point VL on the left guide line GDL from the distance image related to the left monitoring range ZL.

[0075] Furthermore, if the object detection device 51 is a monocular camera, the "distance image" in the above description can be read as "image." In this case, the "pixel value" is represented by color information or the like, rather than distance. The color information may be brightness.

[0076] In this way, the coordinate calculation unit 50a continuously calculates and stores the coordinates of each of the points VL and VR. In the illustrated example, the coordinate calculation unit 50a is configured to calculate and store the coordinates of each of the points VL and VR every time the asphalt finisher 100 moves forward a predetermined distance (for example, 15 cm). Note that the coordinate calculation unit 50a may also be configured to calculate and store the coordinates of each of the points VL and VR every time a predetermined time has elapsed.

[0077] FIG. 1 shows how the coordinate calculation unit 50a continuously calculates and stores the coordinates of point VL. In FIG. 1, point VL0 corresponds to point VL derived by the coordinate calculation unit 50a based on the output of left object detection device 51L at the current time. Point VL1 corresponds to point VL derived by the coordinate calculation unit 50a based on the output of left object detection device 51L at a point in the past. The same applies to points VL2 to VL4. Point VL11 corresponds to point VL derived by the coordinate calculation unit 50a based on the output of left object detection device 51L at a point in the future. The same applies to points VL12 to VL14. That is, at the current time, the coordinate calculation unit 50a has already calculated and stored the coordinate values ​​of point VL0 and points VL1 to VL4.

[0078] Like FIG. 1, FIG. 2 also shows how the coordinate calculation unit 50a intermittently calculates and stores the coordinates of points VL and VR. In FIG. 2, point VR0 corresponds to point VR derived by the coordinate calculation unit 50a based on the output of right object detection device 51R at the current time. The same applies to point VL0. Point VR1 corresponds to point VR derived by the coordinate calculation unit 50a based on the output of right object detection device 51R at a point in the past. The same applies to points VR2 to VR4. Point VL1 corresponds to point VL derived by the coordinate calculation unit 50a based on the output of left object detection device 51L at a point in the past. The same applies to points VL2 to VL4. Point VR11 corresponds to point VR derived by the coordinate calculation unit 50a based on the output of right object detection device 51R at a point in the future. The same applies to points VR12 to VR14. Furthermore, point VL11 corresponds to point VL that coordinate calculation section 50a derives based on the output of left object detection device 51L at a point in the future. The same applies to points VL11 to VL14.

[0079] The steering control unit 50b is configured to be able to automatically steer the asphalt finisher 100 regardless of the operation of an operating device such as a travel speed dial, steering wheel SH, or input switch. The steering control unit 50b may be configured to be able to control the travel speed of the asphalt finisher 100 when automatically steering the asphalt finisher 100. The steering control unit 50b may also be omitted.

[0080] The screed extension / retraction control unit 50c is configured to automatically extend and retract the left and right extendable rear screed 31 regardless of the operation of an operating device such as an extension / retraction button set. The screed extension / retraction control unit 50c may also be configured to automatically extend and retract the rear screed 31 in accordance with the traveling speed and steering angle of the asphalt finisher 100 when the asphalt finisher 100 is automatically steered.

[0081] In the illustrated example, the screed extension / retraction control unit 50c generates an extension / retraction command for the screed extension / retraction cylinder 7 based on the coordinates on the boundary line calculated and stored by the coordinate calculation unit 50a. The extension / retraction command may be, for example, a command regarding the extension / retraction speed, a command regarding the extension / retraction amount, or a combination thereof.

[0082] Specifically, the screed extension / retraction control unit 50c executes feedforward control of the extension / retraction amount of the rear screed 31. More specifically, the screed extension / retraction control unit 50c extends and retracts the left screed telescopic cylinder 7L so that the coordinates of a predetermined portion of the left rear screed 31L (e.g., the left front end point) coincide with the left target coordinates. The left target coordinates are an example of target coordinates, and are, for example, the coordinates of point VL located closest to and in front of the predetermined portion of the left rear screed 31L (e.g., the left front end point). The screed extension / retraction control unit 50c extends and retracts the right screed telescopic cylinder 7R so that the coordinates of a predetermined portion of the right rear screed 31R (e.g., the right front end point) coincide with the right target coordinates. The right target coordinates are another example of target coordinates, and are, for example, the coordinates of point VR located closest to and in front of the predetermined portion of the right rear screed 31R (e.g., the right front end point). The screed extension / contraction control unit 50c may also be configured to determine the extension / contraction speed in accordance with the travel speed of the asphalt finisher 100 detected by the travel speed sensor S1.

[0083] The coordinates of predetermined portions of the rear screed 31, such as the coordinates of the left front end point of the left rear screed 31L and the coordinates of the right front end point of the right rear screed 31R, can be calculated by the coordinate calculation unit 50a, similar to the coordinates of points VL and VR. Specifically, the coordinate calculation unit 50a can calculate the relative position of the object detection device 51 with respect to the position of a reference point, such as the center point of the tractor 1, based on the amount of extension and contraction of the extension member TA, which positions the object detection device 51. Similarly, the coordinate calculation unit 50a can calculate the relative positions of the left front end point of the left rear screed 31L and the right front end point of the right rear screed 31R with respect to the position of the reference point, based on the amount of extension and contraction of the rear screed 31. Furthermore, the coordinate calculation unit 50a can calculate the relative positions of the reference points at a second time point with respect to the positions of the reference points at a first time point, based on the outputs of the travel speed sensor S1, the steering angle sensor, etc. Therefore, the coordinate calculation unit 50a can calculate the relative positions of point VL, point VR, the left front end point of the left rear screed 31L, and the right front end point of the right rear screed 31R at other times relative to the position of the reference point at a first time point.

[0084] The boundary line derivation unit 50d is configured to derive information regarding the boundary line of the construction target range. The information regarding the boundary line includes the position of the boundary line, the extension direction of the boundary line, or the coordinates of each point constituting the boundary line. In the illustrated example, the boundary line derivation unit 50d is configured to derive the boundary line of the front construction target range located in front of the asphalt finisher 100 as the front boundary line FB (see Figures 8 and 9) based on information regarding features acquired by the forward monitoring device 55. Specifically, the front boundary line FB includes a left front boundary line FBL (see Figures 8 and 9) corresponding to the boundary line on the left side of the front construction target range, and a right front boundary line FBR (see Figures 8 and 9) corresponding to the boundary line on the right side of the front construction target range. In addition, any image recognition technology such as a Hough transform can be used as a technology for deriving a line from an image.

[0085] The running trajectory generating unit 50e is configured to generate a running trajectory RP (see FIGS. 8 and 9) for the asphalt finisher 100. In the illustrated example, the running trajectory RP is a trajectory followed by the center point of the asphalt finisher 100. Specifically, the running trajectory generating unit 50e is configured to generate the running trajectory RP based on a left front boundary line FBL and a right front boundary line FBR. For example, the running trajectory generating unit 50e generates, as the running trajectory RP, a line that bisects the front target construction range in the extension direction of the front target construction range. In this case, the distance between the left front boundary line FBL and the running trajectory RP in the width direction of the front target construction range is the same as the distance between the right front boundary line FBR and the running trajectory RP in the width direction of the front target construction range.

[0086] However, if certain conditions are met, the traveling trajectory RP may be generated so as to deviate from the line that bisects the forward construction range in the extension direction of the forward construction range. For example, if the width of the forward construction range is partially widened, that is, if the forward construction range includes a widened portion WP (see FIG. 8), and the length LT1 of the widened portion WP in the extension direction of the forward construction range is less than or equal to the distance LX, the widened portion WP may be considered not to exist, and the line that bisects the forward construction range (not including the widened portion WP) may be generated as the traveling trajectory RP.

[0087] The steering control unit 50b then controls the steering device 53 to control the steering angle so that the center point of the asphalt finisher 100 moves along the traveling trajectory RP generated by the traveling trajectory generating unit 50e. In this case, the steering control unit 50b may forcibly decelerate the traveling speed of the asphalt finisher 100 as necessary.

[0088] Furthermore, the running trajectory generating unit 50e may be configured to generate the running trajectory RP of the asphalt finisher 100 without using the coordinates calculated by the coordinate calculating unit 50a.

[0089] The conveyance amount adjustment unit 50f is configured to adjust the amount of paving material PV conveyed by the conveying device. In the illustrated example, the conveyance amount adjustment unit 50f is configured to set a target conveyance speed, which is a target value for the speed at which the conveying device conveys the paving material PV, so that the paving material height does not change even if the protrusion amount of the rear screed 31 changes. Note that the paving material height represents the amount of paving material PV that is held up, which is the amount of paving material PV that is spread in front of the moldboard 42 by the screw SC. If the protrusion amount of the rear screed 31 is constant, the greater the amount of holding up, the higher the paving material height.

[0090] In the illustrated example, the projection amount of the rear screed 31 is the length in the vehicle width direction between the longitudinal axis AX and the end of the rear screed 31. Specifically, the projection amount WL of the left rear screed 31L (see Figures 8 and 9) is the distance in the vehicle width direction between the longitudinal axis AX and the left end of the left rear screed 31L, and the projection amount WR of the right rear screed 31R (see Figures 8 and 9) is the distance in the vehicle width direction between the longitudinal axis AX and the right end of the right rear screed 31R. When a running path RP is generated, the projection amount of the rear screed 31 may also be the length in the vehicle width direction between the running path RP and the end of the rear screed 31.

[0091] Specifically, the conveying amount adjustment unit 50f is configured to control the amount of paving material PV conveyed by the conveying device by setting a target conveying speed based on information regarding the boundary line (forward boundary line FB) of the construction area ahead of the screed 3 derived by the boundary line derivation unit 50d.

[0092] More specifically, the conveyance distance adjustment unit 50f derives the protrusion amount WL of the left rear screed 31L and the protrusion amount WR of the right rear screed 31R after a predetermined time has elapsed, based on information relating to the boundary line (front boundary line FB) of the construction area located forward of the screed 3. The predetermined time may be a time registered in advance, or may be a time that is dynamically set depending on the traveling speed of the asphalt finisher 100, etc. Then, the conveyance distance adjustment unit 50f sets a target conveyance speed based on the derived protrusion amounts.

[0093] In the illustrated example, the conveyance distance adjustment unit 50f increases the left target conveyance speed of the left conveyance device when the protrusion amount WL of the left rear screed 31L increases after a predetermined time has elapsed, and decreases the left target conveyance speed of the left conveyance device when the protrusion amount WL of the left rear screed 31L decreases after a predetermined time has elapsed. Increasing the left target conveyance speed means, for example, increasing the feed speed of the left conveyor CVL and increasing the rotational speed of the left screw SCL. Decreasing the left target conveyance speed means, for example, decreasing the feed speed of the left conveyor CVL and decreasing the rotational speed of the left screw SCL.

[0094] Similarly, the conveyance distance adjustment unit 50f increases the right target conveyance speed of the right conveyance device when the protrusion amount WR of the right rear screed 31R increases after a predetermined time has elapsed, and decreases the right target conveyance speed of the right conveyance device when the protrusion amount WR of the right rear screed 31R decreases after a predetermined time has elapsed. Increasing the right target conveyance speed means, for example, increasing the feed speed of the right conveyor CVR and increasing the rotation speed of the right screw SCR. Furthermore, decreasing the right target conveyance speed means, for example, decreasing the feed speed of the right conveyor CVR and decreasing the rotation speed of the right screw SCR.

[0095] The conveyance distance adjusting section 50f may also be configured to adjust the conveyance distance of the paving material PV by the conveyance device without using the coordinates calculated by the coordinate calculating section 50a.

[0096] The controller 50 generates various control commands based on the target conveying speeds (left target conveying speed and right target conveying speed) set by the conveyance amount adjustment unit 50f, and outputs the generated various control commands to the various control devices. Specifically, the controller 50 generates a control command (left conveyor control command) related to the feed speed of the left conveyor CVL and a control command (left screw control command) related to the rotational speed of the left screw SCL based on the left target conveying speed, and sends the left conveyor control command to the conveyor control device 56 and the left screw control command to the screw control device 57. Similarly, the controller 50 generates a control command (right conveyor control command) related to the feed speed of the right conveyor CVR and a control command (right screw control command) related to the rotational speed of the right screw SCR based on the right target conveying speed, and sends the right conveyor control command to the conveyor control device 56 and the right screw control command to the screw control device 57. Furthermore, the controller 50 may forcibly reduce the traveling speed of the asphalt finisher 100 as necessary.

[0097] The conveyor control device 56 controls the feed speed of the left conveyor CVL based on a left conveyor control command, and controls the feed speed of the right conveyor CVR based on a right conveyor control command. Similarly, the screw control device 57 controls the rotation speed of the left screw SCL based on a left screw control command, and controls the rotation speed of the right screw SCR based on a right screw control command.

[0098] The controller 50 may be configured to use the output of the height sensor S2 when generating various control commands based on the target conveying speed. For example, the controller 50 may set a target paving material height based on the target conveying speed, and adjust at least one of the conveyor control commands (left conveyor control command and right conveyor control command) and the screw control commands (left screw control command and right screw control command) so that the actual paving material height detected by the height sensor S2 matches the target paving material height. In other words, the controller 50 may adjust the paving material height by feeding back the output of the height sensor S2.

[0099] Next, a process (hereinafter referred to as "target setting process") in which the controller 50 sets a target when extending or retracting the rear screed 31 will be described with reference to Fig. 5. Fig. 5 is a flowchart showing an example of the flow of the target setting process. The controller 50 repeatedly executes this target setting process at a predetermined control cycle.

[0100] First, the controller 50 acquires the vehicle body coordinates (step ST1). The vehicle body coordinates refer to the coordinates of predetermined parts of the asphalt finisher 100, and include the coordinates of predetermined parts of the rear screed 31, such as the coordinates of the left front end point of the left rear screed 31L and the coordinates of the right front end point of the right rear screed 31R.

[0101] Specifically, the controller 50 stores the center point of the asphalt finisher 100 at a first point in time, such as the start of construction, as a reference point.

[0102] During construction, the controller 50 can derive the relative position of the center point of the asphalt finisher 100 and the orientation of the asphalt finisher 100 at any point in time, such as the current time, based on the outputs of the traveling speed sensor S1 and the steering angle sensor. Note that the relative position of the center point means the relative position of the center point with respect to a reference point. The same applies to the following explanation.

[0103] In the illustrated example, the controller 50 can derive the coordinates of the turning center based on the output of the steering angle sensor. The controller 50 can then derive the relative position of the center point of the asphalt finisher 100 and the orientation of the asphalt finisher 100 at any time, such as the current time, based on the coordinates of the turning center and the output of the traveling speed sensor S1. The controller 50 may also be configured to derive the travel distance or change in attitude based on the output of an IMU (Inertial Measurement Unit), GNSS (Global Navigation Satellite System), or surveying equipment (not shown) mounted on the asphalt finisher 100. Furthermore, the controller 50 can derive the relative position of a predetermined portion of the asphalt finisher 100 at any time based on the relative position of the center point of the asphalt finisher 100 and the orientation of the asphalt finisher 100 at any time and the known dimensions of each component constituting the asphalt finisher 100. The relative positions of the predetermined portions of the asphalt finisher 100 include the relative position of the left object detection device 51L and the relative position of the right object detection device 51R.

[0104] After acquiring the vehicle body coordinates, the controller 50 acquires feature coordinates (step ST2). The feature coordinates refer to the coordinates of features such as the object AP, and include the coordinates on the left boundary line of the road to be constructed, the coordinates on the right boundary line of the road to be constructed, and the like.

[0105] Specifically, the controller 50 can calculate the coordinates of point VL, which is the coordinate on the left boundary line of the road to be worked on, and the coordinates of point VR0, which is the coordinate on the right boundary line of the road to be worked on, based on the relative position of the center point of the asphalt finisher 100 and the orientation of the asphalt finisher 100 at any time and the output of the object detection device 51 at any time.

[0106] After acquiring the vehicle body coordinates and the feature coordinates, the controller 50 sets a target (step ST3). In the illustrated example, the controller 50 calculates a target value for the expansion / contraction amount of the rear screed 31.

[0107] Specifically, the controller 50 derives the distance (hereinafter referred to as the "first distance") between the point VL located closest to and in front of a predetermined portion of the left rear screed 31L (e.g., the left front end point) and the longitudinal axis AX serving as the central axis of the asphalt finisher 100, based on the relative position of the center point of the asphalt finisher 100 at the current time and the orientation of the asphalt finisher 100. The controller 50 also derives the distance (hereinafter referred to as the "second distance") between a predetermined portion of the left rear screed 31L (e.g., the left front end point) and the longitudinal axis AX of the asphalt finisher 100, based on the relative position of the center point of the asphalt finisher 100 at the current time and the orientation of the asphalt finisher 100. The controller 50 then sets the difference between the first distance and the second distance as the target extension amount. Specifically, if the first distance is greater than the second distance, the controller 50 sets the difference between the first distance and the second distance as the target expansion amount, and if the first distance is smaller than the second distance, the controller 50 sets the difference between the first distance and the second distance as the target contraction amount.

[0108] The controller 50 also determines the extension / contraction speed based on the distance in the travel direction between a predetermined portion of the left rear screed 31L (for example, the left front end point) and the point VL located closest to the position in front of it (hereinafter referred to as the "third distance"). Specifically, if the target extension / contraction amount is the same, the controller 50 sets the extension / contraction speed to be higher as the third distance is larger.

[0109] Alternatively, the controller 50 may predict the position of a predetermined portion (e.g., the left front end point) of the left rear screed 31L after a predetermined time (e.g., one second), and derive a line segment connecting the closest point VL in front of the position of the predetermined portion after the predetermined time and the closest point VL behind it. The controller 50 may then determine the distance between an interpolation point (a point that interpolates two points VL) on that line segment and the longitudinal axis AX as the first distance.

[0110] With this configuration, the controller 50 can grasp the position of the boundary line ahead of the screed 3, and can extend and retract the rear screed 31 just right at the appropriate timing. Therefore, the controller 50 can suppress or prevent delays in extension and retraction of the rear screed 31 when the construction width changes, thereby improving construction accuracy.

[0111] With the above-described configuration, the screed extension / contraction control unit 50c can extend or contract the left rear screed 31L so that the coordinates of the left front end point of the left rear screed 31L coincide with the coordinates on the guide line GD when the asphalt finisher 100 has advanced a predetermined distance. In other words, the screed extension / contraction control unit 50c can control the amount of extension / contraction of the left rear screed 31L so that when the distance in the traveling direction between point VL and the left front end point of the left rear screed 31L at any point in time becomes zero, the distance in the vehicle width direction between point VL and the left front end point of the left rear screed 31L also becomes zero.

[0112] Similarly, the screed extension / contraction control unit 50c can extend or contract the right rear screed 31R so that the coordinates of the right front end point of the right rear screed 31R match the coordinates of the nearest point VR located ahead of it when the asphalt finisher 100 has advanced a predetermined distance. In other words, the screed extension / contraction control unit 50c can control the amount of extension / contraction of the right rear screed 31R so that when the distance in the traveling direction between point VR and the right front end point of the right rear screed 31R at any point in time becomes zero, the distance in the vehicle width direction between point VR and the right front end point of the right rear screed 31R also becomes zero.

[0113] Next, the process by which the controller 50 generates a running trajectory (hereinafter referred to as "running trajectory generation process") will be described with reference to Fig. 6. Fig. 6 is a flowchart showing an example of the flow of the running trajectory generation process. In the illustrated example, the controller 50 repeatedly executes this process at a predetermined control cycle while the asphalt finisher 100 is moving forward.

[0114] First, the controller 50 derives a front boundary line (step ST11). In this embodiment, the boundary line deriving unit 50d of the controller 50 derives a front boundary line FB, which is the boundary line of the forward construction target range, based on the output of the forward monitoring device 55, which is an example of an information acquisition device (spatial recognition device). Specifically, the boundary line deriving unit 50d derives a left front boundary line FBL, which is the left boundary line of the forward construction target range, based on the output of the left front monitoring device 55L, and derives a right front boundary line FBR, which is the right boundary line of the forward construction target range, based on the output of the right front monitoring device 55R.

[0115] Thereafter, the travel trajectory generating unit 50e of the controller 50 generates the travel trajectory RP (step ST12). In this embodiment, the travel trajectory generating unit 50e generates the travel trajectory RP based on information about the front boundary line FB derived by the boundary line deriving unit 50d. Specifically, the travel trajectory generating unit 50e generates, as the travel trajectory RP, a line that bisects the forward construction target range in the extension direction of the forward construction target range.

[0116] The controller 50 may be configured to assist in steering the asphalt finisher 100 using the generated travel trajectory RP. For example, the controller 50 may automatically control the direction of travel of the asphalt finisher 100 so that the center point of the asphalt finisher 100 moves along the travel trajectory RP. Alternatively, the controller 50 may be configured to notify the operator of the asphalt finisher 100 in advance of the direction in which the asphalt finisher 100 should move. For example, the controller 50 may output a voice message to the operator of the asphalt finisher 100, such as "Please move 30 centimeters to the right," so that the center point of the asphalt finisher 100 moves along the travel trajectory RP. In this case, the operator of the asphalt finisher 100 can move the center point of the asphalt finisher 100 along the travel trajectory RP simply by operating the steering wheel SH in accordance with the voice message.

[0117] Next, referring to Figure 7, a process in which the controller 50 adjusts the transport amount of paving material PV by the transport device (hereinafter referred to as the "transport amount adjustment process") will be described. Figure 7 is a flowchart showing an example of the flow of the transport amount adjustment process. In the illustrated example, the controller 50 repeatedly executes this process at a predetermined control period while the asphalt finisher 100 is moving forward. Note that the controller 50 may be configured to execute the travel trajectory generation process and the transport amount adjustment process simultaneously in parallel, or may be configured to execute only one of the travel trajectory generation process and the transport amount adjustment process independently.

[0118] First, the controller 50 derives a front boundary line (step ST21). In this embodiment, the boundary line deriving unit 50d of the controller 50 derives a front boundary line FB, which is the boundary line of the forward construction target range, based on the output of the forward monitoring device 55, which is an example of an information acquisition device (spatial recognition device). Specifically, the boundary line deriving unit 50d derives a left front boundary line FBL, which is the left boundary line of the forward construction target range, based on the output of the left front monitoring device 55L, and derives a right front boundary line FBR, which is the right boundary line of the forward construction target range, based on the output of the right front monitoring device 55R.

[0119] Thereafter, the conveyance amount adjustment unit 50f of the controller 50 sets a target conveyance speed (step ST22). In this embodiment, the conveyance amount adjustment unit 50f sets the target conveyance speed based on information about the front boundary line FB derived by the boundary line derivation unit 50d.

[0120] Specifically, the conveyance amount adjustment unit 50f derives the protrusion amount of the rear screed 31 after a predetermined time has elapsed based on information about the front boundary line FB derived by the boundary line derivation unit 50d. More specifically, the conveyance amount adjustment unit 50f derives the distance between the left front boundary line FBL and the longitudinal axis AX after a predetermined time has elapsed as the protrusion amount of the left rear screed 31L after a predetermined time has elapsed. Furthermore, the conveyance amount adjustment unit 50f derives the distance between the right front boundary line FBR and the longitudinal axis AX after a predetermined time has elapsed as the protrusion amount of the right rear screed 31R after a predetermined time has elapsed.

[0121] Then, the conveyance amount adjustment unit 50f sets a target conveyance speed based on the protrusion amount of the rear screed 31. More specifically, the conveyance amount adjustment unit 50f sets a left target conveyance speed based on the protrusion amount of the left rear screed 31L, and sets a right target conveyance speed based on the protrusion amount of the right rear screed 31R.

[0122] The conveyance amount adjustment unit 50f sets the target conveyance speed so that the target conveyance speed increases as the protrusion amount of the rear screed 31 increases, that is, so that the amount of paving material PV conveyed by the conveyance device increases.

[0123] The conveyance distance adjusting unit 50f may adjust the set target conveyance speed based on the output of the travel speed sensor S1. Specifically, the conveyance distance adjusting unit 50f may adjust the target conveyance speed so that the target conveyance speed increases as the travel speed of the asphalt finisher 100 increases.

[0124] The conveyance amount adjusting unit 50f may also adjust the set target conveyance speed based on the set value of the construction thickness (target thickness of the new pavement NP). Specifically, the conveyance amount adjusting unit 50f may adjust the target conveyance speed so that the target conveyance speed increases as the construction thickness increases.

[0125] The conveyance amount adjustment unit 50f may also adjust the set target conveyance speed based on the output of a steering angle sensor. Specifically, the conveyance amount adjustment unit 50f may adjust each of the left target conveyance speed and the right target conveyance speed so that the left target conveyance speed decreases and the right target conveyance speed increases as the left steering angle increases. The conveyance amount adjustment unit 50f may also adjust each of the left target conveyance speed and the right target conveyance speed so that the right target conveyance speed decreases and the left target conveyance speed increases as the right steering angle increases.

[0126] Next, an example of a travel trajectory RP generated by the controller 50 will be described with reference to FIGS. 8 and 9. FIGS. 8 and 9 are top views of a construction site. Specifically, FIG. 8 is a top view of a construction site including a forward construction target range (road) having a short widening portion WP1. FIG. 8 is a top view of a construction site including a forward construction target range (road) having a long widening portion WP2. In FIGS. 8 and 9, the monitoring range MZ of the forward monitoring device 55 is represented by a two-dot chain line, and the forward boundary line FB, which is the boundary line of the forward construction target range, is represented by a one-dot chain line. Also, in FIGS. 8 and 9, the position of the asphalt finisher 100 at the current time is represented by a diagram 100A, the position of the asphalt finisher 100 at a first time point after a predetermined time has elapsed from the current time is represented by a diagram 100B, and the position of the asphalt finisher 100 at a second time point after a predetermined time has elapsed from the first time point is represented by a diagram 100C. 8 and 9, for clarity, the object AP (paving formwork), which is a feature defining the boundary of the forward construction area, is given a coarse dot pattern, and the widening portion WP is given a fine dot pattern. Also, in FIG. 8 and 9, for clarity, the forward boundary line FB is drawn further inward in the vehicle width direction than its actual position. Also, in FIG. 8, the object AP is made up of a left object APL including a first left object APL1 to a fifth left object APL5, and a right object APR including a first right object APR1 to a third left object APR3, while in FIG. 9, the object AP is made up of a left object APL including a first left object APL1 to a fourth left object APL4, and a right object APR including a first right object APR1 to a fourth right object APR4.

[0127] 8, the forward construction target range currently has a widened portion WP1 on the left side (+Y side) of the traveling direction. The widened portion WP1 is formed so as to extend over a length LT1 in the traveling direction.

[0128] The traveling trajectory generating unit 50e of the controller 50 derives the left front boundary line FBL based on the output of the left front monitoring device 55L and determines that a widened portion WP1 exists on the left side of the forward construction target range. The traveling trajectory generating unit 50e also derives the right front boundary line FBR based on the output of the right front monitoring device 55R and determines that no widened portion WP exists on the right side of the forward construction target range.

[0129] In this case, the running trajectory generating unit 50e determines whether the length LT1 of the widened portion WP1 is equal to or greater than a predetermined distance LX or less than the distance LX. In the example shown in Fig. 8, the running trajectory generating unit 50e determines that the length LT1 of the widened portion WP1 is less than the distance LX.

[0130] If it is determined that the length LT1 of the widened portion WP1 is less than the distance LX, the travel trajectory generating unit 50e determines that the widened portion WP1 is relatively short. The travel trajectory generating unit 50e then considers the width (road width) of the portion of the forward construction target range where the widened portion WP1 exists to be the same as the width WD1 of the portion of the forward construction target range where the widened portion WP1 does not exist, and generates a straight line that bisects the forward construction target range as the travel trajectory. In the example shown in FIG. 8, the width (road width) of the portion of the forward construction target range where the widened portion WP1 exists gradually increases from width WD1 at the position indicated by arrow AR10, reaches width WD2 (maximum width) at the position indicated by arrow AR11, gradually narrows from width WD2 at the position indicated by arrow AR12, and reaches width WD3 at the position indicated by arrow AR13. Note that width WD3 is the same as width WD1. In this case, the traveling trajectory generating unit 50e assumes that the width WD1 of the forward construction target range is constant over at least the distance LX, and generates a straight line that bisects the forward construction target range of width WD1 as the traveling trajectory RP1.

[0131] The steering control unit 50b outputs a steering command to the steering device 53 so that the center point of the asphalt finisher 100 moves along the traveling trajectory RP1 generated by the traveling trajectory generating unit 50e. In the example shown in Fig. 8, the steering control unit 50b causes the asphalt finisher 100 to travel straight without changing the steering angle while the asphalt finisher 100 passes through the widening portion WP1.

[0132] The screed extension / retraction control unit 50c starts extension of the left rear screed 31L when the left front end of the left rear screed 31L reaches the position indicated by arrow AR10, and stops extension of the left rear screed 31L when the left front end of the left rear screed 31L reaches the position indicated by arrow AR11. The screed extension / retraction control unit 50c also starts contraction of the left rear screed 31L when the left front end of the left rear screed 31L reaches the position indicated by arrow AR12, and stops contraction of the left rear screed 31L when the left front end of the left rear screed 31L reaches the position indicated by arrow AR13.

[0133] The conveyance amount adjustment unit 50f starts increasing the left target conveyance speed when it determines that the left front end of the left rear screed 31L will reach the position indicated by arrow AR10 after a predetermined time. The left target conveyance speed then gradually increases for a while after the left front end of the left rear screed 31L has passed the position indicated by arrow AR10. The conveyance amount adjustment unit 50f then stops increasing the left target conveyance speed when it determines that the left front end of the left rear screed 31L will reach the position indicated by arrow AR11 after a predetermined time. The left target conveyance speed remains unchanged for a while after the left front end of the left rear screed 31L has passed the position indicated by arrow AR11. The conveyance amount adjustment unit 50f then starts decreasing the left target conveyance speed when it determines that the left front end of the left rear screed 31L will reach the position indicated by arrow AR12 after a predetermined time. The left target conveying speed then gradually decreases for a while after the left front end of the left rear screed 31L passes the position indicated by arrow AR12. The conveying distance adjustment unit 50f then stops reducing the left target conveying speed when it determines that the left front end of the left rear screed 31L will reach the position indicated by arrow AR13 after a predetermined time. The left target conveying speed is then maintained unchanged even after the left front end of the left rear screed 31L passes the position indicated by arrow AR13.

[0134] In the example shown in Figure 8, until the left front end of the left rear screed 31L reaches the widened portion WP1, the protrusion amount WL of the left rear screed 31L is WL1, and the protrusion amount WR of the right rear screed 31R is WR1. Note that the values ​​WL1 and WR1 are the same.

[0135] Thereafter, while the left front end of the left rear screed 31L passes through the widened portion WP1, the protrusion amount WL of the left rear screed 31L increases to a value WL2 and then returns to a value WL1. The protrusion amount WR of the right rear screed 31R does not increase while the left front end of the left rear screed 31L passes through the widened portion WP1, and remains at the value WR1.

[0136] In this way, while the left front end of the left rear screed 31L passes through the widened portion WP1, the left target conveying speed temporarily increases, but the right target conveying speed does not change.

[0137] 9, the forward construction target range currently has a widened portion WP2 on the left side (+Y side) of the traveling direction. The widened portion WP2 is formed so as to extend over a long distance exceeding the distance LX in the traveling direction.

[0138] The traveling trajectory generating unit 50e of the controller 50 derives the left front boundary line FBL based on the output of the left front monitoring device 55L and determines that a widened portion WP2 exists on the left side of the forward construction target range. The traveling trajectory generating unit 50e also derives the right front boundary line FBR based on the output of the right front monitoring device 55R and determines that no widened portion WP exists on the right side of the forward construction target range.

[0139] In this case, the running trajectory generating unit 50e determines whether the length of the widened portion WP2 is equal to or greater than a predetermined distance LX or less than the distance LX. In the example shown in Fig. 9, the running trajectory generating unit 50e determines that the length of the widened portion WP2 is equal to or greater than the distance LX.

[0140] If it is determined that the length of the widened portion WP2 is equal to or greater than the distance LX, the traveling trajectory generating unit 50e determines that the widened portion WP2 is relatively long. Then, the traveling trajectory generating unit 50e generates a line that bisects the forward construction target range, including the widened portion WP2, as the traveling trajectory. In the example shown in FIG. 9, the width of the forward construction target range gradually widens from width WD1 at the position indicated by arrow AR10 and reaches width WD2 (maximum width) at the position indicated by arrow AR11. In this case, the traveling trajectory generating unit 50e generates a line that bisects the forward construction target range, i.e., a line that includes a curved portion, as the traveling trajectory RP2.

[0141] Specifically, the running path RP2 includes a first straight portion that coincides with the longitudinal axis AX11 of the asphalt finisher 100 before the front end of the asphalt finisher 100 reaches the position indicated by the arrow AR10, a second straight portion that coincides with the longitudinal axis AX12 of the asphalt finisher 100 after the rear end of the asphalt finisher 100 passes the position indicated by the arrow AR11, and a curved portion that smoothly connects the first straight portion and the second straight portion.

[0142] The steering control unit 50b outputs a steering command to the steering device 53 so that the center point of the asphalt finisher 100 moves along the travel trajectory RP2 generated by the travel trajectory generating unit 50e. In the example shown in Fig. 9, the steering control unit 50b starts steering leftward before the left front end portion of the left rear screed 31L reaches the position indicated by arrow AR10, and ends steering leftward before the left front end portion of the left rear screed 31L reaches the position indicated by arrow AR11.

[0143] The screed extension / retraction control unit 50c starts extending the left rear screed 31L and the right rear screed 31R when the left front end of the left rear screed 31L reaches the position indicated by arrow AR10, and stops extending the left rear screed 31L and the right rear screed 31R when the left front end of the left rear screed 31L reaches the position indicated by arrow AR11.

[0144] The conveyance amount adjustment unit 50f starts increasing the left target conveyance speed and the right target conveyance speed when it determines that the left front end of the left rear screed 31L will reach the position indicated by arrow AR10 after a predetermined time. The left target conveyance speed and the right target conveyance speed continue to gradually increase for a while after the left front end of the left rear screed 31L passes the position indicated by arrow AR10. The conveyance amount adjustment unit 50f then stops increasing the left target conveyance speed and the right target conveyance speed when it determines that the left front end of the left rear screed 31L will reach the position indicated by arrow AR11 after a predetermined time. The left target conveyance speed and the right target conveyance speed are maintained unchanged even after the left front end of the left rear screed 31L passes the position indicated by arrow AR11.

[0145] In the example shown in Figure 9, until the left front end of the left rear screed 31L reaches the widened portion WP2, the protrusion amount WL of the left rear screed 31L is WL1, and the protrusion amount WR of the right rear screed 31R is WR11. Note that the values ​​WL11 and WR11 are the same.

[0146] Thereafter, until the left front end of the left rear screed 31L reaches the position indicated by the arrow AR11, the protrusion amount WL of the left rear screed 31L increases to a value WL12, and the protrusion amount WR of the right rear screed 31R also increases to a value WR12. Note that the values ​​WL12 and WR12 are the same.

[0147] Then, after the left front end of the left rear screed 31L reaches the position indicated by the arrow AR11, the protrusion amount WL of the left rear screed 31L is maintained at the value WL12, and the protrusion amount WR of the right rear screed 31R is also maintained at the value WR12.

[0148] Therefore, from the time when the left front end of the left rear screed 31L reaches the position indicated by arrow AR10 until it reaches the position indicated by arrow AR11, the left target conveying speed and the right target conveying speed increase at approximately the same rate.

[0149] Next, with reference to FIG. 10, an asphalt finisher 150, which is another example of a road machine according to an embodiment of the present disclosure, will be described.

[0150] The asphalt finisher 150 shown in Figure 10 differs from the asphalt finisher 100 shown in Figure 2 in that only one forward monitoring device 55 is attached to the center of the front end of the top surface of the tractor 1, but in other respects is the same as the asphalt finisher 100 shown in Figure 2. Note that the two-dot chain line shown in Figure 10 indicates the boundary of the monitoring range MZ of the forward monitoring device 55.

[0151] The forward monitoring device 55 shown in Fig. 10 is configured to be able to simultaneously acquire information about a feature (left object APL) that is located forward of the hopper 2 and defines the left boundary line of the forward construction area, and information about a feature (right object APR) that is located forward of the hopper 2 and defines the right boundary line of the forward construction area. The forward monitoring device 55 shown in Fig. 10 may also be configured to be able to monitor the status inside the hopper 2, such as the status of the remaining amount of paving material PV supplied to the hopper 2. The forward monitoring device 55 shown in Fig. 10 may also be configured to be able to monitor the space located in front of the hopper 2, such as the status of a dump truck transporting the paving material PV supplied into the hopper 2.

[0152] As described above, an asphalt finisher 100, which is an example of a road machine according to an embodiment of the present disclosure, comprises, as shown in Figures 1 and 2, a tractor 1, a hopper 2 installed in front of the tractor 1 to receive paving material PV, a conveyor CV that feeds the paving material PV in the hopper 2 to the rear of the tractor 1, a screw SC that spreads the paving material PV fed by the conveyor CV behind the tractor 1, a screed 3 that spreads the paving material PV spread by the screw SC behind the screw SC, and a control device (controller 50) that calculates the coordinates of the boundary line (guide line GD) in a predetermined coordinate system based on information about a feature (object AP) that defines the boundary line (guide line GD) of the construction area located ahead of the screed 3.

[0153] Furthermore, in the asphalt finisher 100, the screed 3 is configured to be extendable and retractable in the vehicle width direction. Therefore, the controller 50 can extend and retract the screed 3 so that the coordinates on the boundary line (guide line GD) and the coordinates of the end of the screed 3 coincide with each other.

[0154] With this configuration, the controller 50 can recognize a change in the direction of the boundary line (guide line GD) before the screed 3 reaches the part where the direction of the boundary line (guide line GD) changes. Therefore, the controller 50 can appropriately control the amount of extension and contraction of the screed 3 compared to when the controller 50 recognizes that a gap exists between the end of the screed 3 and the boundary line (guide line GD) and then extends or contracts the screed to reduce the gap. In other words, the controller 50 can prevent a gap from occurring between the end of the screed 3 and the boundary line (guide line GD).

[0155] Furthermore, in the asphalt finisher 100, the controller 50 may be configured to calculate coordinates on the boundary line (guide line GD) each time the tractor 1 moves forward a predetermined distance. In the example shown in Fig. 2, the controller 50 is configured to continuously calculate and store the coordinates of points VL and VR on the boundary line (guide line GD).

[0156] This configuration has the effect of preventing the computation load for calculating coordinates from becoming greater than necessary.

[0157] In other words, the controller 50 is configured to extend or retract the screed 3 so that the coordinates on the boundary line (guide line GD) calculated at a first point in time become the target coordinates of the end of the screed 3 at a second point in time that is later than the first point in time.

[0158] This configuration allows the controller 50 to recognize a change in the direction of the boundary line (guide line GD) before the screed 3 reaches the part where the direction of the boundary line (guide line GD) changes. Therefore, this configuration has the effect of more appropriately controlling the extension and contraction amount of the screed 3.

[0159] The asphalt finisher 100 may also include an object detection device 51 that acquires information about a feature (object AP) that defines a boundary line (guide line GD) of the road to be worked on and is located ahead of the screed 3. The object detection device 51 may also be arranged ahead of the screed 3. In the example shown in FIG. 2, the object detection device 51 is arranged ahead of the tractor 1, which is located in front of the screed 3.

[0160] With this configuration, the object detection device 51 can obtain information about the portion where the orientation of the boundary line (guide line GD) changes (for example, the relative position with respect to the vehicle body (tractor 1), a distance image, or an image, etc.) before the screed 3 reaches the portion. Therefore, this configuration has the effect of enabling the controller 50 to recognize the change in the orientation of the boundary line (guide line GD) before the screed 3 reaches the portion where the orientation of the boundary line (guide line GD) changes.

[0161] In addition, in the control system DS of the asphalt finisher 100 according to an embodiment of the present disclosure, as shown in FIG. 8 or 9, the controller 50 may be configured to set the travel trajectory RP of the tractor 1 based on information regarding a feature (object AP) that defines the boundary line (forward boundary line FB) of the construction area located ahead of the tractor 1.

[0162] This configuration provides the effect that the control system DS can more appropriately determine the traveling direction of the asphalt finisher 100.

[0163] The controller 50 may also be configured to control the traveling direction of the tractor 1, thereby causing the tractor 1 to travel along a set travel path RP. Note that controlling the traveling direction of the tractor 1 means, for example, controlling the steering angle of the front wheels 6 as steering wheels in the case of a wheeled asphalt finisher, and controlling the difference in rotational speed between the left and right crawlers in the case of a crawler asphalt finisher.

[0164] This configuration provides the effect that the control system DS can cause the asphalt finisher 100 to proceed along the set travel trajectory RP.

[0165] The controller 50 may also be configured to determine the direction of travel of the tractor 1 based on information about a feature (object AP) that defines the boundary line (forward boundary line FB) of the construction area located ahead of the tractor 1.

[0166] Furthermore, in the control system DS of the asphalt finisher 100 according to an embodiment of the present disclosure, as shown in Figure 8 or Figure 9, the controller 50 may be configured to set a target conveying speed, which is a target value for the speed at which the conveying device conveys the paving material PV, based on information regarding a feature (object AP) that defines the boundary line (forward boundary line FB) of the construction area located ahead.

[0167] This configuration allows the control system DS to more appropriately control the conveying speed of the paving material PV by the conveying device. Therefore, the control system DS can prevent situations in which the amount of material held is insufficient, resulting in the formation of depressions on the surface of the new pavement NP. The control system DS also prevents excessive holding volume, which increases the load on the rear screed 31 and causes wheel slippage. Therefore, the control system DS can prevent errors in the travel speed or travel distance calculated based on the output of the travel speed sensor S1, etc., and prevent the asphalt finisher 100 from changing its direction of travel. Furthermore, the control system DS can also prevent the engine from temporarily increasing its load and resulting in a power shortage (horsepower shortage) if the feed speed of the conveyor CV and the rotational speed of the screw SC are suddenly accelerated to compensate for the insufficient amount of material held.

[0168] The conveying device may also include a conveyor CV that feeds the paving material PV in the hopper 2 to the rear of the tractor 1, and a screw SC that spreads the paving material PV fed by the conveyor CV behind the tractor 1. In this case, the controller 50 may be configured to control the movement of the conveyor CV and the screw SC based on a target conveying speed.

[0169] With this configuration, the control system DS controls the feed speed of the conveyor CV and the rotation speed of the screw SC, thereby providing the effect of more appropriately controlling the conveying speed of the paving material PV by the conveying device.

[0170] In addition, the controller 50 may be configured to separately set a left target conveying speed, which is a target value for the speed at which the conveying device conveys the paving material PV toward the left rear screed 31L, and a right target conveying speed, which is a target value for the speed at which the conveying device conveys the paving material PV toward the right rear screed 31R.

[0171] With this configuration, the control system DS has the advantage of being able to transport an appropriate amount of paving material PV to each of the left rear screed 31L and the right rear screed 31R, even if the protrusion amount of the left rear screed 31L and the protrusion amount of the right rear screed 31R are different.

[0172] The boundary line of the construction range (front boundary line FB) may include the boundary line on the left side of the construction range (front left boundary line FBL) and the boundary line on the right side of the construction range (front right boundary line FBR).

[0173] In addition, information regarding the features (objects AP) that define the boundary line (forward boundary line FB) of the construction area may be generated based on the output of a spatial recognition device external to the asphalt finisher 100, or may be generated based on the output of a spatial recognition device (forward monitoring device 55) mounted on the asphalt finisher 100.

[0174] The spatial recognition device may also be configured so that the controller 50 can calculate the distance between the asphalt finisher 100 and a transport vehicle located in front of the asphalt finisher 100.

[0175] The spatial recognition device may also be configured to enable the controller 50 to detect objects located around the asphalt finisher 100.

[0176] The preferred embodiments of the present invention have been described above in detail. However, the present invention is not limited to the above-described embodiments, nor is it limited to the embodiments described below. Various modifications or substitutions may be applied to the above-described or below-described embodiments without departing from the scope of the present invention. Furthermore, features described separately may be combined unless technical contradictions arise.

[0177] For example, in the above-described embodiment, the object detection device 51 is configured to acquire information about the feature (object AP) that defines the boundary line (guide line GD) of the construction area located ahead of the screed 3. However, the controller 50 may be configured to acquire information about the feature (object AP) from design data or the like that is pre-stored in a volatile storage device or a non-volatile storage device. In this case, acquisition of information about the feature (object AP) by the object detection device 51 may be omitted.

[0178] Furthermore, in the above-described embodiment, the object detection device 51 is attached to the asphalt finisher 100, but it may also be attached to a moving body other than the asphalt finisher 100, such as a vehicle or a multicopter.

[0179] Furthermore, in the above-described embodiment, the forward monitoring device 55 is attached to the asphalt finisher 100, but it may also be attached to a moving body other than the asphalt finisher 100, such as a vehicle or multicopter, or may be attached to a structure such as a steel tower installed at the construction site.

[0180] Furthermore, at least one of the coordinate calculation unit 50a, steering control unit 50b, screed extension / retraction control unit 50c, boundary line derivation unit 50d, travel trajectory generation unit 50e, and conveyance amount adjustment unit 50f for realizing various functions of the controller 50 may be implemented in a control device (arithmetic device) other than the controller 50. The other control device may be a control device (arithmetic device) included in the spatial recognition device. [Explanation of symbols]

[0181] 1 Tractor 1S Driver's seat 2 Hopper 3 Screed 3A Leveling arm 3AL Left leveling arm 3AR Right leveling arm 5 Rear wheel 6 Front wheel 7 Screed telescopic cylinder 7L Left screed telescopic cylinder 7R Right screed telescopic cylinder 30 Front screed 30L Left front screed 30R Right front screed 31 Rear screed 31L Left rear screed 31R Right rear screed 32 Step 32C Center step 32L Left step 32R Right step 41 Side plate 41L Left side plate 41R Right side plate 42 Moldboard 42L Left moldboard 42R Right moldboard 43 Retaining plate 43L Left retaining plate 43R Right retaining plate 50 Controller 50a Coordinate calculation unit 50b Steering control unit 50c Screed extension / retraction control unit 50d Boundary line derivation unit 50e Travel trajectory generation unit 50f Conveyance amount adjustment unit 51 Object detection device 51L Left object detection device 51R Right object detection device 52 On-board display device 53 Steering device 54 Screed extension / retraction device 55 Forward monitoring device 55L Left forward monitoring device 55R Right forward monitoring device 56 Conveyor control device 57 Screw control device 60···Mounting part 60L···Left mounting part 60R···Right mounting part 100···Asphalt finisher AP···Object APL···Left object APL1···First left object APL2···Second left object APR···Right object APR1···First right object APR2···Second right object AX···Front and rear axis BS···Road base CL···Center line CV···Conveyor CVL···Left conveyor CVR···Right conveyor DS···Control system GD···Guide line GDL···Left guide line GDR···Right guide line NP···New pavement PV···Pavement material S1···Travel speed sensor S2···Height sensor S2L···Left height sensor S2R···Right height sensor SB, SBa···Pivoting part SC···ScrewSCL···Left screw SCR···Right screw SH···Steering wheel TA···Telescopic member ZL···Left monitoring area ZR···Right monitoring area

Claims

1. A control system for road machinery comprising: a tractor; a hopper installed in front of the tractor to receive paving material; a screed that is extendable in the vehicle width direction and that spreads and levels the paving material behind the tractor; and a transport device that transports the paving material in the hopper to the front of the screed, a control device that sets a target conveying speed, which is a target value of the conveying speed at which the conveying device conveys the paving material, based on information about features that define the boundary of the construction area located ahead; The control device is configured to control the extension and retraction of the screed and the conveying speed, and starts increasing or decreasing the conveying speed before starting the extension and retraction of the screed. Road machinery control systems.

2. The conveying device includes a conveyor that feeds the paving material in the hopper to the rear of the tractor, and a screw that spreads the paving material fed by the conveyor behind the tractor, The control device controls the movement of the conveyor and the screw based on the target conveying speed. A road machine control system according to claim 1.

3. The boundary line of the construction target range includes a left boundary line of the construction target range and a right boundary line of the construction target range, 3. A control system for road machinery according to claim 1 or 2.

4. The information about the features defining the boundary of the construction area is generated based on the output of a spatial recognition device external to the road machine. A road machine control system according to claim 1.

5. The information about the features defining the boundary of the construction area is generated based on the output of a spatial recognition device mounted on the road machine. A road machine control system according to claim 1.

6. The spatial recognition device is configured to enable the control device to calculate the distance between the road machine and a transport vehicle located in front of the road machine.

6. A control system for road machinery according to claim 4 or 5.

7. The spatial recognition device is configured to enable the control device to detect objects located around the road machine.

6. A control system for road machinery according to claim 4 or 5.

8. The screed includes a left rear screed and a right rear screed, The control device separately sets a left target conveying speed, which is a target value for the speed at which the conveying device conveys the paving material toward the left rear screed, and a right target conveying speed, which is a target value for the speed at which the conveying device conveys the paving material toward the right rear screed. A road machine control system according to claim 1.

9. The left target conveying speed is set to be smaller and the right target conveying speed is set to be larger as the left steering angle increases, The left target conveying speed is set to be larger and the right target conveying speed is set to be smaller as the right steering angle increases. A control system for road machinery according to claim 8.

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