Construction machinery and control method for construction machinery

Abstract

To provide a towed-type construction machine having improved safety, this construction machine comprises: a towing vehicle that tows a towed vehicle including a reduction gear; and a control measure for predicting deceleration of the towing vehicle and decelerating the towed vehicle by the reduction gear.

Description

Technical Field

[0001] The present invention relates to construction machinery and a control method for construction machinery, and particularly to construction machinery including a towing vehicle for towing a towed vehicle and a control method for the construction machinery.

Background Art

[0002] In the automatic driving of work machinery, ensuring safety is important, and it is described in Patent Document 1 that when a sensor detects an obstacle, the work vehicle is decelerated or stopped.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, Patent Document 1 does not propose anything regarding the safety of towed construction machinery.

[0005] Therefore, an object of the present invention is to provide a towed construction machinery with improved safety and a control method for the construction machinery.

Means for Solving the Problems

[0006] The construction machinery according to the present invention includes a towing vehicle for towing a towed vehicle provided with a speed reduction device, The towing vehicle is provided with, and a control device that predicts deceleration of the towing vehicle based on at least one of Slope or change in slope the towing vehicle and the towed vehicle, and decelerates the towed vehicle by the speed reduction device. When the operation of the aforementioned reduction gear is required

Effects of the Invention

[0007] ​According to the present invention, the system includes a towing vehicle that tows a towed vehicle equipped with a reduction gear, and a control device that predicts the deceleration of the towing vehicle and decelerates the towed vehicle using the reduction gear, thereby improving the safety of construction. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram showing the towing vehicle and scraper vehicle of the first embodiment. [Figure 2] This is a block diagram of the main parts of the towing vehicle and scraper vehicle of this first embodiment. [Figure 3] Figures 3(a) to 3(c) are schematic diagrams showing the positional relationship between the towing vehicle and the scraper vehicle, as well as the orientation of the towing vehicle and the orientation of the scraper vehicle in this first embodiment. [Figure 4] This figure shows a flowchart executed by the control device of the towing vehicle in this first embodiment. [Figure 5] Figures 5(a) and 5(b) are schematic diagrams showing the towing vehicle and scraper vehicle of this second embodiment. [Figure 6] This is a schematic diagram showing the separation apparatus of the second embodiment. [Figure 7] Figures 7(a) to 7(d) are schematic diagrams showing how the separation device of this second embodiment operates. [Figure 8] Figures 8(a) and 8(b) are schematic diagrams showing how the towing vehicle and scraper vehicle of this second embodiment repeat the construction process in the construction yard. [Figure 9] This figure shows a flowchart executed by the control device of the towing vehicle in this second embodiment. [Modes for carrying out the invention]

[0009] A first embodiment of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described below.

[0010] (First Embodiment) Figure 1 is a schematic diagram showing the towed scraper 100 of this first embodiment. For convenience, in the explanation of Figure 1, the vertical axis direction is referred to as the Z axis direction, and the two orthogonal axes in the horizontal plane are referred to as the X axis direction and the Y axis direction. Figure 2 is a block diagram of the central control device 90 that controls the entire construction site of this first embodiment, and the main parts of the towed scraper 100. The towed scraper 100 is a towed construction machine that repeats four construction processes: an excavation process in which excavation material is excavated at a predetermined excavation site, a transport process in which the excavated material is transported to a predetermined discharge site, a discharge process in which the excavated material is discharged at a predetermined discharge site, and a return process in which the machine travels back to the predetermined excavation site. The towed scraper 100 of this first embodiment has a towing vehicle 1 which is a drive vehicle and a scraper vehicle 20 which is a towed vehicle.

[0011] As shown in Figure 1, the towing vehicle 1 tows the scraper vehicle 20, and tows the scraper vehicle 20 via a hitch 21, which is a coupling device. The hitch 21 is detachable from the towing vehicle 1 and has a flexible joint 22 provided at one end on the towing vehicle 1 side. The joint 22 has rotational degrees of freedom around the X, Y, and Z axes, and absorbs the slope of the ground surface. As a result, the towing vehicle 1 can tow the scraper vehicle 20 while absorbing the slope of the ground surface. In this first embodiment, the joint 22 is the connection part between the towing vehicle 1 and the scraper vehicle 20, and therefore serves as a reference for detecting changes in the position of the towing vehicle 1 and the scraper vehicle 20. In Figure 1, the -X direction is the direction of travel of the towed scraper 100. Hereafter, the towing vehicle 1 and the scraper vehicle 20 will be described in order using Figures 1 and 2.

[0012] (Towing vehicle) As shown in Figure 1, the towing vehicle 1 of this first embodiment has a frame 2, front wheels 3, rear wheels 4, and a detachable part 5.

[0013] Further, as shown in FIG. 2, the towing vehicle 1 of the first embodiment includes a GNSS 6, a speedometer 7, an imaging device 8, a LiDAR 9, an inclinometer 10, an accelerometer 11, a motor 12, a memory 13, a communication device 14, and a control device 15, and is connected to a power supply unit (not shown) provided in the towing vehicle 1.

[0014] First, the configuration of the towing vehicle 1 will be described using FIG. 1. The frame 2 is a metal member that forms the skeleton of the towing vehicle 1 supported by the front wheels 3 and the rear wheels 4.

[0015] The front wheels 3 and the rear wheels 4 are wheels that drive the entire towing vehicle 1. Two front wheels and four rear wheels are provided. In the first embodiment, instead of an internal combustion engine, the towing vehicle 1 is driven (operated) using an in-wheel type motor 12 (see FIG. 2) provided in each of a power supply unit (not shown) provided in the towing vehicle 1, two front wheels 3, and four rear wheels 4. The in-wheel type motor 12 may be provided so as to be coaxially connected to the hubs of the front and rear wheels.

[0016] The attachment / detachment part 5 is a metal member that serves as a base to which the hitch 21 is attached / detached. The attachment / detachment part 5 is disposed on the +X direction side of the frame 2.

[0017] The towing vehicle 1 of the first embodiment is of an autonomous driving type without a driver's seat. Note that the towing vehicle 1 may be of a remotely operated type, may be of a type with a driver's seat, or may be powered by an internal combustion engine. In the type with a driver's seat, as an operation part (not shown), it has well-known configurations such as a steering wheel, a gear shift lever, a wiper, a wiper, an accelerator, and a brake.

[0018] Next, we will continue the explanation of the configuration of the towing vehicle 1 using Figure 2. GNSS 6 is used to determine the position of the towing vehicle 1 using artificial satellites. It is preferable that GNSS 6 be placed on top of the towing vehicle 1, where there is good upward visibility, so that it can easily receive data from artificial satellites. In addition, the positioning data from GNSS 6, along with the positioning data from GNSS 33, which will be described later, is also used to detect the relative position changes between the towing vehicle 1 and the scraper vehicle 20. For this reason, it is preferable that GNSS 6 and GNSS 33 be placed as far apart as possible along the X direction with the joint 22 in between, so that the relative position changes between the towing vehicle 1 and the scraper vehicle 20 with respect to the joint 22 can be easily detected.

[0019] The speedometer 7 detects the speed of the towing vehicle 1 and is a vehicle speed sensor that detects the rotational speed of the shaft connected to the front wheel 3 or the rear wheel 4. Various sensors, such as a sensor utilizing the output of GNSS 6, may also be used for speed detection. Furthermore, for speed detection using GNSS 6, a method utilizing the Doppler effect described in Japanese Patent Application Publication No. 2019-22108 may be used.

[0020] The imaging device 8 is a digital camera equipped with a lens, image sensor, image processing engine, etc., and captures video and still images. In this first embodiment, the imaging device 8 is used to photograph the situation in front of the towed scraper 100 in the direction of travel (-X direction) as shown in Figure 1, and to detect people, other construction machinery, drones, etc. It is preferable that the imaging device 8 be positioned as far forward (-X direction side) as possible of the towing vehicle 1 so that part of the towing vehicle 1's body is not captured in the image.

[0021] LiDAR9 is a sensor that scans with pulsed lasers of electromagnetic waves, such as ultraviolet, visible, or near-infrared light, and detects information such as the distance to an object, the shape of the object, the material of the object, and the color of the object based on the emitted and scattered light. LiDAR9 is an abbreviation for Light Detection and Ranging. In this first embodiment, LiDAR9 detects the situation in front of the towed scraper 100 in the direction of travel (-X direction) as shown in Figure 1, and detects people, other construction machinery, drones, etc. It is preferable that LiDAR9 be positioned as far forward as possible (-X direction side) of the towing vehicle 1 so that the pulsed laser is not obstructed by a part of the vehicle body of the towing vehicle 1.

[0022] The inclinometer 10 is a sensor that detects the tilt of the towing vehicle 1 in the X direction and the tilt of the vehicle body in the Y direction, i.e., its attitude. The inclinometer 10 is preferably positioned on the +X side of the frame 2 near the rear wheels 4, where it is easily synchronized with the slope of the ground.

[0023] The accelerometer 11 is a sensor that detects acceleration in the Z-axis direction received by the towing vehicle 1, and is a sensor that detects unevenness of the ground surface from the vertical acceleration of the towing vehicle 1. It is preferable that the accelerometer 11 be placed on the +X side of the frame 2, which has high rigidity, near the rear wheels 4 of the towing vehicle 1.

[0024] As mentioned above, the motors 12 are in-hole type motors provided on each of the two front wheels 3 and the four rear wheels 4 of the towing vehicle 1, and they rotate the front wheels 3 and the rear wheels 4.

[0025] Memory 13 is a non-volatile storage device (e.g., flash memory) and stores GNSS 6 detection data, speedometer 7 detection data, imaging device 8 image data, LiDAR 9 detection data, inclinometer 10 detection data, accelerometer 11 detection data, dimensional data of the main parts of the towing vehicle 1, and various data for driving the towing vehicle 1. Memory 13 also stores the program for driving the towing vehicle 1.

[0026] The communication device 14 is a wireless communication unit that accesses the communication device of the central control unit 90 (described later), the communication device 40 (described later), and wide-area networks such as the Internet.

[0027] The control device 15 is equipped with a CPU and controls the towing vehicle 1. In this first embodiment, the control device 15 automatically drives the towing vehicle 1 at the civil engineering site in accordance with the instructions of the central control device 90. In addition, it exchanges various data with the control device 41 equipped in the scraper vehicle 20 (described later) via the communication device 14 of the towing vehicle 1 and the communication device 40 of the scraper vehicle 20. The control device 15 predicts that the towing vehicle 1 will decelerate based on the image data from the imaging device 8 and the detection data from the LiDAR 9, and issues a deceleration instruction to the deceleration device provided by the scraper vehicle 20, which will be described later. Furthermore, the control device 15 also performs safety-related controls, such as receiving emergency signals from other construction machines operating at the construction site, and transmitting emergency signals regarding the towing vehicle 1 from an unillustrated notification device to the control devices of other construction machines or to smartphones held by people. The unillustrated notification device may transmit emergency signals as sound or light instead of data.

[0028] The hydraulic unit 16 is a drive device that drives the first actuator 28 and the second actuator 30, which are located on the scraper vehicle 20 and are described later. The hydraulic unit 16 also drives the brakes (not shown) of the towing vehicle 1.

[0029] (Scraper vehicle) Next, the scraper vehicle 20 will be described using Figures 1 and 2. As shown in Figure 1, in addition to the hitch 21 and joint 22 mentioned above, the scraper vehicle 20 has a frame 23, an axle 24, wheels 25, a bowl 26, a scraper 27, a first actuator 28, a ripper 29, a second actuator 30, a projection 31, and a dozer blade 32.

[0030] Furthermore, as shown in Figure 2, the scraper vehicle 20 includes a GNSS 33, an imaging device 34, a LiDAR 35, an inclinometer 36, an accelerometer 37, a load cell 38, a memory 39, a communication device 40, and a control device 41, and is connected to a power supply unit (not shown) provided in the towing vehicle 1. The power supply unit may also be provided in the scraper vehicle 20.

[0031] First, we will explain the configuration of the scraper vehicle 20 using Figure 1. Note that the hitch 21 and joint 22 have already been explained, so they will be omitted here.

[0032] Frame 23 is a metal frame that supports bearings (not shown) and bowls 26 that hold the axle 24.

[0033] The axle 24 rotates due to the traction force of the towing vehicle 1, and the wheels 25 are connected to the axle 24 and are driven wheels that rotate in conjunction with the rotation of the axle. The wheels 25 may also be provided at the front and rear of the scraper vehicle 20, serving as the front and rear wheels.

[0034] The bowl 26 has an opening (not shown) on its lower side and is open on its upper side, and is designed to receive excavated material such as soil and sand excavated by the scraper 27 through this opening (not shown).

[0035] The scraper 27 is a blade-shaped or spatula-shaped member for scraping off excavated material from the ground surface or other running surface, and in this first embodiment, it is integrally provided with the bowl 26 at the bottom of the bowl 26. The scraper 27 also has the effect of slowing down the scraper vehicle 20 by the resistance it exerts when scraping off the excavated material.

[0036] The first actuator 28 is a drive device that tilts the bowl 26 toward the ground surface (-Z direction) and brings it into contact with the ground surface, thereby causing the scraper 27 to bite into the ground surface. When the first actuator 28 tilts the bowl 26 toward the ground surface (-Z direction), the scraper 27 excavates the ground surface, and the excavated material is collected in the bowl 26 through an opening (not shown). When the excavation by the scraper 27 is finished, the first actuator 28 tilts the bowl 26 toward the +Z direction, causing the scraper 27 to move away from the ground surface. Here, the first actuator 28 may be a hydraulic cylinder or an electric cylinder.

[0037] Furthermore, the first actuator 28 slows down the scraper vehicle 20 by creating resistance through contact between the bowl 26 and the ground surface.

[0038] The ripper 29 is a claw-shaped metal component, as shown in Figure 1, designed to break up hard ground surfaces. Hard ground surfaces include, for example, soft rock with an N-value exceeding 50. Although Figure 1 shows one ripper 29 on one side of the bowl 26, a total of two are provided, including one on the opposite side (+Y direction). Note that at least one ripper 29 is required, and the number on each side may differ.

[0039] Furthermore, the mounting position of the ripper 29 may be on the bottom surface in front of the bowl 26 and ahead of the scraper 27, or on the bottom surface behind the bowl 26 and behind the scraper 27, rather than on the side of the bowl 26 as described above. Also, the mounting position of the ripper 29 may be at the very rear of the scraper vehicle 20. When the ripper 29 is mounted in front of the scraper 27, excavation can be performed immediately after the hard ground surface is broken up, allowing for efficient construction with a single towed scraper 100.

[0040] The second actuator 30 is a drive device that rotates the ripper 29 around one end as a pivot point and drives the other end into the ground. When the second actuator 30 drives the ripper 29 into the ground, the ground is crushed. The second actuator 30 is a hydraulic motor or electric motor that drives the ripper 29 around the Y axis. Although not shown in Figure 1, the second actuator 30 may also be a hydraulic cylinder or electric cylinder, which moves the ripper 29 in the -Z direction and drives it into the ground to crush the ground.

[0041] Furthermore, the second actuator 30 slows down the scraper vehicle 20 by generating resistance from driving the ripper 29 into the ground.

[0042] In this first embodiment, two sets of rippers 29 and second actuators 30 are provided, one on each side of the bowl 26, with one set being the first contact device and the other being the second contact device.

[0043] The projections 31 are multiple projection members provided on the bottom of the bowl 26, and are provided to increase resistance and decelerate the towed scraper 100 when the bowl 26 is brought into contact with the ground surface. In this first embodiment, the projections 31 are provided integrally with the bowl 26 at the bottom of the bowl 26. The projections 31 are positioned on the +Z side of the scraper 27 so as not to come into contact with the ground surface during excavation. When the bowl 26 is moved from its excavation position to a position on the -Z side, the projections 31 come into contact with the ground surface, making it easier for the scraper vehicle 20 to decelerate.

[0044] The dozer blade 32 is a metal mechanical part that, in the discharge process described above, discharges the excavated material contained in the bowl 26 at the discharge point. Outside of the discharge process, the dozer blade 32 is located on the +X side of the bowl 26, and in the discharge process, it is moved to the -X side by a cylinder (not shown) to discharge the excavated material. The cylinder (not shown) may be hydraulically driven or electrically driven.

[0045] Next, we will continue the explanation of the configuration of the scraper vehicle 20 using Figure 2. GNSS33 is a positioning device similar to GNSS2, and it determines the position of the scraper vehicle 20. Preferably, GNSS33 is placed on top of the scraper vehicle 20 where there is good upward visibility, so that it can easily receive data from artificial satellites.

[0046] The imaging device 34 is a digital camera similar to the imaging device 8. In this first embodiment, the imaging device 34 is used to photograph the situation behind the towed scraper in the direction of travel (+X direction) and to detect people, other construction machinery, drones, and other moving objects. It is preferable that the imaging device 34 be positioned as far back as possible (+X direction) so that no part of the scraper vehicle 20 is captured in the image.

[0047] LiDAR35 is a sensor similar to LiDAR9. LiDAR35 is used to detect the situation behind the towed scraper 100 in the direction of travel (+X direction side) as shown in Figure 1, and to detect people, other construction machinery, drones, etc. It is preferable to position LiDAR35 as far rear as possible (+X direction side) of the scraper vehicle 20 so that the pulse laser is not obstructed by part of the body of the towing vehicle 1.

[0048] The inclinometer 36 has the same function as the inclinometer 10 and detects the tilt of the scraper vehicle 20 in the X direction and the tilt of the scraper vehicle 20 in the Y direction. It is preferable that the inclinometer 36 be positioned on the +X side of the frame 23 near the wheels 25, where it is easily linked to the slope of the ground. Therefore, the control device 15 can detect changes in the attitude of the towing vehicle 1 and the scraper vehicle 20 based on the outputs of the inclinometer 36 and the inclinometer 10.

[0049] The accelerometer 37 detects the acceleration in the Z-axis direction experienced by the scraper vehicle 20. The accelerometer 37 is a sensor that detects surface irregularities from the vertical acceleration of the scraper vehicle 20. It is preferable that the accelerometer 37 be positioned on the +X side of the frame 23, which has high rigidity, near the wheels 25 of the scraper vehicle 20.

[0050] The load cells 38 are known piezoelectric load cells or strain-type load cells, and are used to detect the weight of the excavated material loaded in the bowl 26. Preferably, one of the load cells 38 is installed at the -Z-direction end of the joint 22. Preferably, the other load cell 38 is installed between the frame 23 and a bearing (not shown) that rotatably supports the axle 24. The control device 15 can detect the weight of the excavated material loaded in the bowl 26 by calculating the sum of the detection results of the two load cells.

[0051] Memory 39 is a storage device similar to memory 13, and stores detection data from GNSS 33, image data from imaging device 34, detection data from LiDAR 35, detection data from inclinometer 36, detection data from accelerometer 37, and dimensional data of the main parts of scraper vehicle 20.

[0052] The communication device 40 is a wireless communication unit that accesses the communication device of the central control unit 90 (described later), the communication device 14, and wide-area networks such as the Internet.

[0053] The control device 41 is equipped with a CPU and controls the scraper vehicle 20. In this first embodiment, the control device 41 transmits image data from the imaging device 34 and detection data from the inclinometer 36 to the control device 15 and the central control device 90. The detection timing of the image data from the imaging device 34 and detection data from the inclinometer 36 is controlled by the control device 15. The control device 41 also receives instructions from the control device 15 and adjusts the intervals between detection times for the various sensors.

[0054] The central control unit 90 has a CPU, memory, communication devices, etc., and safely controls the automatic operation of construction machinery, including the towed scraper 100, at a construction site. In this first embodiment, the central control unit 90 communicates with the control unit 15 to transmit travel route data, emergency stop signals, etc. The central control unit 90 also communicates with the control unit 41 to receive detection results from various sensors on the scraper vehicle 20. The central control unit 90 is installed in a location different from the towed scraper 100, for example, in a control room outside the construction site. In this first embodiment, the towed scraper 100 may be operated by an operator instead of being automatically operated by the central control unit 90.

[0055] Next, the changes in the positional relationship and attitude of the towing vehicle 1 and scraper vehicle 20 of the towed scraper 100 of the first embodiment configured as described above will be explained using Figures 3(a) to 3(c). The changes in the positional relationship between the towing vehicle 1 and scraper vehicle 20 are obtained from the detection results of GNSS 6 and GNSS 33, as mentioned above, and the changes in attitude between the towing vehicle 1 and scraper vehicle 20 are obtained from the detection results of inclinometer 10 and inclinometer 36, as mentioned above.

[0056] Figure 3(a) is a plan view from the +Z direction side of the scraper vehicle 20 of the towed scraper 100 shown in Figure 1, where the scraper vehicle 20 is angled clockwise around the Z-axis of the joint 22 with respect to the direction of travel of the towing vehicle 1 (angle α). In this state, if the angle α with respect to the passage of time exceeds a threshold, it is considered an abnormality because either the body of the towing vehicle 1 is sliding in a direction different from the rotation direction of the rear wheels 4 of the towing vehicle 1 around the Y-axis, or the body of the scraper vehicle 20 is sliding in a direction different from the rotation of the wheels 25 of the scraper vehicle 20 around the axis extending in the +Y and +X directions. Control in the case of an abnormality will be described later using the flowchart in Figure 4.

[0057] Figure 3(b) shows the towing vehicle 1 shown in Figure 1, viewed from the -X-axis side, with an angle β1 formed counterclockwise around the X-axis relative to the ground surface. In this state, if the change in angle β1 over time exceeds a threshold, the posture of the towing vehicle 1 has changed, and there is a risk of tipping over, which is considered abnormal. Control in the case of abnormality will be described later using the flowchart in Figure 4.

[0058] Figure 3(c) shows the scraper vehicle 20 shown in Figure 1, viewed from the -X-axis side, with an angle β2 in a counterclockwise direction around the X-axis relative to the ground surface. In this state, if the change in angle β2 over time exceeds a threshold, the attitude of the scraper vehicle 20 has changed, and there is a risk of tipping over, which is considered abnormal. Control in the case of an abnormality will be described later using the flowchart in Figure 4.

[0059] (Explanation of the flowchart) Next, the control of the towing vehicle 1 and the scraper vehicle 20 will be explained using the flowchart in Figure 4.

[0060] Figure 4 is a flowchart showing the operation performed by the control device 15 provided in the towing vehicle 1 of this first embodiment. Hereinafter, the control of the control device 15 of this first embodiment to activate the deceleration device during construction will be described with reference to Figure 4. The flowchart in Figure 4 is assumed to start when the towed scraper 100 enters the civil engineering site and begins to move.

[0061] When the towed scraper 100 starts moving, the control device 15 collects detection data from GNSS 6, speedometer 7, image data from imaging device 8, LiDAR 9, inclinometer 10, accelerometer 11, GNSS 33, imaging device 34, LiDAR 35, inclinometer 36, accelerometer 37, and load cell 38, and records the data in memory 13 (step S1).

[0062] When step S1 is executed, the control device 15 predicts whether deceleration is necessary based on the data collected in step S1 (step S2). This prediction in step S2 is the prediction in this first embodiment. The control device 15 predicts the deceleration of the towing vehicle 1 and whether the deceleration device needs to be activated for two reasons: firstly, to stop in order to avoid collisions with people, other construction machinery, drones, or other moving objects in the surrounding area; and secondly, to predict changes in the positional relationship and attitude of the towing vehicle 1 and the scraper vehicle 20, predict that there is a risk of the towing vehicle 1 or the scraper vehicle 20 tipping over, and activate the deceleration device to prevent tipping. In this first embodiment, the control device 15 makes such predictions and activates the deceleration device according to the situation, thereby improving the safety of the construction machinery. Alternatively, the control device 41 may predict the deceleration of the towing vehicle 1 and whether the deceleration device needs to be activated, and perform the deceleration control of the scraper vehicle 20 as described below. Alternatively, the deceleration control of the scraper vehicle 20 may be performed by coordinated control between the control device 15 and the control device 41.

[0063] (Collision prediction 1) First, we will explain how the control device 15 predicts whether the deceleration device needs to be activated based on the image data captured by the imaging device 8.

[0064] When the imaging device 8 captures images of surrounding moving objects such as people, other construction machinery, or drones, the control device 15 records the images as first-time image data D1 in the memory 13. After a certain period of time, when the imaging device 8 captures images of surrounding moving objects, it records the images as second-time image data D2 in the memory 13. The control device 15 compares the image data D1 and the image data D2 through image analysis, and if it predicts that the image data D2 is closer, it obtains information that a moving object is approaching. When the control device 15 obtains information that a moving object is approaching, it predicts that the towing vehicle 1 will slow down to avoid a collision between the towed scraper 100 and the moving object. Alternatively, the control device 15 may obtain information that a moving object is approaching based on image data captured by the imaging device 34 instead of the imaging device 8. Furthermore, the control device 15 may obtain information that a moving object is approaching based on the distance detected by the LIDAR 9 or LIDAR 35 instead of the imaging device 8.

[0065] When the control device 15 receives information that a moving object is approaching, it takes into account the detection result of the speedometer 7 and the load weight of the excavated object detected by the load cell 38 to predict whether contact or collision can be avoided and whether the deceleration device needs to be activated.

[0066] (Collision prediction 2) Furthermore, depending on the slope of the travel area, there may be places where the imaging device 8 cannot image the moving object. In particular, in travel areas where the slope changes from an uphill to a downhill slope, the imaging device 8 cannot image the moving object that is on the downhill slope while the towed scraper 100 is traveling uphill. In such cases, the control device 15 may obtain information that the moving object is approaching by receiving the position data of the moving object via communication, or by receiving position data and image data of the moving object from a drone (not shown).

[0067] When the control device 15 receives information that a moving object is approaching, it takes into account the detection result of the speedometer 7 and the weight of the excavated material loaded into the bowl 26 detected by the load cell 38 to predict whether contact or collision can be avoided and whether the deceleration device needs to be activated.

[0068] (Fall prediction 1) Next, we will explain how the control device 15 predicts whether the deceleration device needs to be activated and controls the deceleration based on the positioning data detected by GNSS 6 and GNSS 33.

[0069] The control device 15 calculates the angle α shown in Figure 3(a) from the detection results of GNSS6 and GNSS33 and the dimensional data of the towed scraper 100 recorded in memory 13 and memory 39, and records it as angle data D3. After a certain period of time has elapsed, the control device 15 calculates the angle α shown in Figure 3(a) from the detection results of GNSS6 and GNSS33 and the dimensional data of the towed scraper 100, and records it as angle data D4. The control device 15 calculates the change in angle data D3 and angle data D4 over time, and predicts that the positional relationship between the towing vehicle 1 and the scraper vehicle 20 is abnormal when the change in angle α over time exceeds a threshold.

[0070] When the control device 15 receives information that the positional relationship is abnormal, it takes into account the detection result of the speedometer 7 and the load weight of the excavated material detected by the load cell 38 to predict that at least one of the towing vehicle 1 and the scraper vehicle 20 may tip over, and predicts whether the deceleration device needs to be activated.

[0071] (Fall prediction 2) Next, we will explain how the control device 15 predicts whether the deceleration device needs to be activated based on the inclinometer 10's detected inclinometer data.

[0072] When the inclinometer 10 detects the tilt of the towing vehicle 1, the control device 15 records it in the memory 13 as tilt data D5 for the first time point. After a certain period of time has elapsed, when the inclinometer 10 detects the tilt of the towing vehicle 1, it records it in the memory 13 as tilt data D6 for the second time point. The control device 15 calculates the change in tilt data D5 and tilt data D6 over time, and predicts that the attitude of the towing vehicle 1 is abnormal when the change in the angle β1 over time exceeds a threshold.

[0073] When the control device 15 receives information that the posture of the towing vehicle 1 is abnormal, it takes into account the detection result of the speedometer 7 and the load weight of the excavated material detected by the load cell 38 to predict that the towing vehicle 1 is in danger of tipping over and to predict whether the deceleration device needs to be activated.

[0074] (Fall prediction 3) Next, we will explain how the control device 15 predicts whether the deceleration device needs to be activated based on the inclinometer 36's detected inclinometer data.

[0075] When the inclinometer 36 detects the tilt of the scraper vehicle 20, the control device 15 records it in the memory 13 as tilt data D7 for the first time step. After a certain period of time has elapsed, when the inclinometer 36 detects the tilt of the scraper vehicle 20, it records it in the memory 13 as tilt data D8 for the second time step. The control device 15 calculates the change in tilt data D7 and tilt data D8 over time, and predicts that the posture of the towing vehicle 1 is abnormal when the change in the angle β2 over time exceeds a threshold.

[0076] When the control device 15 receives information that the attitude of the scraper vehicle 20 is abnormal, it takes into account the detection result of the speedometer 7 and the load weight of the excavated material detected by the load cell 38 to predict that the scraper vehicle 20 is in danger of tipping over and to predict whether the deceleration device needs to be activated.

[0077] If the prediction in step S2 is confirmed, the control device 15 activates the deceleration device (step S3). If the prediction in step S2 is not confirmed, the control device 15 proceeds to step S5. Here, we will continue the explanation assuming that the control device 15 proceeds to step S3. Here, the control device 15 activates the deceleration device according to the prediction in step S2.

[0078] (Deceleration when collision prediction 1 is performed) In step S2, the control device 15 performs collision prediction 1, and if it predicts that contact or collision is unavoidable, it issues a drive command to the first actuator 28 to bring the bowl 26 into contact with the ground surface and decelerate the scraper vehicle 20.

[0079] (Deceleration when performing collision prediction 2) In step S2, the control device 15 performs collision prediction 2, and if it predicts that contact or collision is unavoidable, it issues a drive command to the first actuator 28 to bring the bowl 26 into contact with the ground surface and decelerate the scraper vehicle 20.

[0080] (Deceleration when performing fall prediction 1) In step S2, the control device 15 performs a tipping prediction 1, and if it predicts that at least one of the towing vehicle 1 and the scraper vehicle 20 is at risk of tipping, it activates at least one of the two second actuators 30 provided on both sides of the bowl 26 to drive the ripper 29 into the ground in order to eliminate the change in angle α. The control device 15 may also activate the two second actuators 30 to make the depth to which the ripper 29 is driven into the ground different.

[0081] (Deceleration when performing fall prediction 2) In step S2, the control device 15 performs a tipping prediction 2, and if it predicts that the towing vehicle 1 is at risk of tipping, it activates at least one of the two second actuators 30 provided on both sides of the bowl 26 to drive the ripper 29 into the ground in order to eliminate the change in angle β1. The control device 15 may also activate the two second actuators 30 to make the depth to which the ripper 29 is driven into the ground different.

[0082] (Deceleration when performing fall prediction 3) Furthermore, in step S2, the control device 15 performs a tipping prediction 3, and if it predicts that the scraper vehicle 20 is at risk of tipping over, it activates at least one of the two second actuators 30 provided on both sides of the bowl 26 to drive the ripper 29 into the ground in order to eliminate the change in angle β2. The control device 15 may also activate the two second actuators 30 to make the depth to which the ripper 29 is driven into the ground different.

[0083] When step S3 is executed, the control device 15 performs a safety check (step S4). The control device 15 confirms that a collision has been avoided based on the imaging results from the imaging device 8 and the communication results from the communication device 14. The control device 15 also confirms that a tipping over has been avoided based on the detection results from the inclinometer 10. The control device 15 then deactivates the aforementioned deceleration device.

[0084] When step S4 is executed, the control device 15 determines whether the construction is continuing (step S5).

[0085] If step S5 is affirmed, the control device 15 returns to step S1. If step S5 is denied, the control device 15 terminates this flowchart.

[0086] Furthermore, if the control device 15 anticipates that the towing vehicle 1 will decelerate, it may transmit an emergency signal from an unillustrated notification device before activating the deceleration device. The emergency signal may be data transmitted via the communication device 14, or it may be voice or light.

[0087] As described above, this first embodiment has three deceleration devices: a deceleration device configured such that the first actuator 28 tilts the bowl 26 toward the -Z direction and causes the scraper 27 to bite into the ground surface; a deceleration device configured such that the first actuator 28 brings the bowl 26 into contact with the ground surface; and a deceleration device configured such that the second actuator 30 brings the ripper 29 into contact with the ground surface. In the flowchart of Figure 4, the control device 15 operates one deceleration device for one prediction, but the control device 15 only needs to operate at least one of the three deceleration devices.

[0088] According to this first embodiment, the control device 15 can operate multiple reduction devices, making deceleration easier. Furthermore, according to this first embodiment, since multiple reduction devices are provided, a highly safe towed construction machine can be provided. In addition, according to this first embodiment, the scraper vehicle 20 can be decelerated even without brakes to stop the wheels 25.

[0089] (Second Embodiment) In the first embodiment, when the control device 15 predicts an abnormality in the positional relationship between the towing vehicle 1 and the scraper vehicle 20, or an abnormality in the posture of the towing vehicle 1 or the scraper vehicle 20, it activates a deceleration device to return the positional relationship and posture to normal. However, depending on the ground conditions, the construction process, the load on the bowl 26, the travel speed of the towed scraper 100, and the stopping distance, the towed scraper 100 may not be able to stop. In addition, depending on the changes in the positional relationship between the towing vehicle 1 and the scraper vehicle 20, or the changes in posture, the towing vehicle 1 or the scraper vehicle 20 may tip over. In the second embodiment, when the control device 15 predicts an abnormality in the relative position of the towing vehicle 1 and the scraper vehicle 20, or an abnormality in the posture of the towing vehicle 1 or the scraper vehicle 20, it takes into account the ground conditions, the construction process, the load weight on the bowl 26, and the travel speed of the towed scraper 100 to predict that at least one of the towing vehicle 1 and the scraper vehicle 20 may tip over, and a separation device 60 is provided to separate the scraper vehicle 20 from the towing vehicle 1 while it is traveling.

[0090] The second embodiment will be described below using Figures 5(a) to 9, but components identical to those in the first embodiment will be denoted by the same reference numerals, and their descriptions will be omitted or simplified.

[0091] Figures 5(a) and 5(b) are schematic diagrams of the towed scraper 100 of this second embodiment. Figure 5(a) shows the towed scraper 100 of this second embodiment in motion. As shown in Figure 5(a), the towing vehicle 1 of this second embodiment is equipped with a separation device 60 that automatically separates the scraper vehicle 20 from the towing vehicle 1, instead of the attachment / detachment part 5 in the first embodiment. The separation device 60 separates the scraper vehicle 20 by detaching the hitch 21, which is a coupling device, from the towing vehicle 1, as instructed by the control device 15. Figure 5(b) shows the state in which the separation device 60 is activated, separating the scraper vehicle 20 from the connection point with the towing vehicle 1, and the scraper vehicle 20 is separated from the towing vehicle 1. As shown in Figure 5(b), the scraper vehicle 20 of this second embodiment is equipped with a connection plate 42 at the lower end of the joint 22. The connection plate 42 is a rectangular plate-like member and is housed in the connection frame 62 of the separation device 60, which will be described later.

[0092] Next, the configuration of the connecting plate 42 and the separation device 60 will be explained using Figure 6. Figure 6 is a cross-sectional view focusing on the connecting plate 42 and the separation device 60, with parts other than the hitch 21, joint 22, connecting plate 42, and separation device 60 omitted from the illustration. The hitch 21 is shown with a portion of the +X direction side omitted. Also, Figure 6 shows the towing vehicle 1 and the scraper vehicle 20 in a separated state.

[0093] First, let's describe the configuration of the connection plate 42. The connection plate 42 has a recessed wire connector 43 and a recessed hydraulic coupler 44.

[0094] The concave wire connector 43 is a known wire connector and has a concave electrode 43a at the -Z direction end of its rod-shaped body. The +Z direction end of the concave wire connector 43 is electrically connected via a wire (not shown) to the GNSS 33, imaging device 34, LiDAR 35, inclinometer 36, accelerometer 37, load cell 38, memory 39, communication device 40, and control device 41 of the scraper vehicle 20.

[0095] The concave hydraulic coupler 44 is a known hydraulic coupler, and has a concave mouthpiece 44a at the -Z direction end of its rod-shaped body. The +Z direction end of the concave hydraulic coupler 44 is connected via hydraulic piping (not shown) to a first actuator 28, a second actuator 30, and a cylinder (not shown) that drives the dozer blade 32, which are provided on the scraper vehicle 20.

[0096] Next, we will continue describing the configuration of the separation device 60. The separation device 60 includes a base plate 61, a connecting frame 62, an extrusion jack 63, a locking component 64, a convex wire connector 65, and a convex hydraulic coupler 66.

[0097] The base plate 61 is a plate-shaped member that serves as the base of the separation device 60, and is provided according to the position of the joint 22 of the towing vehicle 1.

[0098] The connecting frame 62 is a block-shaped frame with a groove 62a on the +Z direction side and a cylindrical hole 62b on the -Z direction side, and the groove 62a and hole 62b are continuous. The groove 62a is a rectangular groove, and its depth is set so that when the connecting plate 42 is housed there, the +Z direction end of the connecting plate 42 does not protrude from the +Z direction end of the connecting frame 62. The hole 62b is a cylindrical hole that penetrates in the Z direction to accommodate the extrusion jack 63, which will be described later.

[0099] The extrusion jack 63 is a hydraulic drive device that separates the scraper vehicle 20 from the towing vehicle 1, and has a cylinder portion 63a and a rod portion 63b. The cylinder portion 63a is a cylindrical member extending in the Z direction, connected to the hydraulic unit 16, and filled with hydraulic fluid, which moves the rod portion 63b in the Z direction. The cylinder portion 63a has a top plate with a hole in the +Z direction end through which the rod portion 63b moves, and a bottom plate at the -Z direction end, and is fixed to the +Z direction side of the base plate 61. The rod portion 63b is a rod-shaped member extending in the Z direction, which fits into the hole in the top plate of the cylinder portion 63a and moves linearly from the -Z direction side to the +Z direction side, pushing the connecting plate 42 out of the groove 62a of the connecting frame 62. This separates the scraper vehicle 20 from the towing vehicle 1. The rod portion 63b may be fixed to the base plate 61, and the cylinder portion 63a may be arranged to push out the connecting plate 42. The extrusion jack 63 may also be an electric jack.

[0100] The locking component 64 is a rod-shaped member with a sliding mechanism in the X direction, and locks the connecting plate 42 to prevent the scraper vehicle 20 from moving toward the +Z direction and separating when the connecting plate 42 is housed in the groove 62a of the connecting frame 62. The locking component 64 is located at the +Z direction end on the -X direction side of the connecting frame 62 and is driven by an actuator (not shown). Figure 6 shows the state in which the locking component 64 slides toward the -X direction, releasing the lock to the connecting plate 42, and further separating the scraper vehicle 20.

[0101] The convex wire connector 65 is a known wire connector, having a convex electrode 65a at the +Z direction end of its rod-shaped body. The -Z direction end of the convex wire connector 65 is connected to a power supply unit (not shown) provided by the towing vehicle 1 via a wire (not shown). The convex wire connector 65 is paired with the aforementioned concave wire connector 43, supplying power when connected and cutting off the power supply when disconnected.

[0102] The convex hydraulic coupler 66 is a known hydraulic coupler, having a convex mouthpiece 66a at the +Z direction end of its rod-shaped body. The -Z direction end of the convex hydraulic coupler 66 is connected to a hydraulic unit 16 of the towing vehicle 1 via hydraulic piping (not shown). The convex hydraulic coupler 66 is paired with the concave hydraulic coupler 44 described above, and when connected, hydraulic fluid is supplied, and when disconnected, the supply of hydraulic fluid is cut off.

[0103] Next, the operation of the separation device 60 will be explained using Figures 7(a) to 7(d). Figures 7(a) to 7(d) are cross-sectional views showing the operation of the separation device 60. Figure 7(a) shows the state in which the connection plate 42 is housed in the groove 62a of the connection frame 62, and the locking component 64 slides toward the +X direction, locking the locking component 64. In this state, the concave wire connector 43 and the convex wire connector 65 are connected, and power can be supplied from the towing vehicle 1 to the scraper vehicle 20. Also in this state, the concave hydraulic coupler 44 and the convex hydraulic coupler 66 are connected, and hydraulic fluid can be supplied from the towing vehicle 1 to the scraper vehicle 20.

[0104] Figure 7(b) shows the state in which the locking component 64 slides toward the -X direction, releasing the lock on the connecting plate 42.

[0105] Figure 7(c) shows the state in which the extrusion jack 63 extends in the +Z direction, pushing up the connecting plate 42 in the +Z direction and separating the scraper vehicle 20 from the towing vehicle 1. In Figure 7(c), the connection between the concave wire connector 43 and the convex wire connector 65 is released, and the power supply is cut off. The connection between the concave hydraulic coupler 44 and the convex hydraulic coupler 66 is also released, and the hydraulic fluid supply is cut off.

[0106] Figure 7(d) shows the state in which the extrusion jack 63 extends further in the +Z direction, pushing the connecting plate 42 upward in the +Z direction, and the scraper vehicle 20 separates from the towing vehicle 1. In Figure 7(d), the connecting plate 42 is not housed in the groove 62a, and the scraper vehicle 20 can move in the +X direction. At this time, the scraper vehicle 20, which does not have a running gear, will be slower than the towing vehicle 1 due to factors such as the rolling resistance of the wheels 25, and will separate from the towing vehicle 1. Alternatively, a cylinder (not shown) may move the connecting plate 42 toward the +X direction until the connecting plate 42 deviates from the +Z direction side surface of the connecting frame 62, thereby separating the scraper vehicle 20 from the towing vehicle 1.

[0107] As explained in Figures 7(c) and 7(d), the separation device 60 of this second embodiment performs electrical separation of the electrical wiring and hydraulic separation of the hydraulic piping, followed by mechanical separation of the scraper vehicle 20 from the towing vehicle 1. By performing the separation in this order, it is possible to separate the electrical wiring and hydraulic piping without damaging them, and the restoration of the electrical wiring and hydraulic piping becomes easier.

[0108] In this second embodiment, the separation device 60 integrates the components for electrical separation, hydraulic separation, and mechanical separation, but each component may be placed in a different location, or any two components may be placed in the same location. Even if the components are not integrated, it is preferable to perform electrical separation and hydraulic separation before mechanical separation to prevent damage to the electrical wiring and hydraulic piping. Furthermore, since the hydraulic unit 16 is driven by instructions from the power-operated control device 15, it is preferable to perform hydraulic separation before electrical separation.

[0109] Furthermore, since hydraulic separation occurs when the separation device 60 is activated, it is preferable for the control device 15 to activate the reduction gear before activating the separation device 60. This is because if the control device 15 first instructs, for example, the second actuator 30 of the three reduction gears to drive the ripper 29 until it contacts the ground, and then instructs the control device 15 to activate the separation device 60, the scraper vehicle 20 can be separated from the towing vehicle 1 while the ripper 29 maintains a position where it can exert a reduction effect.

[0110] Furthermore, the separation device 60 may be equipped with a recessed wire connector 43 and a recessed hydraulic coupler 44, and the connection plate 42 may be equipped with a convex wire connector 65 and a convex hydraulic coupler 66.

[0111] Next, we will explain how the control device 15 takes the risk level H into account. As mentioned above, in this second embodiment, the control device 15 takes into account the ground conditions, the construction process, the load on the bowl 26, and the travel speed of the towed scraper 100, and when it predicts that at least one of the towing vehicle 1 and the scraper vehicle 20 may tip over, it separates the scraper vehicle 20 from the towing vehicle 1.

[0112] In this second embodiment, a travel hazard index P is introduced to quantify the degree of danger of the ground surface conditions under which the towed scraper 100 travels. A construction hazard index S is also introduced to quantify the degree of danger of the construction process. Furthermore, momentum M is introduced, which is calculated from the weight W of the excavated material loaded into the bowl 26 and the travel speed V of the towed scraper 100. The control device 15 calculates the risk level H by considering the driving risk index P, the construction risk index S, and the momentum M.

[0113] First, we will explain the risk index derived from the ground conditions and construction process using Figures 8(a) and 8(b). Figures 8(a) and 8(b) are schematic diagrams showing how the towed scraper 100 in this second embodiment repeats the construction process (excavation process, transportation process, discharge process, and return process) in the construction yard 200.

[0114] Figure 8(a) is a plan view showing multiple (six in Figure 8(a)) towed scrapers 100 in the construction yard 200. Figure 8(b) is a side view showing an excerpt of the construction yard 200. As shown in Figure 8(b), the ground surface of the construction yard 200 in this second embodiment slopes downward in the +X direction, has an incline of angle θ with respect to the horizontal plane, and is a slope with no incline in the +Y and -Y directions.

[0115] As shown in Figure 8(a), the construction yard 200 of this second embodiment includes a straight track 50a, a curved track R1, a straight track 50b, and a curved track R2 as the travel paths for the towed scraper 100. The construction yard 200 also includes an excavation area 51 located in part of the straight track 50a where the towed scraper 100 excavates material, and a discharge area 52 located in part of the straight track 50b where the towed scraper 100 discharges the excavated material.

[0116] After performing the excavation process at the excavation site 51, the towed scraper 100 proceeds to the discharge site 52 by performing a transport process that involves traveling along the straight track 50a and the curved track R1. Next, after performing the discharge process at the discharge site 52, the towed scraper 100 returns to the excavation site 51 by performing a return process that involves traveling along the straight track 50b and the curved track R2.

[0117] Next, we will continue to explain the construction process of the towed scraper 100 in the construction yard 200 of this second embodiment using Figures 8(a) and 8(b). In this second embodiment, the towed scraper 100 is used as a general term, and when referring to each component, it will be described with an alphabet letter attached, such as towed scraper 100a, towed scraper 100b, towed scraper 100c, etc. Similarly, when referring to the components as a general term, it will be towed vehicle 1, and the components will be described with an alphabet letter attached, such as towed vehicle 1a, towed vehicle 1b, towed vehicle 1c, etc.

[0118] The towed scraper 100a is shown traveling down the straight road 50a in the +X direction and performing excavation at the excavation site 51. The construction process being performed by the towed scraper 100a at the excavation site 51 on the straight road 50a is the excavation process. The towed scraper 100b is shown with its bowl 26 fully filled with excavated material, moving down the straight track 50a in the +X direction. The towed scraper 100c is shown traveling along the curved track R1 towards the discharge point 52. The towed scraper 100b traveling along the straight track 50a and the towed scraper 100c traveling along the curved track R1 are both performing the transportation process. The towed scraper 100d is shown traveling uphill along the straight road 50b in the -X direction and discharging excavated material at the discharge point 52. The construction process performed by the towed scraper 100d at the discharge point 52 on the straight road 50b is the discharge process. The towed scraper 100e is shown with its bowl 26 empty, traveling uphill along the straight track 50b in the -X direction. The towed scraper 100f is shown traveling along the curved track R2 towards the excavation site 51. The towed scraper 100d, traveling along the straight track 50b, and the towed scraper 100e, traveling along the curved track R2, are both performing the transport process. In this way, the towed scraper 100 repeatedly performs the excavation process, the transport process, the discharge process, and the transport process while traveling along the straight track 50a, the curved track R1, the straight track 50b, and the curved track R2.

[0119] Here, a driving risk index P is introduced that takes into account the ground conditions during travel in the construction yard 200. The driving risk index P is set as follows: curved track = 3, downhill straight track = 2, uphill straight track = 1. A higher driving risk index indicates a greater risk of tipping over when a change in posture occurs. In this second embodiment, the driving risk index P1=3 for curved track R1, P2=3 for curved track R2, P3=2 for straight track 50a, and P4=1 for straight track 50b.

[0120] Next, a construction risk index S is introduced that takes the construction process into consideration. Of the construction processes mentioned above, the excavation process is low in risk because the scraper 27 is in contact with the ground surface and there is resistance to movement. In this second embodiment, the construction risk index S1 = 0.5 in the excavation process, the construction risk index S2 = 1 in the transport process, the construction risk index S3 = 1 in the discharge process, and the construction risk index S4 = 1 in the return process.

[0121] Next, momentum M is introduced, taking into account weight W and velocity V. The towed scraper 100 changes its total weight while traveling through the construction yard 200. The total weight of the towed scraper 100 is calculated when there is no excavated material loaded on the scraper vehicle 20 (hereinafter referred to as the empty state) and when the scraper vehicle is loaded with the maximum amount of excavated material (hereinafter referred to as the fully loaded state). The towing vehicle 1 in this second embodiment has a weight of 20t. The scraper vehicle 20 in this second embodiment has a weight of 20t when empty. If the load capacity of the bowl 26 in this second embodiment is 40t, then the weight in the fully loaded state is 60t. Therefore, the towed scraper 100 has a weight W1 of 40t (=20t+20t) when empty and a weight W2 of 80t (=20t+60t) when fully loaded. The fully loaded state is more difficult to stop and generates greater energy in the event of a collision.

[0122] Next, we will continue the explanation regarding the travel speed V. In this second embodiment, the travel speed V of the towed scraper 100 is V1 = 50 km / h when traveling on the straight track 50a or the straight track 50b, V2 = 20 km / h when traveling on the curved track R1 and the curved track R2, and V3 = 10 km / h when performing the excavation process and the discharge process. A higher travel speed V makes it more difficult to stop and results in greater energy in the event of a collision.

[0123] Here, momentum M can be expressed as mass W × velocity V. A large momentum M makes it difficult to decelerate, and the impact of a collision is also large and dangerous. The largest momentum M is M1 = 80t × 50km / h = 4000t·km / h. The smallest momentum M is M2 = 40t × 10km / h = 400t·km / h. Thus, there is a 10-fold difference between momentum M1 and momentum M2, making it difficult to stop and resulting in a large impact energy.

[0124] The control device 15 calculates the risk level H from the aforementioned driving risk index P, construction risk index S, and momentum M. The risk level H may be the product of the driving risk index P, construction risk index S, and momentum M, or it may be the sum of all of them; it is sufficient to set the risk level H using at least one element.

[0125] When driving in a high-risk area (H), it is preferable to shorten the sampling interval of image data captured by the imaging device 8 so that the control device 15 can predict the amount of change in the data and predict as quickly as possible if the vehicle's posture is abnormal.

[0126] The factors used to calculate the risk level H are merely examples; for instance, the control device 15 may consider the slipperiness of the tires based on the amount of moisture on the ground surface, or predict the unevenness of the ground surface from the detection data of accelerometers 11 and 37, and consider its impact on the attitude of the towing vehicle 1 and the scraper vehicle 20.

[0127] Next, the control by which the control device 15 operates the separation device 60 will be explained using the flowchart in Figure 9. Figure 9 is a flowchart showing the operations performed by the control device 15 installed in the towing vehicle 1 of this second embodiment, and the operation of this second embodiment will be explained below with reference to Figure 9. The flowchart in Figure 9 is assumed to start when the towed scraper 100 enters the civil engineering site and begins to travel.

[0128] When the towed scraper 100 starts moving, the control device 15 samples the detection data from GNSS 6, the speedometer 7, the image data from the imaging device 8, the LiDAR 9, the inclinometer 10, the accelerometer 11, the GNSS 33, the imaging device 34, the LiDAR 35, the inclinometer 36, the accelerometer 37, and the load cell 38, and records the data in the memory 13 (step S101).

[0129] When step S101 is executed, the control device 15 calculates the risk level H described above (step S102). For example, in this second embodiment, the towed scraper 100b traveling in the construction yard 200 is traveling on a downhill straight road 50a, so the travel risk index P3 = 2. The construction process is a transportation process, so the construction risk index S2 = 1. The weight W1 = 80t and the speed V1 = 50km / h, so the momentum M1 = 4000t·km / h. If we multiply these together and take the risk level H1, then the risk level H1 = P3 × S3 × M1 = 2 × 1 × 4000 = 8000.

[0130] Furthermore, in this second embodiment, the towed scraper 100e traveling in the construction yard 200 is traveling on an uphill straight road 50b, so the travel risk index P4 = 1. The construction process is a transport process, so the construction risk index S4 = 1. With a weight W2 = 40t and a speed V1 = 50km / h, the momentum M2 = 2000t·km / h. If we multiply these together and call the risk H2, then the risk H2 = P4 × S4 × M2 = 1 × 1 × 2000 = 2000.

[0131] (Separation prediction) When step S102 is executed, the control device 15 detects changes in the relative position and posture of the towing vehicle 1 and the scraper vehicle 20. If it predicts that the relative position or posture change is abnormal, it takes the aforementioned risk level into account and predicts whether the separation device 60 needs to be activated (step S103). In this second embodiment, the threshold for risk level H is set to 2000. When risk level H exceeds the threshold, the control device 15 predicts that the separation device 60 needs to be activated. In this second embodiment, the towed scraper 100b has a risk level H2 = 8000, which exceeds the threshold. Therefore, when it corresponds to one of the overturning predictions 1 to 3 in the first embodiment, the control device 15 takes risk level H into account and predicts whether the separation device 60 needs to be activated.

[0132] The control device 15 predicts whether the separation device 60 needs to be activated in order to prevent tipping if at least one of the towing vehicle 1 and the scraper vehicle 20 is at risk of tipping over. This improves the safety of the construction machinery during operation. Alternatively, the control device 41 on the scraper vehicle 20 may predict the risk of tipping over of the towing vehicle 1 or the scraper vehicle 20 and perform the separation control of the separation device 60 described below. Alternatively, the separation control of the separation device 60 described below may be performed by coordinated control between the control device 15 and the control device 41.

[0133] If the prediction in step S103 is confirmed, the control device 15 activates the deceleration device (step S104). If the prediction in step S103 is not confirmed, the control device 15 proceeds to step S108. Here, we continue the explanation assuming that the control device 15 proceeds to step S104 because it deems it necessary to activate the separation device 60. When step S104 is performed, the control device 15 confirms from the data of the imaging device 34 and LiDAR 35 that there are no moving objects in the surrounding area (step S105). When step S105 is performed, the control device 15 activates the separation device 60 while the towed scraper 100 is moving (step S106).

[0134] The control device 15 activates the reduction gear before activating the separation device 60 in order to shorten the stopping time of the scraper vehicle 20 after it has separated. The reduction gear to be activated only needs to activate at least one of the following: the first actuator 28 that brings the bowl 26 and scraper 27 into contact with the ground surface, the first contact device that drives the ripper 29 into the ground surface, and the second contact device that drives the ripper 29 into the ground surface. In addition, after the first actuator 28 brings the bowl 26 into contact with the ground surface, it may move further in the -Z direction to bring the projection 31 into contact with the ground surface.

[0135] The control device 15 may transmit an emergency signal from an unillustrated notification device before activating the separation device 60. The emergency signal may be data transmitted via the communication device 14, or it may be voice or light.

[0136] When step S106 is executed and the scraper vehicle 20 is separated from the towing vehicle 1, the control device 15 stops the towing vehicle 1 and performs a safety check (step S107). Note that step S107 is the same as step S4 in the flowchart of Figure 4, so its explanation is omitted.

[0137] When step S107 is executed, the control device 15 determines whether the construction is continuing (step S108).

[0138] If step S108 is affirmed, the control device 15 returns to step S101 after the towing vehicle 1 and the scraper vehicle 20 have been connected. If step S107 is denied, the control device 15 terminates this flowchart.

[0139] In addition, in the first embodiment, the control device 15 may also use the risk level H as a predictive factor when predicting the deceleration of the towing vehicle 1.

[0140] As described above, in this second embodiment, when the control device 15 predicts an abnormality in the relative position of the towing vehicle 1 and the scraper vehicle 20, or an abnormality in the posture of the towing vehicle 1 or the scraper vehicle 20, it takes into account the ground conditions, the construction process, the weight of the excavated material loaded into the bowl 26, and the travel speed of the towed scraper 100 to predict that at least one of the towing vehicle 1 and the scraper vehicle 20 may tip over, and a separation device 60 is provided to separate the scraper vehicle 20 from the towing vehicle 1 while the towed scraper 100 is in motion. Therefore, the towing vehicle 1 and the scraper vehicle 20 can be stopped without tipping over, thus providing a highly safe towed construction machine.

[0141] In this second embodiment, the threshold for risk level H is set to 2000, but it is not limited to this value. For example, if the weather conditions are such as rain the day before, or if the wind speed during construction exceeds a predetermined wind speed, the threshold for risk level H may be set lower. Also, if there are no conditions that fit the overturning prediction of the first embodiment based on experience in previous construction, the threshold for risk level H may be set higher.

[0142] The first and second embodiments described above are merely illustrative examples for illustrating the present invention, and various modifications can be made without departing from the spirit of the invention. For example, in the first and second embodiments described above, the towed scraper 100 can be a train type in which multiple scraper vehicles 20 are connected. The multiple scraper vehicles 20 may have the aforementioned components arranged equally, or some may be omitted or their placement changed. For example, to reduce weight, the projection 31 may not be placed on the scraper vehicle 20 located in the middle. By reducing weight, the time until stopping can be shortened, and safety can be improved. [Explanation of Symbols]

[0143] 1 Towing vehicle 8 Imaging device 10 Inclinometer 15 Control device 20 Scraper vehicle 26 Bowl 27 Scraper 28 First actuator 29 Ripper 30 Second actuator 60 Separation device 100 Towable scrapers 200 Construction yard

Claims

1. A towing vehicle that pulls a towed vehicle equipped with a reduction gear, A construction machine comprising: a control device provided on the towing vehicle, which predicts the deceleration of the towing vehicle based on the tilt or change in tilt of at least one of the towing vehicle and the towed vehicle, and decelerates the towed vehicle using the reduction device when it is deemed necessary to activate the reduction device.

2. The construction machine according to claim 1, wherein the control device predicts the deceleration of the towing vehicle based on the detection result of an ambient detection device that detects moving objects in the surroundings.

3. The surrounding detection device measures a first distance between the towing vehicle and the moving object at a first time point. The surrounding detection device measures a second distance between the towing vehicle and the moving object at a second time later than the first time, The construction machine according to claim 2, wherein the control device predicts deceleration of the towing vehicle when the second distance is shorter than the first distance and controls the deceleration device.

4. The construction machine according to claim 1, wherein the reduction device reduces the speed of the towed vehicle by a contact device that contacts the ground surface.

5. The towed vehicle is equipped with a storage compartment capable of accommodating excavated material. The construction machine according to claim 1, wherein the reduction gear is further comprising a first actuator that brings the housing section into contact with the ground surface.

6. The vehicle is equipped with an attitude detection device for detecting the attitude of the towed vehicle, The reduction device comprises a first contact device provided on one side of the towed vehicle and in contact with the ground surface, and a second contact device provided on the other side of the towed vehicle and in contact with the ground surface. The construction machine according to claim 1, wherein the control device predicts the deceleration of the towing vehicle based on the detection result of the attitude detection device and controls at least one of the first contact device and the second contact device.

7. The construction machine according to claim 1, wherein the control device takes into account the change in the weight of the towed vehicle and predicts the deceleration of the towed vehicle.

8. The construction machine according to claim 1, wherein the control device takes into account the inclination of the running surface on which the towing vehicle and the towed vehicle travel and predicts the deceleration of the towing vehicle.

9. The towed vehicle is detachable, and the towing vehicle tows the towed vehicle, A separation device for separating the towed vehicle from the towing vehicle, A sensor that detects the positional relationship or change in attitude between the towing vehicle and the towed vehicle, A construction machine comprising a control device provided on the towing vehicle, which instructs the separation device to separate based on the detection result of the sensor.

10. The construction machine according to claim 9, wherein the control device takes into account the change in the weight of the towed vehicle and instructs the separation device to separate the towed vehicle.

11. The construction machine according to claim 9, wherein the control device takes into account the inclination of the running surface on which the towing vehicle and the towed vehicle travel, and instructs the separation device to separate the towed vehicle.

12. The construction machine according to claim 10 or 11, further comprising a reduction device for slowing down the towed vehicle prior to separation by the separation device.

13. The vehicle is equipped with a reduction device for slowing down the towed vehicle, The construction machine according to claim 9, wherein the control device drives the reduction gear based on the detection result of the sensor, and then controls the separation by the separation device.

14. A method for controlling a construction machine including a towing vehicle and a towed vehicle that is detachably towed by the towing vehicle, A step of detecting a change in the positional relationship or attitude of at least one of the towing vehicle and the towed vehicle using a sensor, A method for controlling a construction machine, comprising the step of instructing a separation device to separate the towed vehicle from the towing vehicle based on the detection result of the sensor.

15. Prior to separation by the separation device, A method for controlling a construction machine according to claim 14, further comprising the step of performing a process to decelerate the towed vehicle.

16. A towed vehicle being towed by a towing vehicle, A construction machine comprising: a reduction device provided on the towed vehicle, which reduces the speed of the towed vehicle in accordance with the tilt of at least one of the towing vehicle and the towed vehicle, or a prediction of the deceleration of the towing vehicle based on a change in the tilt.

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