JP7569735B2 - Rolling Machine - Google Patents

Description

The present invention relates to a rolling machine.

A rolling machine is used for compacting paving materials such as gravel and asphalt that have been spread on a road surface, with an operator sitting in a driver's seat on the vehicle body and operating an operating device located near the driver's seat to drive the vehicle using rolling wheels that also serve as running wheels located at the front and rear of the vehicle body. In order to achieve the desired degree of compaction of the paving materials, the operator repeatedly drives the rolling vehicle over a preset area to be compacted (for example, Patent Document 1).

The vibratory roller described in Patent Document 1 is configured to include an operating console with a steering wheel installed on the rear body, and a bench-style driver's seat installed behind the operating console. The operator of the vibratory roller sits in the driver's seat and operates the steering wheel and the forward/reverse levers on either side of the seat, while carrying out the compaction work while checking the rolling management device that successively displays the progress of the compaction work.

JP 2019-100014 A

When operating the vibratory roller described in Patent Document 1, the operator must use the boarding and alighting steps provided on the side of the machine to get into the driver's seat and operate the steering wheel, forward and reverse lever, etc., provided inside the driver's seat. In this way, with the vibratory roller described in Patent Document 1, the operator must get into the driver's seat himself to perform work, which takes time before starting work, increases the burden on the operator as he gets in and out of the driver's seat, and requires careful attention to safety when getting in and out. In addition, when compacting the road surface, if the rolling wheels are brought close to the road shoulder or structures on the road surface, the operator must visually check the positional relationship between them and the rolling wheels while operating. In that case, the operator in the driver's seat must lean forward and change his/her posture to check the position, and since both operation and checking are performed simultaneously, it is a task that requires effort and attention.

The present invention was made in consideration of these problems, and its purpose is to provide a compaction machine that realizes efficient compaction work while improving the safety of the operator.

In order to achieve the above object, the rolling machine of the present invention comprises a body including a front body and a rear body, front wheels rotatably attached to the front body, rear wheels rotatably attached to the rear body, a connecting pin mechanism for steerably connecting the front body to the rear body, a steering actuator attached to the body and configured to steer the front body relative to the rear body, a traveling actuator attached to the body and configured to drive the rear wheels, and a control device configured to operate the steering actuator and the traveling actuator, the rolling machine further comprising a position detection device attached to the body and configured to detect a position of the body, and a steering angle detection sensor attached to the body and configured to detect a steering angle of the front body relative to the rear body, and the control device controls the position of the body based on position information of the body detected by the position detection device. a current position of the vehicle, a current steering angle of the vehicle based on steering angle information of the front vehicle detected by the steering angle detection sensor, a corrected steering angle for the current steering angle based on the corrected position of the vehicle and the current steering angle calculated by comparing a driving plan line of the vehicle with the current position, and an actuator for operating the steering actuator based on the corrected steering angle, the rear wheels are attached one on each of the left and right sides of the rear vehicle, the rear vehicle is disposed inside the left and right rear wheels, the connecting pin mechanism is configured to include a rotating shaft extending in the vertical direction of the vehicle, and the vehicle further comprises a camera that photographs the surroundings of the vehicle, the camera including a pair of side cameras installed on the side of the rear vehicle between the front wheels and the rear wheels so as to overlap with the axis of the rotating shaft when the vehicle is viewed from the side .

Further, the rolling machine of the present invention comprises a body including a front body and a rear body, front wheels rotatably attached to the front body, rear wheels rotatably attached to the rear body, a connecting pin mechanism for steerably connecting the front body to the rear body, a steering actuator attached to the body and configured to steer the front body relative to the rear body, a traveling actuator attached to the body and configured to drive the rear wheels, and a control device configured to operate the steering actuator and the traveling actuator, the rolling machine further comprising a communication device electrically connecting an external wireless remote control to the control device, and the control device controls the wireless remote control via the communication device. the rear wheels are attached one on each of the left and right sides of the rear body, the rear body is disposed inside the left and right rear wheels, the connecting pin mechanism is configured to include a rotating shaft extending in the vertical direction of the body, and the connecting pin mechanism further includes a camera that photographs the surroundings of the body, the camera including a pair of side cameras installed on the side of the rear body between the front and rear wheels at a side of the rear body and positioned so as to overlap with the axis of the rotating shaft when the body is viewed from the side.

The rolling compaction machine of the present invention is equipped with a position detection device configured to detect the position of the machine body, and a steering angle detection sensor configured to detect the steering angle of the front machine body relative to the rear machine body, and the control device is configured to calculate a current position of the machine body based on position information of the machine body detected by the position detection device, calculate a current steering angle of the machine body based on steering angle information of the front machine body detected by the steering angle detection sensor, calculate a corrected steering angle for the current steering angle based on a corrected position of the machine body and the current steering angle calculated by comparing the traveling plan line of the machine body with the current position, and operate the traveling actuator while operating the steering actuator based on the corrected steering angle, the rear wheels are attached one on each side of the rear machine body, the rear machine body is disposed inside the left and right rear wheels, the connecting pin mechanism is configured to include a rotating shaft extending in the vertical direction of the machine body, and the control device further includes a camera that photographs the surroundings of the machine body, and the camera is configured to include a pair of side cameras installed on the side of the rear machine body between the front and rear wheels so as to overlap with the axis of the rotating shaft when the machine is viewed from the side . The rolling machine of the present invention further comprises a communication device that electrically connects an external wireless remote control and a control device, the control device being configured to receive target steering angle information of the front body and target drive information of the rear wheels from the wireless remote control via the communication device, and to operate the steering actuator based on the target steering angle information and the traveling actuator based on the target drive information , the rear wheels are attached to the left and right of the rear body, the rear body is disposed inside the left and right rear wheels, the connecting pin mechanism is configured to include a rotating shaft extending in the vertical direction of the body, and further comprises a camera that photographs the surroundings of the body, the camera being configured to include a pair of side cameras that are installed on the side of the rear body between the front and rear wheels on the side of the rear body and positioned so as to overlap with the axis of the rotating shaft when the body is viewed from the side . In this way, the rolling machine can operate the steering actuator and the traveling actuator by the control device to perform rolling work by the rolling machine, even if the rolling machine does not have a driver's seat in which an operator sits on the body. Therefore, the operator can perform the rolling work without getting on and off the rolling machine, which eliminates the need to get into the driver's seat and enables efficient rolling work. In addition, the condition of the rolling wheels and tires can be reliably checked through a pair of side cameras during the rolling work, improving safety at the construction site .

1 is a front perspective view showing a schematic configuration of a rolling machine according to an embodiment of the present invention. FIG. 2 is a rear perspective view of the rolling machine shown in FIG. 1 . FIG. 2 is a partially enlarged perspective view showing an enlarged front portion of a rear body of the rolling machine shown in FIG. 1 . FIG. 2 is a left side view of the rolling machine shown in FIG. 1 . 2 is a tablet screen showing an example of an image captured by a side camera of the rolling machine shown in FIG. 1 . FIG. 2 is a drawing explaining the imaging range of the side camera of the rolling machine shown in FIG. 1, in which the solid line shows the state in which the rolling machine is moving straight, and the dashed double-dashed line shows the state in which the rolling machine is turning right. FIG. 2 is a diagram for explaining the location of a GNSS antenna in the rolling machine of FIG. 1 if a driver's seat is provided, and the outline of the outside of the driver's seat is shown generally above the rear body. 2A and 2B show schematic diagrams of the equipment configuration of a control device installed in the rolling machine shown in FIG. 1, where (a) shows the equipment configuration used when unmanned operation control is performed by the control device, and (b) shows the equipment configuration used when site safety control is performed by the control device. FIG. 2 is a schematic diagram illustrating the configuration of an operation panel attached to the rolling machine shown in FIG. 1 . 2 is a schematic diagram illustrating the configuration of a wireless remote control used to remotely operate the rolling machine shown in FIG. 1 . FIG. FIG. 2 is a diagram showing an example of the display content of an LED display attached to the rolling machine shown in FIG. 1 .

The following describes an embodiment of the present invention with reference to the drawings.

1 is a front perspective view showing a schematic configuration of a rolling machine 1 according to one embodiment of the present invention. FIG. 2 is a rear perspective view of the rolling machine 1 shown in FIG. 1. FIG. 3 is a partially enlarged perspective view showing an enlarged front portion of the rear body 40 of the rolling machine 1 shown in FIG. 1. FIG. 4 is a left side view of the rolling machine 1 shown in FIG. 1. FIG. 5 is a screen of a tablet 102 showing an example of an image captured by the side camera 82c of the rolling machine 1 shown in FIG. 1. FIG. 6 is a drawing explaining the imaging range of the side camera 82c of the rolling machine 1 shown in FIG. 1, in which the solid line shows the state in which the rolling machine 1 is moving straight, and the two-dot chain line shows the state in which the rolling machine 1 is turning right. FIG. 7 is a drawing explaining the installation location of the GNSS antenna 98 in the rolling machine 1 of FIG. 1 when a driver's seat is provided, and the driver's seat outside contour line 130 is shown generally above the rear body 40. FIG. 8 is a schematic diagram showing the equipment configuration of the control device 90 mounted on the rolling machine 1 shown in FIG. 1, where (a) shows the equipment configuration used when unmanned operation control is performed by the control device 90, and (b) shows the equipment configuration used when site safety control is performed by the control device 90. FIG. 9 is a schematic diagram explaining the configuration of the operation panel 86 attached to the rolling machine 1 shown in FIG. 1. FIG. 10 is a schematic diagram explaining the configuration of the wireless remote control 100 used when remotely operating the rolling machine 1 shown in FIG. 1. FIG. 11 is a diagram showing an example of the display content of the LED display 96 attached to the rolling machine 1 shown in FIG. 1.

For ease of explanation, the side of the rolling machine 1 where the rolling wheels 22 (front wheels) are provided is the "front", the side where the tires 24 (rear wheels) are provided is the "rear", "left" and "right" are defined based on the state seen from the rear to the front, and "up" and "down" are defined based on gravity. That is, the "front" and "rear" arrows shown in each figure indicate the forward and backward directions of the rolling machine 1, the "left" and "right" arrows indicate the left-right (vehicle width) direction of the rolling machine 1, and the "up" and "down" arrows indicate the up-down direction of the rolling machine 1.

<Overall configuration of the compaction machine>
As shown in Figures 1 to 4, the rolling machine 1 is an articulated type earthwork vibratory roller used for the rolling of asphalt road surfaces, and includes a body 10 and wheels 20. The body 10 is composed of a front body 30 and a rear body 40. The front body 30 and the rear body 40 are articulated to each other via a connecting pin mechanism 15. The connecting pin mechanism 15 allows the front body 30 to rotate (steer) in the yaw direction relative to the rear body 40. The front body 30 can also rotate in the roll direction and pitch direction relative to the rear body 40. The wheels 20 are composed of rolling wheels 22 (front wheels) rotatably attached to the front body 30 and tires 24 (rear wheels) rotatably attached to the rear body 40.

The basic operations of the rolling machine 1 are vibration, running, steering, and compaction, and the rolling work is performed by appropriately combining these basic operations. The vibration operation is an operation in which the vibration actuator 120 (FIG. 8) built into the rolling wheel 22 is vibrated to vibrate the rolling wheel 22. The running operation is an operation in which the rolling machine 1 runs by rotating the tire 24 using an engine and a hydraulic pump (neither of which are shown). During the rolling work, it is desirable to run the rolling machine 1 at a constant speed in order to keep the degree of compaction of the road surface constant. The steering operation is an operation in which the steering actuator 116 (FIG. 8) is operated using the engine and hydraulic pump to bend the front body 30 relative to the rear body 40. The compaction operation is an operation in which a load is applied to the road surface through the rolling wheel 22 and the tire 24 by the weight of the rolling machine 1 and the vibration of the rolling wheel 22, which is added as necessary, while the rolling machine 1 is running.

<Roller wheel, front fuselage>
1 and 2, the rolling wheel 22 is formed in a drum shape and is housed inside the frame of the front body 30. End walls located on both the left and right sides of the rolling wheel 22 are rotatably supported by a pair of side frames 32 (described later) via support units incorporating, for example, vibration isolating rubber. In this way, the rolling wheel 22 is elastically supported by the front body 30. A vibration actuator 120, such as a vibration motor, that vibrates the rolling wheel 22 is built into the rolling wheel 22, and the rolling wheel 22 is vibrated by driving the vibration actuator 120.

The front body 30 includes a pair of side frames 32 extending along each end wall of the rolling wheel 22, a front connection frame 34 connecting the front ends of the pair of side frames 32 in front of the rolling wheel 22, and a rear connection frame 36 connecting the rear ends of the pair of side frames 32 behind the rolling wheel 22. Specifically, the pair of side frames 32 are plate-shaped members extending in the front-rear direction on the outside of the left-right direction (vehicle width direction) of the rolling wheel 22. The front connection frame 34 is a rectangular column-shaped member extending in the left-right direction in front of the rolling wheel 22. The front ends of the pair of side frames 32 are fixed to both left and right ends of the front connection frame 34 via fastening members such as bolts. The rear connection frame 36 is a rectangular column-shaped member extending in the left-right direction behind the rolling wheel 22. The rear ends of the pair of side frames 32 are fixed to both left and right ends of the rear connection frame 36 via fastening members such as bolts. The front body 30 is formed into a frame having a rectangular shape in plan view by a pair of side frames 32, a front connecting frame 34, and a rear connecting frame 36. In addition, a scraper device 38 is attached to the front connecting frame 34 of the front body 30 to scrape off dirt and other debris adhering to the outer circumferential surface of the rolling wheel 22.

<Tires, rear fuselage>
1 and 2, the rear body 40 includes a rear frame 50, a rear bumper 52 attached to the rear end of the rear frame 50, a control device housing 60 mounted on a front portion of the rear frame 50, and a drive device housing 70 mounted on a rear portion of the rear frame 50. Tires 24 are rotatably attached to the rear frame 50. One tire 24 is attached to each of the left and right sides of the rear frame 50. In other words, the rear frame 50 is disposed between the left and right tires 24, i.e., inside the left and right tires 24. In the rolling machine 1 according to this embodiment, a so-called driver's seat (i.e., a cabin) is not provided above the rear frame 50.

The control device housing 60 is a housing for housing the control device 90 described later, which is provided in the area where the driver's seat of a conventional riding type rolling machine was provided, in place of the driver's seat and the operating devices around the driver's seat, and is formed in a substantially rectangular parallelepiped shape. As shown in FIG. 3, a base 105 for fixing the GNSS antenna 98 described later is attached to the upper surface (i.e., the zenith portion) of the control device housing 60. Specifically, the base 105 is composed of a pair of side bases 104 fixed to the upper surface of the front upper hood part 84a described later, and an upper base 106 connected to the pair of side bases 104. The pair of side bases 104 are plate materials fixed at one end to the upper surface of the front upper hood part 84a and extending diagonally upward toward the inside in the width direction. The upper base 106 is a plate material connected to the inner end of the pair of side bases 104 and extending in the left-right direction.

The drive unit housing 70 is a housing that houses a diesel engine and a hydraulic pump. The hydraulic pump is driven by a diesel engine (hereinafter also referred to as the engine) and supplies hydraulic oil to hydraulic devices such as the vibration actuator 120, a travel actuator 118 (e.g., a swash plate type variable displacement travel motor) configured to drive the tires 24, and a steering actuator 116 (e.g., a hydraulic cylinder) configured to steer the front body 30 relative to the rear body 40. The travel actuator 118 is attached to the body 10, and controls the travel speed and forward/reverse direction of the rolling machine 1 by adjusting the displacement volume of the pressurized oil and the tilt direction of the swash plate.

As shown in FIG. 4 and FIG. 6, the connecting pin mechanism 15 connects the front body 30 and the rear body 40 to each other in an articulated manner, and is configured to include a rotation axis extending in the vertical direction of the body 10. Specifically, the rear connection frame 36 of the front body 30 and the rear frame 50 of the rear body 40 are rotatably connected via the connecting pin mechanism 15. The steering actuator 116 is configured to include, for example, a pair of hydraulic cylinders and a pair of piston rods housed in the pair of hydraulic cylinders so as to be able to expand and contract. The pair of hydraulic cylinders are attached to the rear body so as to be able to rotate relative to the pair of piston rods, and the pair of piston rods are attached to the front body 30 so as to be able to rotate relative to the pair of hydraulic cylinders. The hydraulic pressure in the pair of hydraulic cylinders is changed by the pressure oil supplied by the hydraulic pump to expand and contract the pair of piston rods, thereby rotating the front body 30 relative to the rear body 40 and realizing a steering operation. Note that the configuration of the steering actuator 116 is publicly known, so a detailed description thereof will be omitted.

As shown in Figures 1 to 4 and 8, the rolling machine 1 further includes a machine information acquisition means 108, a camera 82, a hood member 84, an operation panel 86, a communication device 88, a control device 90, a warning light 92, a lighting device 94, and an LED display 96.

<Method of acquiring aircraft information>
The machine information acquisition means 108 is configured to acquire various information of the machine 10 necessary for autonomous operation of the compaction machine 1 described later and transmit it to the control device 90, and is configured to include an obstacle detection sensor 80, a GNSS antenna 98 (position detection device), a steering angle detection sensor 110, a travel direction detection sensor 112, and a speed detection sensor 114.

The obstacle detection sensor 80 is attached to the aircraft 10 and is configured to detect the distance between the aircraft 10 and obstacles around the aircraft 10. Specifically, as shown in FIG. 4, the obstacle detection sensor 80 includes a front distance sensor 80a attached to the front side of the rear aircraft 40 and a rear distance sensor 80b attached to the rear side of the rear aircraft 40. The obstacle detection sensor 80 includes a light-emitting unit that emits projected light and a light-receiving unit that receives reflected light when the projected light hits an object, and measures the distance to the obstacle from the time difference between the projected light and the reflected light (so-called LiDAR). As shown in FIG. 7, the obstacle detection sensor 80 is configured to transmit distance information between the obstacle and the aircraft 10 to the control device 90.

The GNSS antenna 98 is configured to detect the position of the vehicle 10 and is attached to the vehicle 10. Specifically, as shown in FIG. 3 and FIG. 4, the GNSS antenna 98 is attached to the upper surface (i.e., the zenith portion) of the control device housing 60 via a base 105. The GNSS antenna 98 is fastened to the upper base 106 with bolts and nuts and is disposed at the top of the rolling machine 1. Also, as shown in FIG. 4, the GNSS antenna 98 is disposed on the axis X of the rotation shaft of the connecting pin mechanism 15. Note that the arrangement of the GNSS antenna 98 is an example, and the GNSS antenna 98 may be disposed anywhere on the upper surface of the control device housing 60 (i.e., the top of the rolling machine 1). The GNSS antenna 98 receives signals from multiple positioning satellites and is an antenna for measuring the current position of the rolling machine 1 on the ground. As shown in FIG. 8, the GNSS antenna 98 is configured to transmit position information of the rolling machine 1 to the control device 90.

The steering angle detection sensor 110 is attached to the front body 30 and is configured to detect the steering angle of the front body 30 relative to the rear body 40. For example, the steering angle detection sensor 110 is configured to detect the steering angle by outputting a voltage using a rotary encoder of a rotating shaft (not shown). Specifically, when the front body 30 rotates relative to the rear body 40 due to the extension and contraction of the piston rod in the steering actuator 116, the rotating shaft (not shown) of the steering angle detection sensor 110 rotates accordingly. The steering angle detection sensor 110 is configured to detect a voltage change corresponding to the amount of rotation of the rotating shaft as steering angle information and transmit the steering angle information to the control device 90. Note that the steering angle detection sensor 110 is not limited to the above-mentioned rotary encoder type sensor as long as it can detect the steering angle of the front body 30 relative to the rear body 40.

The direction of travel detection sensor 112 is a sensor that detects the direction of travel (forward or backward) of the rolling machine 1, and is, for example, a gyro sensor or an acceleration sensor. The speed detection sensor 114 detects the speed at which the rolling machine 1 travels forward or backward, and is, for example, a rotary encoder that detects the number of rotations of a driving motor provided on the tire 24. As shown in FIG. 8, the direction of travel detection sensor 112 and the speed detection sensor 114 are configured to transmit information on the direction of travel and speed information of the rolling machine 1 to the control device 90, respectively.

<Camera 82>
The camera 82 is configured to photograph the surroundings of the vehicle body 10. The camera 82 includes a pair of side cameras 82c installed between the rolling wheels 22 and the tires 24 on the side of the rear vehicle body 40. Specifically, as shown in Figs. 1, 3, and 4, the camera 82 includes a front camera 82a attached to the front of the rear vehicle body 40 and configured to photograph the front of the vehicle body 10, a rear camera 82b attached to the rear of the rear vehicle body 40 and configured to photograph the rear of the vehicle body 10, and a pair of side cameras 82c attached to the sides of the rear vehicle body 40 and configured to photograph the sides of the vehicle body 10. As shown in Fig. 3, the front camera 82a is attached to the front part of the control device housing 60 so as to protrude forward. The rear camera 82b is attached to the rear frame 50 below the rear distance sensor 80b, and a part of it is arranged rearward of the rear bumper 52. The imaging range of the rear camera 82b does not include the rear distance sensor 80b. As shown in FIG. 4, the pair of side cameras 82c are positioned so as to overlap with the axis X of the rotation shaft of the connecting pin mechanism 15 when the vehicle body 10 is viewed from the side, and are installed on the side of the rear vehicle body 40 (for example, a pair of front side hood parts 84b described later). The front camera 82a, the rear camera 82b, and the pair of side cameras 82c are each provided on the front, rear, left and right sides of the rear vehicle body 40, respectively, so that the entire periphery of the vehicle body 10 can be photographed. Specifically, the front camera 82a, the rear camera 82b, and the pair of side cameras 82c can photograph the entire periphery of an area 1 m or approximately 1 m or more away from the vehicle body 10. The front camera 82a and the pair of side cameras 82c, and the rear camera 82b and the pair of side cameras 82c have imaging ranges that overlap each other.

As shown in Figures 5 and 6, when the rolling machine 1 is turning right, the imaging range of the right side camera 82c of the pair of side cameras 82c includes the rolling wheel 22 and the tire 24. The imaging range of the right side camera 82c includes a part of the pair of side frames 32 and the rear connecting frame 36. The aspect of the imaging range of the right side camera 82c when the rolling machine 1 is turning right can be similarly applied to the left side camera 82c. In other words, when the rolling machine 1 is turning left, the imaging range of the left side camera 82c of the pair of side cameras 82c includes the rolling wheel 22 and the tire 24. The imaging range of the left side camera 82c includes a part of the pair of side frames 32 and the rear connecting frame 36.

As shown in FIG. 6, when the rolling machine 1 is moving straight, the imaging range (indicated by a dashed line) of the left side camera 82c of the pair of side cameras 82c includes the rolling wheel 22 and the tire 24. The imaging range of the left side camera 82c when the rolling machine 1 is moving straight can be similarly applied to the right side camera 82c. In other words, when the rolling machine 1 is moving straight, the imaging range of the right side camera 82c of the pair of side cameras 82c includes the rolling wheel 22 and the tire 24.

<Hood parts>
As shown in Figs. 3 and 4, the hood member 84 is attached to the rear body 40 and includes a front hood member 84e configured to cover the front camera 82a. The hood member 84 is attached to the rear body 40 to form a part of the rear body 40. The front hood member 84e is provided to enhance the photographing function of the front camera 82a and has a role of suppressing adhesion of water droplets, mud, etc. to the front camera 82a. The front hood member 84e includes a front upper hood portion 84a extending in the left-right direction so as to cover the upper part of the front camera 82a, and a pair of front side hood portions 84b connected to the front upper hood portion 84a and extending in the up-down direction so as to cover the sides (both left and right sides) of the front camera 82a. The front upper hood portion 84a and the pair of front side hood portions 84b are formed of plate-shaped members and are attached so as to protrude forward from the front side of the control device housing 60. Further, the pair of front side hood parts 84b are formed so that a front-rear length L1 at a first tip part 84c, which is a lower part spaced downward from the front upper hood part 84a, is shorter than a front-rear length L2 at a first base part 84d, which is an upper part connected to the front upper hood part 84a. Each of the pair of front side hood parts 84b is formed so as to be partially curved rearward from the first base part 84d to the first tip part 84c.

The hood member 84 may be configured to include a rear hood member (not shown) that is attached to the rear body 40 and configured to cover the rear camera 82b. The rear hood member has a configuration similar to that of the front hood member 84e, and specifically includes a rear upper hood portion (not shown) that extends in the left-right direction so as to cover the upper part of the rear camera 82b, and a pair of rear side hood portions (not shown) that are connected to the rear upper hood portion and extend in the up-down direction so as to cover the sides (both left and right sides) of the rear camera 82b. The rear upper hood portion and the pair of rear side hood portions are formed of a plate-shaped member and are attached so as to protrude rearward from the rear side of the drive unit housing 70. The pair of rear side hood portions are formed so that the front-rear direction length at the second tip portion, which is the lower portion spaced downward from the rear upper hood portion, is shorter than the front-rear direction length at the second base end portion, which is the upper portion connected to the rear upper hood portion. The pair of rear side hood portions are formed so as to be partially curved forward from the second base end portion to the second tip portion.

<Operation panel>
As shown in Fig. 4, the operation panel 86 is attached to the left side of the rear frame 50. Specifically, the operation panel 86 is disposed between the rolling wheels 22 and the tires 24 and below the LED display 96. The location of the operation panel 86 is not limited thereto, and it may be disposed, for example, behind the tires 24 and on the left side of the rear frame 50. The operation panel 86 may be attached to the right side surface of the rear frame 50, which is a part of the machine body 10.

As shown in FIG. 9, the operation panel 86 includes an operation panel monitor 86a, a VDC switch 86b, a horn switch 86c, a key switch 86d, an emergency stop switch 86e, a start switch 86f, a wireless permission switch 86g, a fan reverse switch 86h, an SCR regeneration switch 86i, and a standby switch 86j. The operation panel 86 is configured to transmit a corresponding switch signal to the control device 90 in response to the operation of each of the above switches.

The operation panel monitor 86a displays information such as the items selected by the VDC switch 86b, the error code of the rolling machine 1, and the amount of oil, allowing the operator to visually check the status of the rolling machine 1. The VDC switch 86b is operated by the operator while rolling it by hand, and selects and executes various work items displayed on the operation panel monitor 86a. The configuration and function of the VDC switch 86b are publicly known, so detailed explanations are omitted. The horn switch 86c is a push button type switch used to alert surrounding workers, for example, before starting the engine of the rolling machine 1. The key switch 86d is a dial type switch that switches between power off, accessory power ON, main power ON, and engine start. The emergency stop switch 86e is a push button type switch that forcibly stops the engine. The start switch 86f is a switch for starting the engine, and the engine is started by rotating the key switch 86d to the engine start position while pressing the start switch 86f. The wireless permission switch 86g is a push button switch that allows or disallows operation of the rolling machine 1 by the wireless remote control 100 described later. In other words, unless the wireless permission switch 86g on the operation panel 86 is operated, the rolling machine 1 cannot be remotely operated by the wireless remote control 100 described later. The fan reverse switch 86h is a push button switch that reverses the rotation of the radiator fan provided on the rolling machine 1, thereby blowing away any debris that has clogged the radiator. The SCR regeneration switch 86i is a push button switch that operates a system that heats and burns off PM (particulate matter) captured by an SCR (selective catalytic reduction) attached to the muffler. The spare switch 86j is an empty switch that allows various switches to be added later as necessary.

<Communication Device>
8, the communication device 88 is mounted on the control device 90 and enables two-way communication with external communication devices (such as a tablet 102 or a wireless remote control 100) by, for example, a mobile phone communication standard (LTE) or a wireless LAN, etc. Specifically, the communication device 88 connects a tablet 102 held by the operator of the rolling machine 1 or a nearby worker, a wireless remote control 100 described below, and a host computer (not shown) installed outside the construction site to the control device 90 so as to enable two-way communication.

<Control device>
The control device 90 is mounted inside the control device housing 60. The control device 90 performs general control including engine operation control, and is configured to include an input/output device, a storage device (ROM, RAM, non-volatile RAM, etc.), a central processing unit (CPU), etc. Below, the control device 90 will be described separately for the device configuration used for unmanned operation control (FIG. 8(a)) and the device configuration used for site safety control (FIG. 8(b)). Note that unmanned operation control includes the autonomous operation mode and remote operation operation mode of the rolling machine 1 described later. Also, site safety control refers to control performed using the notification light 92, the LED display 96, and the tablet 102 to improve the safety of the operator of the rolling machine 1 and surrounding workers.

8(a), the input side of the control device 90 is electrically connected to the machine information acquisition means 108 via, for example, a CAN. This enables the control device 90 to calculate the current position of the rolling machine 1 based on the position information received from the GNSS antenna 98, calculate the traveling direction (forward or backward) of the rolling machine 1 based on the traveling direction information received from the traveling direction detection sensor 112, calculate the current steering angle of the rolling machine 1 based on the steering angle information received from the steering angle detection sensor 110, calculate the running speed of the rolling machine 1 based on the speed information received from the speed detection sensor 114, and calculate the distance between the obstacle and the rolling machine 1 based on the distance information received from the obstacle detection sensor 80. In addition, the control panel 86 is electrically connected to the input side of the control device 90. As a result, the control device 90 receives operation information based on the operation of the operation panel 86 by the operator or a nearby worker (e.g., wireless operation permission information based on the operation of the wireless permission switch 86g), and performs processing according to the operation (e.g., sending a wireless operation permission signal to the wireless remote control 100). In addition, the wireless remote control 100 is connected to the control device 90 via the communication device 88 so as to be capable of two-way communication.

8A, the output side of the control device 90 is electrically connected to the travel actuator 118, the steering actuator 116, the vibration actuator 120, the LED display 96, the horn 122, and the left and right turn signals 124. The travel actuator 118 receives a travel control signal from the control device 90, and adjusts the displacement volume of the pressure oil supplied from the hydraulic pump and the tilt direction of the swash plate based on the travel control signal, thereby adjusting the travel speed and forward/rear direction of the rolling machine 1. The steering actuator 116 also receives a corrected steering angle signal for the front body 30 from the control device 90, and adjusts the pressure of the oil supplied from the hydraulic pump based on the corrected steering signal to adjust the steering angle of the front body 30 relative to the rear body 40. Here, the corrected steering angle signal is calculated from the current steering angle of the rolling machine 1 based on the comparison result by comparing the travel plan line of the rolling machine 1 stored in advance in the control device 90 with the current position of the rolling machine 1. The travel plan line of the rolling machine 1 may be stored in advance in a host computer outside the rolling machine 1. In this case, the corrected steering angle is calculated by the host computer, and the corrected steering angle information transmitted from the host computer is received by the control device 90 of the rolling machine 1 via the communication device 88. The vibration actuator 120 receives a vibration start signal from the control device 90, and adjusts the pressure oil supplied from the hydraulic pump based on the vibration start signal to vibrate the rolling wheel 22 at a predetermined amplitude. The horn 122 and the left and right turn signals 124 are configured to receive a predetermined signal from the control device 90 and operate based on the signal. The LED display 96 is configured to receive a predetermined display signal from the control device 90 and display predetermined information, which will be described later, based on the display signal. The configuration of the LED display 96 will be described later.

As shown in FIG. 8(b), the camera 82 and the obstacle detection sensor 80 are electrically connected to the input side of the control device 90 via, for example, a CAN. Furthermore, the notification light 92 and the LED display 96 are electrically connected to the output side of the control device 90. The tablet 102 is connected to the control device 90 via the communication device 88 so as to be able to communicate bidirectionally with the control device 90.

When site safety control is performed, the control device 90 is configured to calculate the distance between the aircraft 10 and the obstacle based on the distance information between the obstacle and the aircraft 10 detected by the obstacle detection sensor 80, and to transmit a warning signal according to the calculation result. Specifically, the control device 90 is configured to classify the distance between the obstacle and the aircraft 10 into, for example, three stages, transmit a blue warning signal when it determines that the distance is long, transmit a yellow warning signal when it determines that the distance is medium, and transmit a red warning signal when it determines that the distance is short. The distance classification (long, medium, short) between the obstacle and the aircraft 10 can be changed as appropriate. The warning signal transmitted by the control device 90 is received by the warning light 92 and the LED display 96, and the color (blue, yellow, red) corresponding to the warning signal is flashed or turned on to notify. The red alert signal may be transmitted by the control device 90 when the machine 10 comes to an abrupt stop due to approaching an obstacle or when the machine 10 breaks down and interferes with operation. The yellow alert signal may be transmitted by the control device 90 to alert the operator and surrounding workers when an abnormality occurs in the machine 10. The blue alert signal may be transmitted by the control device 90 when there is no abnormality in the machine 10 and it is operating normally.

The control device 90 is also configured to transmit a monitor signal for displaying the image captured by the camera 82 on an external tablet 102 (monitor). Specifically, the monitor signal is transmitted from the control device 90 to the tablet 102 via the communication device 88. The tablet 102 receives the monitor signal and displays the entire image captured by the camera 82. The images captured by the front camera 82a, the rear camera 82b, and the pair of side cameras 82c can be displayed simultaneously by dividing the screen of the tablet 102. The images captured by the camera 82 may be transmitted via the control device 90 to a monitor (not shown) in a management office located away from the construction site. The monitor in the management office can also communicate with the control device 90 in both directions.

As shown in Figures 5 and 6, the image capturing range of the pair of side cameras 82c includes the rolling wheels 22 and tires 24 whether the rolling machine 1 is moving straight or turning. This allows the operator and surrounding workers to simultaneously view the rolling wheels 22, tires 24, and obstacles P captured by the pair of side cameras 82c via the tablet 102 at hand. The images visible on the tablet 102 shown in Figures 5 and 6 can also be viewed on a monitor in the management office. This makes it possible to compensate for the blind spots of the operator by viewing the images from the pair of side cameras 82c on the tablet 102 at hand or on a monitor at a remote location, thereby improving the safety of the surrounding area when operating the rolling machine 1.

<Notification light>
As shown in Figs. 1 to 4, the notification lamp 92 is attached to the vehicle body 10 and configured to notify a predetermined color based on a notification signal transmitted by the control device 90. Specifically, the notification lamp 92 includes a pair of front notification lamps 92a attached to the front of the rear vehicle body 40 across the front camera 82a, and a pair of rear notification lamps 92b attached to the rear of the rear vehicle body 40 across the rear camera 82b. As shown in Fig. 3, the pair of front notification lamps 92a are disposed below the front camera 82a on both the left and right sides of the front camera 82a. As shown in Fig. 2, the pair of rear notification lamps 92b are disposed below the rear camera 82b on both the left and right sides of the rear camera 82b. The notification lamp 92 may include one front notification lamp and one rear notification lamp, and the number of the notification lamps is not particularly limited. As shown in Figs. 1 to 4, the warning lamps 92 include a pair of upper warning lamps 92c respectively installed on the pair of side bases 104, and a pair of side warning lamps 92d respectively installed on the pair of front side hood parts 84b. The pair of upper warning lamps 92c are installed facing diagonally upward on the outer side in the width direction. The pair of side warning lamps 92d may be respectively arranged above the pair of side cameras 82c, or may be respectively arranged below the pair of side cameras 82c. For example, the pair of side warning lamps 92d may be respectively arranged diagonally below the pair of side cameras 82c. The pair of front warning lamps 92a, the pair of rear warning lamps 92b, the pair of upper warning lamps 92c, and the pair of side warning lamps 92d are configured to warn by flashing or lighting a color (blue, yellow, red) corresponding to the warning signal transmitted by the control device 90.

<LED display>
1 to 4, the LED display 96 is disposed on each of the side surfaces (both left and right side surfaces) of the control device housing 60, above the operation panel 86. As shown in Fig. 11, the LED display 96 is provided with a symbol display section 96a on the left side, a character display section 96b in the center, and an alarm light interlocking section 96c on the right side, and displays the status of the rolling machine 1 with colors, characters, and symbols. Note that the arrangement order of the symbol display section 96a, character display section 96b, and alarm light interlocking section 96c on the LED display 96 is one example, and is not limited thereto.

The symbol display section 96a uses symbols to display the state of the rolling machine 1, such as the parking brake being activated/deactivated, the engine being stopped, or a malfunction of the machine body 10. Figure 11 shows an example of a symbol indicating that some kind of malfunction has occurred in the machine body 10. In this case, the operator or nearby workers can grasp the specific details of the malfunction by operating the VDC switch 86b on the operation panel 86 and visually checking the operation panel monitor 86a.

The character display section 96b displays the state of the rolling machine 1 in characters, such as manual operation mode, remote operation mode, autonomous operation mode, failure mode, and end mode. The manual operation mode means a state in which an operator or a nearby worker operates the operation panel 86, the remote operation mode means a state in which the rolling machine 1 is operated by a wireless remote control 100 described later, the autonomous operation mode means a state in which the rolling machine 1 automatically operates along a previously prepared travel plan line, the failure mode means a state in which there is an abnormality in the rolling machine 1, and the end mode means a state in which the engine is turned off. FIG. 11 shows the English notation of the remote operation modes. Note that each of these modes is an example, and can be appropriately added or modified, and may be written in either Japanese or English.

The notification light interlocking unit 96c is interlocked with the notification light 92 to display the same color as the color notified by the notification light 92. In other words, the notification light interlocking unit 96c is configured to notify by flashing or lighting the color (blue, yellow, red) corresponding to the notification signal transmitted by the control device 90. The notification light interlocking unit 96c may display a color in a manner different from that of the notification light 92. In other words, the lighting or flashing of the notification light interlocking unit 96c may or may not be linked to the lighting or flashing of the notification light 92. In this way, the notification light 92 and the notification light interlocking unit 96c of the LED display 96 are interlocked to display the same color, so that the state of the rolling machine 1 is displayed in four directions, front, back, left, and right, and the state of the rolling machine 1 can be reliably grasped regardless of the working position of the operator and surrounding workers. This improves the safety of the operator and surrounding workers involved in the work of the rolling machine 1.

<Lighting equipment>
3 and 4, the lighting fixtures 94 are attached below each of the pair of side cameras 82c on the sides of the rear body 40 and are configured to illuminate the road surface. More specifically, each of the pair of side cameras 82c and each of the lighting fixtures 94 are attached to a pair of front lateral hood parts 84b and arranged to be aligned with each other in the up-down direction. In other words, the side cameras 82c and the lighting fixtures 94 are arranged in a straight line with each other in the up-down vertical direction, with the side cameras 82c located above and the lighting fixtures 94 located below.

<Wireless remote control>
As shown in Fig. 8(a), the wireless remote control 100 is connected to the control device 90 via the communication device 88 so as to be capable of two-way communication, and is held by the operator of the rolling machine 1. The wireless remote control 100 is capable of communicating with the control device 90 of the rolling machine 1 by operating a wireless permission switch 86g installed on the operation panel 86. By operating the wireless remote control 100, it is possible to remotely control the rolling machine 1, which does not have a driver's cab, and for example, the rolling machine 1 can be safely moved from the storage location of the rolling machine 1 to the construction site. In addition, at the construction site, the rolling work can be performed by the wireless remote control 100 as appropriate, such as in small areas where it is difficult to perform rolling work by autonomous operation of the rolling machine 1.

As shown in FIG. 8(a), the operation signal transmitted from the wireless remote control 100 is received by the control device 90 via the communication device 88. The control device 90 then converts the operation signal into a predetermined output signal and transmits it to each output target (e.g., the traveling actuator 118, etc.). Specifically, as shown in FIG. 10, the wireless remote control 100 includes a first joystick 100a, a second joystick 100b, a driving mode changeover switch 100c, an emergency stop switch 100d, a parking brake switch 100e, an engine speed selection switch 100f, a traveling speed determination switch 100g, and a vibration amplitude determination switch 100h.

The first joystick 100a is operated left and right based on its neutral position to steer the front body 30 relative to the rear body 40. In addition, the horn 122 can be operated by pressing down the first joystick 100a. The second joystick 100b is operated forward and backward based on its neutral position to move the rolling machine 1 forward and backward. In addition, the vibration actuator 120 can be operated by pressing down the second joystick 100b.

The operation mode changeover switch 100c is operated left or right based on its neutral position to switch between the autonomous operation mode of the rolling machine 1, the remote operation mode using the wireless remote control 100, and the manual operation mode of the rolling machine 1. For example, the operation mode changeover switch 100c is configured to switch to the autonomous operation mode when operated to the left, to switch to the remote operation mode when operated to the right, and to switch to the manual operation mode when in the neutral position. When switching to the autonomous operation mode using the wireless remote control 100, it is first necessary to operate the wireless permission switch 86g on the operation panel 86, which prevents hacking by malicious third parties.

The emergency stop switch 100d is a push button switch that forcibly stops the engine via the wireless remote control 100. The parking brake switch 100e switches between activation and deactivation of the parking brake of the rolling machine 1 by operating it forwards and backwards based on its neutral position. For example, operating the parking brake switch 100e forward activates the parking brake, and operating the parking brake switch 100e backward releases the parking brake. The operation state of the parking brake switch 100e is displayed on the symbol display section 96a of the LED display 96. The engine speed selection switch 100f sets the engine speed of the rolling machine 1 to a predetermined value by operating it forwards and backwards based on its neutral position. For example, operating the engine speed selection switch 100f forward sets the engine speed to a certain value (e.g., 1800 rpm), and operating the engine speed selection switch 100f backward sets the engine speed to another value (e.g., 1000 rpm). The magnitude and number of rotation speeds that can be set by the engine speed selection switch 100f can be changed as needed. The travel speed determination switch 100g is a dial-type stepless switch, and for example, the maximum travel speed of the rolling machine 1 is set by rotating it clockwise based on the start position. The vibration amplitude determination switch 100h is a switch that can be operated in two stages, and for example, the amplitude of the vibration actuator 120 is set to be small by operating it one stage forward based on the start position, and the amplitude of the vibration actuator 120 is set to be large by operating it another stage forward. The amplitude of the vibration actuator 120 is pre-stored in the control device 90, and the specific amplitude can be changed as needed.

Next, each operation mode of the rolling machine 1 will be described.
<Manual operation mode>
The manual operation mode means a state in which the operator of the rolling machine 1 or a worker nearby operates the operation panel 86. The manual operation mode is mainly selected when starting up the rolling machine 1 or when performing maintenance, and in the manual operation mode, the rolling machine 1 cannot be operated via the wireless remote control 100. For example, when starting up the rolling machine 1, the operator operates the key switch 86d of the operation panel 86 to turn the main power ON and press the horn switch 86c. After that, the engine is started by rotating the key switch 86d to the engine start position while pressing the start switch 86f. After the engine is started, the operator presses the wireless permission switch 86g to permit remote operation of the rolling machine 1 via the wireless remote control 100. Also, when performing maintenance on the rolling machine 1, the operator or a worker nearby can operate the fan reverse switch 86h to blow away dirt stuck in the radiator. Furthermore, by operating the SCR regeneration switch 86i, the PM (particulate matter) trapped in the SCR (selective catalytic reduction) can be burned away.

<Unmanned operation control: Remote operation mode>
The remote control mode means a state in which the rolling machine 1 is operated by the wireless remote control 100. The operator can select the remote control mode by the wireless remote control 100 by operating the operation mode changeover switch 100c of the wireless remote control 100. In the remote control mode, the control device 90 is configured to receive target steering angle information of the front body 30 and target drive information of the tires 24 from the wireless remote control 100 via the communication device 88, and to operate the steering actuator 116 based on the target steering angle information and to operate the traveling actuator 118 based on the target drive information. Here, the target steering angle information is transmitted to the control device 90 in response to the amount of operation of the first joystick 100a of the wireless remote control 100, and is information that determines the steering angle of the front body 30. The control device 90 operates the steering actuator 116 to steer the front body 30 relative to the rear body 40 based on the target steering angle information received from the wireless remote control 100. The target drive information is transmitted to the control device 90 in response to the amount of operation of the second joystick 100b of the wireless remote control 100, and is information for determining the rotation speed and direction of rotation of the tire 24. Based on the target drive information received from the wireless remote control 100, the control device 90 operates the travel actuator 118 to drive the tire 24 in a predetermined direction at a predetermined number of rotations.

In the remote operation mode, the control device 90 receives an emergency stop signal according to the operation of the emergency stop switch 100d, and forcibly stops the engine based on the emergency stop signal. The control device 90 also receives a parking brake signal according to the operation position of the parking brake switch 100e, and activates/releases the parking brake of the rolling machine 1 based on the parking brake signal. The control device 90 also receives an engine speed signal according to the operation position of the engine speed selection switch 100f, and sets the engine speed of the rolling machine 1 to a predetermined value based on the engine speed signal. The control device 90 also receives a maximum running speed signal according to the operation amount of the running speed determination switch 100g, and sets the maximum running speed of the rolling machine 1 based on the maximum running speed signal. In this case, the control device 90 controls the operation of the engine, hydraulic pump, and running actuator 118 so that the running speed of the rolling machine 1 does not exceed the set maximum running speed. Furthermore, the control device 90 receives a vibration amplitude signal according to the operation position of the vibration amplitude determination switch 100h, and vibrates the vibration actuator 120 at a predetermined amplitude based on the vibration amplitude signal.

<Unmanned driving control: Autonomous driving mode>
The autonomous operation mode means a state in which the rolling machine 1 automatically operates along a travel plan line prepared in advance. In the autonomous operation mode, the rolling machine 1 performs rolling work based on, for example, travel plan line information, rolling area information, and rolling condition information. The travel plan line information includes coordinates for identifying the rolling road, the width of the rolling road, etc. The rolling area information includes the number of rolling areas, coordinates for identifying each rolling area, etc. For example, in the case of a rectangular rolling area, the coordinates of the four corners of the rolling area are given as coordinates for identifying each rolling area. The rolling condition information includes the vibration amplitude of the rolling wheel 22, the number of times each rolling road is rolled, the coordinates of the entry point into the rolling area, and the coordinates of the exit point from the rolling area. The travel plan line information, the rolling area information, and the rolling condition information may be stored in advance in the control device 90 of the rolling machine 1, or may be stored in a host computer or the like located away from the construction site.

The operator can select the autonomous operation mode of the rolling machine 1 by operating the operation mode changeover switch 100c of the wireless remote control 100. This allows the operator to start autonomous operation at a position away from the vehicle 10, and even if the rolling machine 1 moves suddenly, contact between the rolling machine 1 and the operator can be avoided. In the autonomous operation mode, the control device 90 calculates the current position of the vehicle 10 based on the position information of the vehicle 10 detected by the GNSS antenna 98, and calculates the current steering angle of the vehicle 10 based on the steering angle information of the front vehicle 30 detected by the steering angle detection sensor 110. Furthermore, the control device 90 compares the calculated current position with the travel plan line information of the vehicle 10 stored in itself to calculate the corrected position of the vehicle 10. The travel plan line information may be stored in advance in a host computer outside the rolling machine 1. In this case, the current position information calculated by the control device 90 is transmitted to the host computer via the communication device 88, and the corrected position information is calculated in the host computer. The corrected position information transmitted from the host computer is then received by the control device 90 of the rolling machine 1 via the communication device 88. The control device 90 then calculates a corrected steering angle for the current steering angle based on the corrected position. If the travel plan line information is pre-stored in the host computer, the corrected steering angle may be calculated by the host computer. In this case, the corrected steering angle information transmitted from the host computer is received by the control device 90 of the rolling machine 1 via the communication device 88. The control device 90 then operates the steering actuator 116 and the travel actuator 118 based on the corrected steering angle information.

In the autonomous driving mode, the control device 90 may calculate the distance between the obstacle and the rolling machine 1 based on the distance information received from the obstacle detection sensor 80, and may operate the steering actuator 116 and the traveling actuator 118 based on the calculation result. This makes it possible to execute the autonomous driving mode while avoiding contact with the obstacle. The control device 90 may also calculate the traveling direction and current traveling speed of the rolling machine 1 based on the traveling direction information and speed information received from the traveling direction detection sensor 112 and the speed detection sensor 114, respectively, and may operate the traveling actuator 118 based on the calculation result. This makes it possible to make the rolling machine 1 travel at a constant speed according to the rolling condition information. Furthermore, the control device 90 may operate the vibration actuator 120 to vibrate the rolling wheel 22 in response to the vibration amplitude information of the rolling condition information.

<Site safety control>
The site safety control is a control implemented using the notification light 92, the LED display 96, and the tablet 102 in order to improve the safety of the operator of the rolling machine 1 and surrounding workers. The site safety control is executed together with the implementation of the autonomous operation mode and the remote operation mode described above. In the site safety control, the operator and surrounding workers can simultaneously view the front notification light 92a and the obstacle P photographed by the front camera 82a via the tablet 102 at hand. In addition, in this control, the notification light 92 and the notification light interlocking part 96c of the LED display 96 are interlocked and display the same color, so that the state of the rolling machine 1 is displayed in four directions, front, back, left, and right, and the state of the rolling machine 1 can be reliably grasped regardless of the working position of the operator and surrounding workers. Therefore, in the unmanned operation control of the rolling machine 1, the safety of the operator and surrounding workers involved in the work of the rolling machine 1 can be improved.

Next, we will explain the operation and effects of the rolling machine 1 according to an embodiment of the present invention.

According to the rolling machine 1 of the present invention, in the autonomous driving mode, the control device 90 calculates the current position of the vehicle 10 based on the position information of the vehicle 10 detected by the GNSS antenna 98, calculates the current steering angle of the vehicle 10 based on the steering angle information of the front vehicle 30 detected by the steering angle detection sensor 110, calculates the corrected position of the vehicle 10 by comparing the calculated current position with the travel plan line information of the vehicle 10 stored in itself, calculates the corrected steering angle by comparing the calculated corrected position with the current steering angle, and operates the steering actuator 116 and the traveling actuator 118 based on the corrected steering angle. Also, according to the rolling machine 1, in the remote control mode, the control device 90 receives the target steering angle information of the front vehicle 30 and the target drive information of the tires 24 from the wireless remote control 100 via the communication device 88, and operates the steering actuator 116 based on the target steering angle information and operates the traveling actuator 118 based on the target drive information. In this way, even if the rolling machine 1 does not have a driver's seat on the machine body 10 where the operator sits, the control device 90 can operate the steering actuator 116 and the travel actuator 118 to perform rolling work using the rolling machine 1. Therefore, the operator can perform rolling work without getting on and off the rolling machine 1, which eliminates the need to get into the driver's seat and allows for efficient rolling work. In addition, the burden on the operator associated with getting on and off the driver's seat can be reduced, and the safety of the operator can be improved. In addition, the operator can be kept away from the rolling machine 1 during rolling work, ensuring the safety of the operator.

In addition, according to the rolling machine 1 according to the embodiment of the present invention, the rear body 40 is disposed inside the left and right tires 24, and the camera 82 that captures the surroundings of the machine 10 is configured to include a pair of side cameras 82c installed between the rolling wheels 22 and the tires 24 on the side of the rear body 40. Therefore, during the rolling work, the state of the rolling wheels 22 and the tires 24 can be confirmed on the tablet 102 or the like via the pair of side cameras 82c, and for example, when a problem occurs with the tires 24, etc., a quick response can be made, thereby improving the safety of the construction site. In addition, it becomes possible to check from a remote location through the monitor of the management office whether there is any trouble with the tires 24, etc., and for example, when there is a problem with the tires 24, the state of the tires 24, etc. can be confirmed through the video, and a quick response can be made, thereby improving the safety of the construction site. Furthermore, the pair of side cameras 82c allows you to check whether there are any people or obstacles between the rolling wheels 22 and the tires 24, for example, when the engine is started, so that the rolling work can be carried out efficiently. In addition, the pair of side cameras 82c can be positioned in an unobstructed area, allowing the cameras 82c to capture a wide area around the aircraft 10.

Further, according to the rolling machine 1 according to the embodiment of the present invention, the pair of side cameras 82c are installed on the side of the rear machine body 40 so as to overlap with the axis of the rotation shaft of the connecting pin mechanism 15 when the machine body 10 is viewed from the side. This allows the pair of side cameras 82c to be arranged in a position with few obstructions (e.g., the upper surface of the tire 24, etc.), and the rolling wheels 22 and tires 24 are included in the imaging range of the pair of side cameras 82c even when the rolling machine 1 is moving straight or turning. Therefore, during the rolling work, the state of the rolling wheels 22 and tires 24 can be more reliably confirmed on the tablet 102 or the like via the pair of side cameras 82c, and a quick response can be made when a problem occurs in the tire 24, for example, thereby improving the safety of the construction site.

In addition, according to the rolling machine 1 according to the embodiment of the present invention, the GNSS antenna 98 is attached to the upper surface of the control device housing 60. This allows the GNSS antenna 98 to be placed at the top of the rolling machine 1 where there are no obstructions. In this way, since there are no obstructions around the GNSS antenna 98, the radio waves of the position information from the satellite are not blocked by the obstructions and are received by the GNSS antenna 98, and highly accurate position information can be obtained. In addition, since there are no obstacles around the GNSS antenna 98, the radio waves from the satellite are received by the GNSS antenna 98 without being reflected by the obstacles. For this reason, the radio waves are not reflected by obstacles and the incidence of radio waves that may cause errors in the position information can be prevented, so the GNSS antenna 98 can receive radio waves with fewer errors and obtain highly accurate position information. In this way, the reception sensitivity of the GNSS antenna 98 can be improved, and highly accurate position information can be detected. As a result, when unmanned operation control is performed using the position information of the rolling machine 1, the rolling machine 1 can obtain highly accurate position information, so that the corrected steering angle of the front body 30 can be calculated more accurately, and rolling work can be performed with high efficiency. On the other hand, as shown in FIG. 7, if a driver's seat is provided in the rolling machine 1 (driver's seat outer contour 130), the GNSS antenna 98a may not be placed at the top of the driver's seat due to height restrictions during transportation. If the GNSS antenna 98a cannot be placed at the top of the driver's seat, it is necessary to place the antenna 98a at a position that ensures the driver's field of vision. In this case, the GNSS antenna 98a must be placed in a place where there is an obstruction or in a low position, which may reduce the reception sensitivity.

Although the preferred embodiment of the present invention has been described above, the present invention is not limited to the rolling machine 1 according to the above embodiment, but includes all aspects included in the concept of the present invention and the scope of the claims. In addition, each configuration may be appropriately and selectively combined to achieve the above-mentioned problems and effects. For example, the shape, material, arrangement, size, etc. of each component in the above embodiment may be appropriately changed depending on the specific aspect of the present invention.

For example, in the above embodiment, the rolling machine 1 is an earthwork vibrating roller, but the rolling machine may be a tire roller, a macadam roller, or the like. In addition, in the above embodiment, one side warning light 92d is provided corresponding to each of a pair of side cameras 82c, but two side warning lights 92d may be provided, one on either side of the side camera 82c. In addition, in the above embodiment, the lighting fixture 94 and the side camera 82c are aligned in the vertical direction, but the lighting fixture 94 may be installed offset in the front-rear direction relative to the side camera 82c.

In the above embodiment, the front camera 82a, the rear camera 82b, and the pair of side cameras 82c are all provided, but the rolling machine 1 may be provided with at least one of the front camera 82a, the rear camera 82b, and the pair of side cameras 82c. In the above embodiment, the pair of front side hood portions 84b and the pair of rear side hood portions are partially curved, but the shape is not limited to a curved shape and may be formed, for example, in a straight line.

1 rolling machine 10 machine body 15 connecting pin mechanism 22 rolling wheel (front wheel)
24 Tires (rear wheels)
30 Front body 40 Rear body 60 Control device housing 82 Camera 82c Pair of side cameras 88 Communication device 90 Control device 98 GNSS antenna (position detection device)
100 Wireless remote control 110 Steering angle detection sensor 116 Steering actuator 118 Travel actuator X Rotation axis

Claims (3)

A body including a front body and a rear body;
A front wheel rotatably attached to the front body;
A rear wheel rotatably attached to the rear body;
a connecting pin mechanism that connects the front body to the rear body in a steerable manner;
A steering actuator attached to the airframe and configured to steer the front airframe relative to the rear airframe;
a travel actuator attached to the vehicle body and configured to drive the rear wheels;
A control device configured to operate the steering actuator and the traveling actuator.
a position detection device attached to the airframe and configured to detect a position of the airframe;
A steering angle detection sensor is attached to the airframe and configured to detect a steering angle of the front airframe relative to the rear airframe,
the control device is configured to calculate a current position of the vehicle based on position information of the vehicle detected by the position detection device, calculate a current steering angle of the vehicle based on steering angle information of the front vehicle detected by the steering angle detection sensor, calculate a corrected steering angle for the current steering angle based on a corrected position of the vehicle and the current steering angle calculated by comparing a traveling plan line of the vehicle with the current position, and operate the traveling actuator while operating the steering actuator based on the corrected steering angle,
The rear wheels are attached to the left and right sides of the rear body,
the rear body is disposed inside the left and right rear wheels,
The connecting pin mechanism includes a rotation shaft extending in a vertical direction of the aircraft body,
Further comprising a camera for photographing the surroundings of the aircraft;
a rolling compaction machine, characterized in that the camera is configured to include a pair of side cameras installed on the side of the rear body, between the front wheels and the rear wheels, positioned so as to overlap with the axis of the rotation shaft when the body is viewed from the side . A body including a front body and a rear body;
A front wheel rotatably attached to the front body;
A rear wheel rotatably attached to the rear body;
a connecting pin mechanism that connects the front body to the rear body in a steerable manner;
A steering actuator attached to the airframe and configured to steer the front airframe relative to the rear airframe;
a travel actuator attached to the vehicle body and configured to drive the rear wheels;
A control device configured to operate the steering actuator and the traveling actuator.
A communication device is further provided for electrically connecting an external wireless remote control and the control device,
the control device is configured to receive target steering angle information of the front vehicle body and target drive information of the rear wheels from the wireless remote control via the communication device, and to operate the steering actuator based on the target steering angle information and to operate the traveling actuator based on the target drive information,
The rear wheels are attached to the left and right sides of the rear body,
the rear body is disposed inside the left and right rear wheels,
The connecting pin mechanism includes a rotation shaft extending in a vertical direction of the aircraft body,
Further comprising a camera for photographing the surroundings of the aircraft;
a rolling compaction machine, characterized in that the camera is configured to include a pair of side cameras installed on the side of the rear body, between the front wheels and the rear wheels, positioned so as to overlap with the axis of the rotation shaft when the body is viewed from the side . The rear body includes a control device housing that is a housing for housing the control device,
2. The rolling machine according to claim 1, wherein the position detection device is attached to an upper surface of the control device housing.

Images