JPH0434641B2 - - Google Patents

Description

[Detailed description of the invention] [Industrial application field]

The present invention relates to a device for managing compaction data by recording compaction ranges and compaction work from the travel locus of compaction machines such as compactors and road rollers.

[Conventional technology]

As conventional compaction pressure recording devices for compaction machines, various configurations have been proposed for devices that use sensors to detect the forward and backward movement of wheels, count the number of reciprocations, calculate the number of compaction pressures, and perform work management. . However, with the above configuration, although it is possible to simply record and manage the number of pressures, the range of pressure in which areas have been pressured must be manually recorded, which is a burden on the operator and However, due to work management, it was not possible to obtain objective data. Further, JP-A-59-109602 manages the number of times of compaction, but does not manage the location where compaction work is performed. JP-A No. 59-24011 discloses a configuration in which the pressure range is divided into parallelogram-shaped pressure blocks and pressure is applied according to a stylized running pattern. It cannot be applied when pressure work is performed. Furthermore, in Japanese Patent Application Laid-Open No. 59-21835, since the position coordinates are determined based on the absolute position, it is necessary to provide a large number of reference points in advance for position measurement. Furthermore, in JP-A-58-135203, it is not possible to determine the coordinates of a pressure point.

[Problems to be solved by the invention]

This invention was created as a result of intensive research in view of the above circumstances, and its main problem is to detect the position data of the compaction machine and the traveling trajectory connecting them, and to calculate compaction pressure based on the traveling trajectory. The object of the present invention is to provide a compaction machine pressure recording device capable of detecting and recording the range and number of compaction pressures.

[Means to solve the problem]

In order to solve the above-mentioned problems, this invention has the following features as shown in the functional block diagram of FIG.
(b) Compaction based on the signal detected from the position detecting means 6 or the speed detecting means 6'. A speed calculating means 1A for detecting the running speed of the machine is provided; (c) a traveling trajectory calculating means 1B is provided for calculating the position coordinates or steering trajectory of the compaction machine 5 based on the signal detected from the position detecting means 6; (d) input pressure work schedule data from the data input device 12, which consists of the coordinate data of the preset planned pressure range and the scheduled number of pressure loads, and store the data, and calculate the data by the traveling trajectory calculating means 1B; The position coordinates of the compaction machine that have been
(e) A pressure point determination means 2 is provided for determining whether or not the coordinates are included in the coordinates of the expected pressure range inputted in step 2. A technical measure is taken in which a recording control means 4 is provided to record the data of the travel trajectory and output it to the data writing means 40A to the external storage 7 or the data communication means 40B. In addition, regarding the position detection means and the calculation of position coordinates, in addition to the relative position detection means for detecting the traveling speed or distance, forward and backward movement, and steering angle of the compaction machine, a reference point at a predetermined position on the ground is also provided. Absolute position detection means is provided to detect the absolute position of the reference point when passing through the reference point, and position coordinates are determined based on the relative position from a predetermined position based on the signal detected from the relative position detection means. A technical measure is taken to calculate the position coordinates based on the above relative position using the absolute position obtained when passing the reference point. Note that the other configurations are the same as those shown in FIG. 1 above.

[Effect]

Based on the signals detected from the position detecting means 6 to the speed detecting means 6', the traveling speed of the compaction machine 5 is detected in time series by the speed calculating means 1A, and the traveling speed of the compaction machine 5 is detected in time series by the traveling trajectory calculating means 1B. Hardening machine 5
The travel trajectory data is obtained by continuously calculating the position coordinates of and the time series position coordinates. Further, data on the planned range of pressure and pressure work condition data (number of times of pressure, pressure speed, etc.) are input in advance through the data input means 12. Based on this input data, the constriction point determining means 2 compares the coordinates of the expected constriction range with the current position coordinates calculated as the travel trajectory to determine whether or not the vehicle is a constriction point. In addition, the compaction completion confirmation means 3 calculates the compaction completed range and the compaction completed number of times from the moving range and the number of reciprocations based on the travel trajectory data of the compaction machine, and It is determined whether the pressure work is completed based on whether the pressure work satisfies the pre-input pressure scheduled work conditions. The traveling speed data and traveling trajectory data are then sent to the recording control means 4 and output to the data writing device 40A to the external storage 7 or the data communication means 40B. It is preferable to provide a data input means for manually inputting data such as the code number of the operator and the model of the compaction machine 5 and sending the data to the recording control means 4 so that the above data can be recorded together. The data stored in the external storage 7 and the data sent via data communication are input to a data processing device on the administrator's side, such as a host computer, and are used as work management data.

【Example】

Hereinafter, a preferred embodiment in which the compaction pressure recording device for a compaction machine according to the present invention is used in a compactor will be described based on the block diagram of FIG. The left and right driving wheels 50 and 51 of the compactor 5 have rotary encoders 60 as relative position detection sensors 6,
61 are attached to each. The rotational speed data of the left and right driving wheels 50, 51 detected from the rotational encoders 60, 61 is input to the constriction work recording device 10 having a microcomputer configuration. This pressure work recording device 10 includes an I/O port,
It consists of a normal microcomputer configuration consisting of a memory and a CPU, and includes rotary encoders 60, 61, which are an example of the above-mentioned relative position detection means, an absolute position detection sensor 11, and an external storage body 7' via appropriate means. A data input device 12 consisting of a data reading section and a manual switch for reading stored data, an external display device 13, and a writing device 40A or a data communication device 40B for writing data to the external storage 7 are connected. has been done. Here, the data reading section of the data input device 12 is
It is possible to input the expected pressure range, pressure work condition data, etc. stored in the external storage 7 in advance. The strain pressure schedule range data is based on work unit time (for example, 1
It consists of map data (represented in two-dimensional coordinates) of the planned area of congestion scheduled to be carried out in Japan. Next, the compaction work schedule data includes the design required compaction density for each compaction point, soil data such as soil moisture content, data for determining the compaction frequency and speed, or directly the compaction frequency. and speed data. Further, the manual switch of the data input device 12 allows the operator's identification number, model code, and other data to be manually input. Arithmetic processing unit 10A of this strain pressure work recording device 10
includes a speed calculation means 1A and a traveling trajectory calculation means 1.
B, pressure point determining means 2, pressure completion confirmation means 3, recording control means 4, position confirmation means 8, and position data correction means 9 are provided. Therefore, means 9 are provided. Therefore, the operation of the arithmetic processing section 10A will be explained with reference to the flowchart shown in FIG. First, in step, the expected pressure range data and pressure work condition data stored in the external storage 7' are inputted via the data reading section of the data input device 12. Next, in step, the rotary encoder 6
The rotational speed data of the left and right driving wheels 50, 51 detected from 0,61 is input. Based on this rotational speed data, the speed calculation means 1A calculates the running speed by averaging both rotational speed data based on the rotational speed data per unit time. In this embodiment, the running speed is detected by the position detection sensor, but instead of the above configuration, a speed sensor may be provided and the running speed may be calculated via the speed calculation means 1A. Next, in a step, the position coordinates are calculated by the travel trajectory calculation means 1B. In other words, the distance traveled from the calculation starting point is calculated by integrating the above-mentioned average rotational speed with the length of the outer circumference of the driving wheels, and then the difference between the left and right rotational speeds is determined, and the steering angle is calculated based on that. do. Further, it is possible to determine whether the vehicle is moving forward or backward based on the direction of rotation (forward or reverse direction). However, in the case of a sensor that cannot determine whether the vehicle is moving forward or backward based only on the rotational speed, a forward or backward movement determination sensor 65 that determines whether the driving wheels 50, 51 are moving forward or backward may be provided. Examples of the forward/reverse motion determination sensor 65 include one that detects forward/backward motion based on the rotating direction of the driving wheels, one that issues a detection signal depending on whether the rear clutch is engaged, or
Alternatively, it may be of any configuration as long as it detects the drive of the reversing device or the forward and backward movement of the wheels or vehicle. In this way, the travel distance, travel speed, and steering angle can be calculated from the rotation speed data of the left and right driving wheels 50, 51. For example, the map of the work area is captured in advance as two-dimensional coordinates, and the travel distance and steering angle are determined based on the location (x, y) that is the base point for calculating the travel trajectory, and the coordinate position of the compactor 5 is determined. can be calculated, and by connecting the positions in consecutive order, the travel locus can be determined on the map coordinates. In this embodiment, as a relative position detection sensor as the position detection sensor 6, a configuration using a sensor (rotary encoder as an example) that detects the rotation speed of the left and right driving wheels 50, 51 of the front wheels that perform steering is illustrated. However, other configurations using relative position detection sensors include the following configurations. (b) As the position detection sensor 6, a sensor for detecting the speed of the compaction machine (data from the speedometer may be used) and a sensor for detecting the steering angle are provided, and the speed sensor is detected by the traveling trajectory calculation means. A configuration that calculates a travel distance by integrating over time based on speed data detected from the vehicle, and calculates a travel trajectory by combining the travel distance and the detected steering angle. Next, as a structure using the absolute position detection sensor 11 as the position detection sensor, there is a configuration as described below. (b) As the position detection sensor 11, electromagnetic waves, light,
A sensor that receives FM waves or microwaves is used. Then, a fixed object (standard position pole, etc.) that serves as a reference point and emits electromagnetic waves, light, FM waves, microwaves, etc. is installed in advance in the work area, and the direction in which the electromagnetic waves, etc. are received by the sensor is determined as a unit. The distance between the compaction machine and the fixed object is calculated based on the detected angle data by the travel trajectory calculation means, and the absolute position of the compaction machine is calculated. A configuration that calculates the travel trajectory by linking data. (2) As the position detection sensor 11, a sensor that emits ultrasonic waves or infrared rays from the vehicle side and measures the reflection time is used. A fixed object (such as a standard position pole) is installed in advance as a reference point on the ground within the work area, and the time it takes for the ultrasonic waves emitted from the sensor at fixed time intervals to reflect back to the fixed object is measured, The traveling trajectory calculation means calculates the distance between the compaction machine and the fixed object based on the reflection time, calculates the absolute position of the compaction machine, and connects this continuous position data to calculate the traveling trajectory. There are configurations that calculate . By using the relative position detection sensor 6 and the absolute position detection sensor 11 in combination,
More accurate position coordinates can be measured with a simple configuration. That is, checkpoints are provided, and calculations are usually made using the relative position detection sensor 6 by the traveling locus calculation means, and the position is calculated using the absolute position detection sensor 11 at the checkpoint position, and the position is calculated using the absolute position detection sensor 11. It compares whether it matches the trajectory data calculated by the relative travel trajectory calculation means, that is, the current position data, and if it does not match, it is corrected to the position data detected using the absolute position detection sensor 11 and then calculated. (This has the advantage of requiring fewer fixed objects (check points).) The traveling locus data (latest position coordinate data) of the compactor 5 calculated in this way is then determined in a step as to whether or not there is a reference point for position coordinate calculation by the absolute position detecting means 11. If there is no reference point, the process jumps to step, whereas if there is a reference point, the position coordinates are calculated by the position confirmation means 8 based on the detection signal of the absolute position detection means 11 at step. The calculated position coordinates and the position coordinates calculated by the travel trajectory calculation means 1B are input to the position data correction means 9. If both data match, the process advances to step, and if they do not match, the process proceeds to step. The position data inputted from the position confirmation means 8 is replaced with the correct position data, and the calculation by the traveling trajectory calculation means 1 is continued based on the correct position data. Next, in step, the pressure point determining means 2 determines whether the compactor 5 has entered a pressure point based on the position coordinate data and the pressure expected range data inputted from the data input device 12. Here, when it is determined that the pressure point is a pressure point, in the next step, the pressure completion confirmation means 3 determines whether or not a predetermined pressure work has been performed at the pressure point. That is, this pressure completion confirmation means 3 determines the number of times of pressure pressure, that is, the number of times of forward and backward movement of the traveling trajectory, when the number of pressures or speed is preset based on data input from the data input device 12, for example. The system is configured to count and determine that the pressure has been completed when the number of pressures reached under the preset conditions described above, or the operator can manually operate the pressure end switch by turning on a pressure termination switch when the pressure work at the relevant location is completed. There are configurations to be determined. When this pressure completion confirmation means 3 confirms the completion of the pressure work at the pressure point, the traveling speed at the pressure point (pressure speed) is sent to the recording control means 4 via the speed calculation means 1A. . Further, the position data of the constriction pressure point is sent to the recording control means 4 together with the number of constriction pressures confirmed by the constriction completion confirmation means 3. Further, the compaction machine model data or vehicle weight data can be entered by the operator using a manual switch, or if they have been written in advance in the external storage 7, they can be entered via a reading device or in the compaction work recording device 10 (not shown). If it is stored in memory in advance, it is sent to the recording control means 4 via the memory or the like. This recording control means 4 outputs management data such as the travel trajectory of the compactor 5, the compaction pressure range, the compaction frequency, the compaction speed, the identification code of the operator, and the compactor vehicle type to the writing device 40A, and stores it in the external storage 7. The data can be stored or input directly to an external data processing device such as a host computer via the data communication device 40B. Next, it is determined in step whether or not the work is completed. This is determined by, for example, turning on a work end switch (not shown) by the operator. If the work is completed, the above procedure is completed, and if the work is to be continued, the process returns to step and the above procedure is repeated. The external memory 7 in which the data is stored is removed from the pressure work recording device 10 when the work is completed, and the data is input to a data processing device located at an external management office or the like via a reproducing means. This external storage 7 can be used regardless of the type of storage medium, such as a card type storage such as an IC card or a laser card, or a storage device such as a RAM pack. Reference numeral 13 in the figure is an external display device, which displays the expected pressure range data inputted through the data reading device of the data input device 12, the latest position data calculated by the travel trajectory calculation means, and the completion of pressure pressure. The confirmation means 3 displays map data such as the range where the completion of the pressure-pressing work has been confirmed or conversely the planned range of pressure-pressure where the pressure-pressing work has not yet been performed, or displays the number of times pressure-pressing has been performed or the number of remaining pressure-pressing operations. The number of constrictions can be displayed externally. In the above embodiment, a compactor is used as the compaction machine, but any machine that performs compaction work such as a road loader, tire roller, etc. is within the technical scope of the present invention. Here, the road roller has a driving wheel (front wheel) and a guide wheel (rear wheel...there are one wheel, two wheel, etc.)
Since it is not possible to calculate the steering direction with a sensor that detects the rotation speed of the wheels such as a rotation encoder, in order to calculate the traveling trajectory relatively,
It is preferable to use a sensor that detects deviation in the position of the left and right ends of the front wheels that perform steering, or a sensor that detects the steering angle from a steering control device or a steering device (king pin). In addition, since the tire roller has tires on the left and right, when calculating the trajectory from the rotation speed of the tires, it is preferable to provide a sensor for detecting the rotation speed on the outermost tire (in the left-right direction). . Furthermore, the map data may be configured by converting data using three-dimensional coordinates including height into data using two-dimensional coordinates, or by correcting the height.

【Effect of the invention】

Since this invention has the above configuration, it is possible to detect the travel trajectory of the compaction machine and automatically detect and record the compaction pressure range and compaction work, reducing the burden on the operator and improving reliability. Able to manage work under high pressure.

[Brief explanation of drawings]

FIG. 1 is a functional block diagram of a pressure recording device for a compaction machine according to the present invention, FIG. 2 is a block diagram showing an embodiment of the present invention, and FIG. 3 is a flowchart thereof. 1A...Speed calculation means, 1B...Travel locus calculation means, 2...Content pressure point determination means, 3...Content pressure completion confirmation means, 4...Record control means, 5...Compactor, 6...Position detection means, 7...External memory , 8... position confirmation means, 9... position data correction means, 10... constriction work recording device, 12... data input device, 13... external display device.

Claims (1)

[Scope of Claims] 1. Position detection means mounted on a compaction machine to detect the traveling speed or distance, forward and backward movement, and steering angle of the compaction machine; and from the above position detection means or speed detection means. a speed calculation means for detecting the running speed of the compaction machine based on the detected signal; and a speed calculation means for detecting the traveling speed of the compaction machine based on the detected signal; a travel trajectory calculation means for calculating a travel trajectory based on position coordinates; a data input device for memorizably inputting pressure work schedule data consisting of coordinate data of a preset pressure schedule range and the scheduled number of pressure loads; a compaction pressure point determining means for determining whether or not the position coordinates of the compaction machine calculated by the travel trajectory calculation means are included in the coordinates of the compaction pressure planned range inputted by the data input means; If there is a compaction machine within range,
Based on the traveling trajectory data of the compaction machine, calculate the compacted range and the number of times it has been compacted from the range it has moved and the number of times it has reciprocated, and calculate the compacted range and the number of times it has been compacted as entered above. A pressure completion confirmation means for determining whether or not the pressure work at the pressure point has been completed by comparing with the planned pressure range and the number of pressure loads; Recording data of the traveling trajectory and corresponding speed data calculated by the speed calculation means,
1. A compaction pressure recording device for a compaction machine, comprising a recording control means for writing to an external storage or for outputting to a data communication means. 2. Relative position detection means mounted on the compaction machine to detect the speed or distance traveled by the compaction machine, forward and backward movement, and steering angle, and a A position detection means consisting of an absolute position detection means for detecting the absolute position of a reference point, and a position coordinate based on a relative position from a predetermined position based on a signal detected from the relative position detection means. and corrects the position coordinates based on the relative position with the absolute position obtained when passing the reference point, and calculates the travel trajectory based on the continuously obtained position coordinates. , a data input device for memorizably inputting pressure work schedule data consisting of coordinate data of a preset planned pressure range, scheduled number of times of pressure pressure, and planned speed of pressure pressure; a compaction point determining means for determining whether or not the position coordinates of the compaction machine are included in the coordinates of the planned compaction pressure range inputted by the data input means; ,
Based on the travel locus data of the compaction machine, calculate the compacted range, the number of times the compaction has been completed, and the compaction pressure from the range of movement and the number of reciprocations, and calculate the compacted range and the number of times the compaction has been completed. a pressure completion confirmation means for determining whether or not the pressure work at the pressure point has been completed by comparing the input planned pressure range and number of pressures; Recording the data of the traveling trajectory at the pressure point and the corresponding speed data calculated by the speed calculation means,
1. A compaction pressure recording device for a compaction machine, comprising a recording control means for writing to an external storage or for outputting to a data communication means.