JPH0434642B2 - - Google Patents

Description

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

The present invention provides a compaction pressure speed control device for a compaction machine that determines pressure points based on the traveling locus of a compaction machine such as a compactor or a road roller, and performs optimal speed control at the pressure points, and the speed control described above. The present invention relates to a pressure speed control device for a compaction machine that performs steering control for movement to a pressure point.

[Conventional technology]

As a conventional compaction pressure control device, a sensor detects the number of times the wheel moves forward and backward, counts the number of reciprocations, calculates the number of times of compaction, and displays the number of remaining pressures to the operator externally, or A configuration is known that automatically controls a predetermined number of constriction runs (forward and backward travel). Furthermore, a configuration is also known in which the load pattern (forward and backward movement during load pressure travel) is set constant in advance and the load pressure travel is performed at a predetermined load pressure location. However, with the above configuration, although it is possible to simply control the number of times the pressure is applied or to move forward and backward based on a predetermined pressure pattern, it is possible to determine the location where the work is to be performed and perform the pressure work there at the optimal pressure speed. All of this is left to the operator's manual work. Here, in the compaction work, the weight of the compaction machine, the speed during compaction, and the number of compactions are important factors. On the other hand, regarding the constriction pressure range, the required design compaction density is determined, and the speed and number of times are determined according to soil conditions such as the water content ratio of the soil at the constriction pressure point. Therefore, the speed and number of times of compaction are determined for each compaction location in relation to the weight of the compaction machine. Work conditions such as pressure speed have traditionally been left to manual work by operators, and automation is awaited. Furthermore, since moving to the next pressure point is done manually, there is a desire to increase efficiency through automation in this respect as well.

[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 traveling trajectory of the compaction machine and to determine the compaction running speed when the compaction machine reaches the compaction pressure point. automatically determined and controlled. Another object of the present invention is to detect the travel trajectory of the compaction machine and, in addition to controlling the speed, automatically determine and control the steering direction for heading to the next compaction area.

[Means to solve the problem]

In order to solve the first problem mentioned above, this invention
As shown in the functional block diagram in Figure 1, (a) expected pressure range data consisting of map data using two-dimensional coordinates, pressure speed and number of pressures set in advance corresponding to the planned pressure range; Alternatively, data input means 11 is provided for inputting compaction work condition data consisting of required compaction density and soil water content data; (b) mounted on compaction machine C;
(c) detecting the running speed and steering angle of the compaction machine C based on the signal detected from the position detection means 10; (d) From the travel trajectory obtained by the travel trajectory calculation means 1, the current position is calculated as a linear trajectory connecting consecutive two-dimensional coordinate points. A pressure point determining means 2 is provided for determining whether or not the pressure point is within the range of the pressure point of the range data; (e) the input pressure point is determined by the pressure point determining means 2; (f) Automatically controlling the speed control mechanism 12 to the optimum stagnation pressure speed determined by the optimum stagnation pressure speed determining means 8; Alternatively, a technical measure is taken in which a pressure speed control means 9 is provided to instruct the operator about the pressure speed through the external display device 13. In addition, in order to solve the second problem mentioned above, as shown in the functional block diagram of Fig. 2, (a) the expected pressure range data consisting of map data using two-dimensional coordinates, and the data corresponding to the planned pressure range; (b) a data input means 11 is provided for inputting compaction work condition data consisting of a preset compaction speed, compaction frequency, or required compaction density and soil moisture content data; (b) mounted on the compaction machine C; (c) A position detection means 10 is provided for detecting the position of the compaction machine C as two-dimensional coordinates; (d) providing a running trajectory calculation means 1 for detecting the speed and steering angle and calculating the running trajectory of the compaction machine as a linear trajectory connecting consecutive two-dimensional coordinate points; (e) a pressure point determining means 2 is provided for determining whether or not the current position is within the range of the pressure point of the planned pressure range data from the travel trajectory determined by the data; A pressure completion confirmation means 3 is provided to determine whether or not the pressure work conditions are met. (f) Remaining range recognition that calculates the remaining range by subtracting the pressure range for which pressure completion has been confirmed from the planned pressure range. (g) Providing means 5 for determining a compaction point that determines the compaction point closest to the compaction machine in the remaining range as the next compaction point; (h) Proceeding to the determined compaction pressure point. (i) Based on the obtained steering conditions, the steering control mechanism 14 is automatically controlled, or the external display device 1
(j) providing a steering control means 7 for externally displaying the steering procedure to the operator via a steering wheel 3; (k) Optimum work condition determining means 8 is provided for calling speed data or calculating the optimum number of times of compaction and compaction speed based on required compaction density and soil water content data; (k) the optimum compaction speed determining means 8; A technical means is provided which automatically controls the speed control mechanism 12 to the stagnation pressure speed determined by or provides a stagnation pressure speed control means 9 which instructs the operator to the stagnation pressure speed via the external display device 13. I am teaching.

[Effect]

Planned compaction range data consisting of map data using two-dimensional coordinates via the data input means 11, and preset compaction speed, pressure frequency, or required compaction density and soil moisture content corresponding to the planned compaction range. Input constriction working condition data consisting of ratio data. Further, based on the signal detected from the position detection means 10, the position (coordinates of a point) of the compaction machine C is calculated by the traveling trajectory calculation means 1, and a linear trajectory connecting the two-dimensional coordinate points is calculated. Find the travel trajectory as . Next, based on the travel trajectory, the pressure point determining means 2 determines whether the position of the compaction machine C is within the pressure range. In the case of a pressure point, the optimum pressure speed determining means 8
determines the compaction speed by calling or calculating the compaction pressure speed corresponding to the compaction pressure point from the input data, and controls the compaction machine using the compaction pressure speed control means 9 via the speed control mechanism 12 or the external display device 13. Control the pressure speed of C. In addition, when steering control is performed in addition to the speed control described above, the compaction machine C is controlled to travel at the compaction area according to the above procedure, and the compaction completion confirmation means confirms that the compaction work has been completed. 3, the remaining range recognizing means 4 calculates the remaining range of pressure by subtracting the pressure range for which completion of pressure has been confirmed from the input data of the range of pressure expected to be filled. The constriction pressure point determining means 5 determines the next constriction pressure point from the remaining constriction pressure planned range, and the steering condition calculation means 6 calculates the steering conditions for the determined next constriction pressure point. . Based on this steering condition, the steering angle of the compaction machine C is controlled by the steering control means 7 via the steering control mechanism 14 or the external display device 13. As a result, when the compaction machine C comes to a pressure point, the pressure point determination means 2 determines that the pressure point is a pressure point, and the same procedure as above is repeated again, and pressure control is performed until the work is completed.

【Example】

Hereinafter, a preferred embodiment in which the compaction pressure control 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. Rotary encoders 10 are installed on the left and right driving wheels W1 and W2 of the compactor C as relative position detection sensors 10.
a and 10b are attached respectively. The rotational speed data of the left and right driving wheels W1, W2 detected from the rotary encoders 10a, 10b is input to a pressure work control device 20 configured with a microcomputer.This pressure work control device 20 has an I/O port,
It consists of a normal microcomputer configuration consisting of a memory and a CPU, and is installed in the compactor C, and includes a data input means 11 and an external display device 1.
3, a steering control mechanism 14, and a speed control mechanism 12 are connected. That is, the data input means may have a structure such as a keyboard that allows data to be input manually, but in this embodiment, it consists of a data reading device 11, and the data input means is configured to read the expected pressure range stored in the external storage C1. Data, pressure work condition data, etc. can be input. Here, the scheduled pressure range data consists of map data (represented in two dimensions) of the scheduled range of pressure pressure to be performed in a work unit time (for example, one day). Next, the compaction work condition data includes soil data such as the design required compaction density and soil moisture content for each compaction location, that is, data for determining the compaction frequency and compaction speed, or data directly related to compaction. It consists of data on the number of times and pressure speed, and is input into the memory (not shown) of the pressure work control device 20 via the data reading device 11. Arithmetic processing unit 20A of this pressure work control device 20
, a running trajectory calculation means 1, a pressure point determination means 2, a pressure completion confirmation means 3, a remaining range recognition means 4, a pressure point determination means 5, a steering speed calculation means 6, and a steering speed calculation means 6. A direction control means 7, an optimum pressure speed determining means 8, and a pressure speed control means 9 are provided. Therefore, the operation of the arithmetic processing section 20A will be explained with reference to the flowchart shown in FIG. First, in a step, the expected pressure range data expressed in two-dimensional coordinates and the pressure work condition data stored in the external storage C1 are inputted via the data reading device 11. Next, in a step, the rotary encoder 10
The rotation speed data of the left and right driving wheels W1 and W2 input from a and 10b is input. Based on this rotation speed data, the current position coordinates are calculated in steps. That is, the input rotation speed data is input to the traveling locus calculation means 1. In this running trajectory calculation means 1, left and right driving wheels W1,
Based on the rotation speed data per unit time of W2, the traveling distance and traveling speed are calculated by averaging the rotation speed data of both, and the reference position coordinates (starting point) are calculated.
Calculate the current position coordinates (x, y) from . The traveling distance can be calculated by integrating the average rotational speed with the length of the outer circumference of the driving wheels, and the traveling speed can be calculated based on the ratio of the rotational speed per unit time or the traveling distance. Furthermore, the difference between the left and right rotational speeds is determined, and the steering angle is calculated based on that difference. 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 10c that determines whether the driving wheels W1 and W2 are moving forward or backward may also be provided. For example, the forward/reverse motion determination sensor 10c may be one that detects forward or backward motion based on the rotating direction of the driving wheels, one that issues a detection signal depending on whether or not the rear clutch is engaged, one that detects the drive of a reversing device, and other sensors that detect the movement of the wheels or vehicle. Any configuration may be used as long as it detects the forward and backward movement of the vehicle. In this way, the travel distance, travel speed, and steering angle can be calculated from the rotational speed data of the left and right driving wheels W1, W2, and the current position coordinates can be calculated. These current position coordinates are determined by the data reading device 11.
It consists of two-dimensional coordinates (x, y) that have the same standards (coordinate axes and units) as the scheduled pressure range data input via You can find the location. The travel trajectory can be obtained by connecting the coordinates of these points with a straight line. In this invention, it goes without saying that the configuration for determining the coordinate locus of the compaction machine is not limited to the above embodiment. In this embodiment, as a relative position detection sensor of the position detection sensor 10, a configuration is exemplified in which a sensor (rotary encoder as an example) that detects the rotation speed of the left and right driving wheels W1 and W2 of the front wheels that perform steering is used. , Other configurations using relative position detection sensors include the following configurations. (1) As the position detection sensor 10, a sensor for detecting the speed of the compaction machine (data from a speedometer may be used) and a sensor for detecting the steering angle are provided. A configuration that calculates a travel distance by integrating over time based on speed data detected by a sensor, and calculates a travel trajectory by combining the travel distance and the detected steering angle to calculate position coordinates. Next, as a structure using an absolute position detection sensor of the position detection sensor 10, there is a configuration as described below. (1) As the position detection sensor 10, 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 locus calculation means 1, and the position coordinates of the compaction machine are calculated. A configuration that calculates a travel trajectory by linking position data. (2) As the position detection sensor 10, 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 required 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 1 calculates the distance between the compaction machine and the fixed object based on the reflection time, calculates the position coordinates of the compaction machine, and connects this continuous position data to determine the distance between the compaction machine and the fixed object. There are configurations for calculating trajectories. Although the configuration using the above-mentioned absolute position detection sensor is highly reliable, it is necessary to provide a large number of fixed objects that serve as reference points. Therefore, there is also a configuration in which the relative position detection sensor and the absolute position detection sensor are used together. That is, checkpoints are set, and the positional coordinates are usually calculated relatively by the traveling locus calculating means 1, and the positional coordinates detected by the absolute position detecting means at the checkpoint positions are calculated to determine the position of the vehicle. Current (at the same point) calculated by trajectory calculation means
Compare whether or not it matches the position data, and if it does not match, correct it to absolute position data, use it as a starting point for calculation, and use the relative position detection means to calculate the travel trajectory again using the travel trajectory calculation means (this This configuration has the advantage of requiring fewer fixed objects (check points). In the next step, it is determined whether or not the position coordinates of the compactor C calculated in this manner are at a pressure point. That is, the constriction pressure point determination means 2 determines whether or not the above-mentioned position coordinates are included in the expected constriction pressure range. The vehicle may be determined to have a constriction pressure travel trajectory when the vehicle moves forward or backward a predetermined number of times (two times in this embodiment) or more. According to this, it is possible to record pressure data (pressure locations, pressure speed, number of times, etc.) when pressure work is performed on locations outside the planned pressure range as necessary. Next, when it is determined that the pressure point is a pressure point, in step, the optimum working condition determining means 12 calls out the pressure work condition or pressure frequency and pressure speed data corresponding to the pressure point from the memory to reduce the pressure pressure. Determine the number of times and speed, and control the pressure speed control means 9 in steps.
The compaction speed of the compaction machine C is controlled through the compaction machine C. That is, in the optimum pressure speed determination means 8, if data such as the number of pressures or pressure speed are directly input as the pressure work conditions at the pressure point, that data is determined as the work condition; If the soil conditions such as the required design compaction density and the moisture content of the soil are entered as data, the optimal compaction speed determining means 8 determines the optimum compaction speed based on the vehicle weight data of the compactor C. It is determined by calculating the number of times of compression and the velocity of compression. The compaction pressure speed determined in this way is sent to the speed control mechanism 12 as a control condition, and the compaction pressure speed of the compaction machine C is controlled via the actuator. In this embodiment, the speed control mechanism 12 includes a speed stage control mechanism 12AA and an engine governor control mechanism 12B, which are controlled and driven according to the speed conditions. Further, when controlling the number of times of compression, a forward and backward movement control mechanism (not shown) may be provided and controlled at the same time. Next, in step it is determined whether the pressure work has been completed. The completion of this is determined by the pressure completion confirmation means 3 as to whether or not the number of times the pressure has been increased at a predetermined pressure rate. The pressure completion confirmation means 3 resets the pressure point when, for example, the pressure point determining means 2 determines that the point is a pressure point, and also resets the number of pressure points when the optimum pressure speed determining means 8 also determines the number of pressure points. , counts the number of times the vehicle travels under pressure, that is, the number of times it moves forward and backward, and displays the remaining number of times on the external display device 13.
A configuration that determines that the pressure is completed when the number of times the pressure is applied satisfies the above conditions, or detects whether or not the pressure work is being performed according to predetermined work conditions, and completes the work when the conditions are met. The configuration is such that a monitoring means that determines this or an operator manually presses a constriction end button or the like when a predetermined work is completed. When it is confirmed that the predetermined control has been completed, in the next step, the remaining range recognition means 4 subtracts the pressure point where the pressure completion has been confirmed from the planned pressure range stored in the memory. The expected constriction pressure range is calculated. Then, in step, the pressure point determining means 5 determines the pressure point to be applied next from the remaining planned pressure range. This determination is performed by determining the scheduled constriction location located at the shortest distance from the current position, and determining that location as the next constriction location. Next, in step, the steering speed calculation means 6 calculates the traveling route to the determined next pressure point and determines the steering conditions or procedure. Also, the speed toward the next pressure point (speed when moving)
If it is set in advance, speed control can be performed at the same time. The above steering conditions or procedures are determined by the steering control means 7.
By controlling the steering control mechanism 14 by the steering control means 7 in step, the compactor C is moved to the next compaction point. Next, return to step 2 and
It is determined whether or not the current position is at a pressure point, and when it is determined that the position is at a pressure point, the optimum pressure speed determining means 8 determines the pressure speed as described above and repeats the above steps. The pressure speed is automatically controlled. In the above embodiment, the speed control mechanism 12 and the steering control mechanism 14 automatically control the speed stage, engine governor, and steering mechanism via the actuator. It may be configured to instruct the device 13 regarding speed or steering direction. Note that this pressure work control device 20 includes a recording device 3.
It is preferable to set the value to 0 because it allows the actual pressure work to be recorded. This recording device 30 may be one in which a recording control means 31 records the number of times the pressure is applied, the speed of pressure, etc. confirmed by the pressure completion confirmation means 3 for each pressure point, or a recorder is used to record the travel trajectory. good. Further, if a manual switch K for inputting data is provided, it is possible to manually input, for example, the identification code of the operator, the vehicle model data of the compactor C, and the like. These input data are sent by the recording control means 31 to the writing device 16 via a memory (not shown) and written into the IC card or other external storage C2. At the same time, for example, if the work condition data is data such as required compaction density or soil moisture content, by inputting the model of the compactor C, the vehicle weight of the model is called up by the optimum compaction speed determining means 8. , and may be configured to calculate the pressure rate (or number of times of pressure pressure) based on the calculation. Therefore, the external storage C2 stores management data such as the traveling trajectory of the compactor C, the compaction range, the number of compactions, the compaction speed, the operator's identification code, and the compactor model through the writing device 16. be able to. External storage C in which such data is stored
2 is removed from the writing device 16 when the work is completed, and the data is input to a computer-configured data processing device 40 located at an external management office, etc. via a reproduction means, and predetermined data processing is performed to create a daily work report. You can obtain management data such as This external storage C2 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. Further, the pressure data is stored in an internal memory (not shown) of the pressure work control device 20 to the recording device 30 without using the external storage C2 or in combination, and the data is transmitted via a communication means. Processing device 4
It may be configured to perform data communication to 0. In addition, 13' in the figure is an image output device, which externally displays the input expected pressure range data or map data, and superimposes the current position of the compaction machine on top of it. This allows the operator to perform work while recognizing the current location. FIG. 5 is a block diagram showing a different embodiment in which the relative detection means and the absolute detection means are used together as the position detection means. That is, in this embodiment, the position confirmation means 2
1 is provided to calculate the position coordinates based on the signal detected from the absolute position detection means 10d, and the position data correction means 22 calculates the position coordinates based on the detection signals from the relative position detection means 10a, 10b, 10c. It is determined whether or not the detected position data is correct, and if it is not correct, the position data detected by the absolute position detection means 10d is replaced to determine the pressure point, and the above position data is sent to the traveling trajectory calculation means 1. Feedback is performed and the travel trajectory is calculated again using the position data (coordinates) as a starting point. As a result, check points are set in advance within the work area, the highly reliable position of the compaction machine is calculated based on the check points (fixed positions), and the compaction work is carried out while checking the position data. be able to. F in the figure is a feedback control means that feeds back the position data calculated by the traveling trajectory calculation means 1 to the position confirmation means 21 to the steering condition calculation means 6 to check whether the steering is being performed correctly. It is now possible to check and calculate a more accurate steering direction. 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. Note that the other configurations are the same as those in the previous embodiment, so the same configurations are designated by the same reference numerals and the description thereof will be omitted. Here, the road roller has a driving wheel (front wheel) and a guide wheel (rear wheel...there are one wheel, two wheel, etc.)
Therefore, 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, so to calculate the relative traveling trajectory,
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). Moreover, since tires are provided on the left and right sides of the tire roller, when calculating the locus from the rotation speed of the tires, it is preferable to provide a sensor for detecting the rotation speed on the outermost left and right tires. 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 a compaction pressure point from the travel trajectory based on the compaction machine's scheduled compaction pressure range, and when the compaction machine reaches the compaction pressure point, the compaction pressure traveling speed is automatically adjusted. can be determined and controlled to perform optimal constriction work. Also, determine the pressure points where pressure will continue to be applied,
It is also possible to perform the pressure work by calculating the pressure speed under the optimum condition at the pressure pressure point. Furthermore, it is useful because it can be applied to unmanned work under pressure.

[Brief explanation of drawings]

FIG. 1 is a functional block diagram of the first invention, FIG. 2 is a functional block diagram of the second invention, FIG. 3 is a block diagram of a preferred embodiment, FIG. 4 is a flowchart of the same, and FIG.
The figure is a block diagram showing different embodiments. DESCRIPTION OF SYMBOLS 1...Traveling trajectory calculation means, 2...Content pressure point determination means, 3...Content pressure completion confirmation means, 4...Remaining range recognition means, 5...Content pressure point determination means, 6...Steering condition calculation means, 7...Steering Control means, 8... Optimum constriction pressure speed determining means, 9... Constraint pressure speed control means, 10... Position detection means, 11... Data input means, 12... Speed control mechanism, 13... External display device, 14... Steering control mechanism.

Claims (1)

[Claims] 1. Planned pressure range data consisting of map data using two-dimensional coordinates, pressure speed and number of pressures set in advance corresponding to the planned range of pressure, or required compaction density and soil density. a data input means for inputting compaction work condition data consisting of water content ratio data; a position detection means mounted on the compaction machine to detect the position of the compaction machine as two-dimensional coordinates; a traveling trajectory calculation means for detecting the traveling speed and steering angle of the compaction machine based on the received signal and calculating the traveling trajectory of the compaction machine as a linear trajectory connecting consecutive two-dimensional coordinate points; A pressure point determining means for determining whether or not the current position is within the range of pressure points of the planned pressure range data from the travel trajectory obtained by the trajectory calculation means; an optimum stagnation pressure speed determining means for determining an optimum stagnation pressure speed for the pressure point based on the input stagnation pressure work condition data; and a speed control mechanism for controlling the stagnation pressure speed determined by the optimum stagnation pressure speed determining means. A compaction pressure speed control device for a compaction machine, comprising a compaction pressure speed control means for automatically controlling or externally displaying the compaction pressure speed to an operator via an external display device. 2. The tightening device according to claim 1, wherein the position detecting means comprises a relative position detecting means for detecting the relative position of the compaction machine as two-dimensional coordinates based on a reference position. Consolidation machine pressure speed control device. 3. Claim 1, characterized in that the position detection means consists of an absolute position detection means that detects the absolute position of the compaction machine based on a reference point located at a predetermined position on the ground. compaction machine compaction speed control device. 4. The position detection means detects the relative position of the compaction machine as two-dimensional coordinates based on the reference position, and the absolute position detection means of the compaction machine based on the reference point at a predetermined position on the ground. Absolute position detection means for detecting a specific position, and the position data detected by the relative position detection means is corrected with the position data detected by the absolute position detection means. A compaction pressure speed control device for a compaction machine according to item 1. 5. Planned compaction range data consisting of map data using two-dimensional coordinates, and compaction pressure speed and pressure frequency or required compaction density and soil water content data set in advance corresponding to the planned compaction range. a data input means for inputting pressure working condition data; a position detection means mounted on the compaction machine to detect the position of the compaction machine as two-dimensional coordinates; a traveling trajectory calculation means that detects the traveling speed and steering angle of the compaction machine and calculates the traveling trajectory of the compaction machine as a linear trajectory connecting consecutive two-dimensional coordinate points; a pressure point determining means for determining whether the current position is within the range of the pressure point of the planned pressure range data from the travel trajectory obtained by the vehicle; a means for confirming completion of compaction for determining whether or not compaction has been completed; a means for recognizing remaining range by calculating a remaining range by subtracting the range of pressure for which compaction has been confirmed as completed from a planned range for compaction; A pressure point determining means that determines the closest pressure point as the next point to be pressured; a steering condition calculation means that calculates steering conditions for heading to the determined pressure point; and the obtained steering condition. a steering control means for automatically controlling a steering control mechanism or externally displaying a steering procedure to an operator via an external display device based on the constriction pressure point determined by the constriction pressure point determining means; an optimum working condition determining means for calling the input number of compactions and pressure speed, or calculating an optimal number of compactions and a compaction speed based on required compaction density and soil water content data; When the traveling locus of the direction-controlled compaction machine is determined to be a compaction point by the compaction pressure point determination means, the speed control mechanism is automatically controlled to the compaction pressure speed determined by the optimum compaction pressure speed determination means. or a compaction pressure speed control means for externally displaying the compaction pressure speed to an operator via an external display device. 6. The tightening device according to claim 5, wherein the position detecting means comprises a relative position detecting means for detecting the relative position of the compaction machine as two-dimensional coordinates based on a reference position. Consolidation machine pressure speed control device. 7. Claim 5, characterized in that the position detection means comprises absolute position detection means for detecting the absolute position of the compaction machine based on a reference point located at a predetermined position on the ground. A compaction speed control device for the compaction machine described. 8 The position detection means detects the relative position of the compaction machine as two-dimensional coordinates based on the reference position, and the absolute position detection means of the compaction machine based on the reference point at a predetermined position on the ground. Absolute position detection means for detecting a specific position, and the position data detected by the relative position detection means is corrected with the position data detected by the absolute position detection means. A compaction pressure speed control device for a compaction machine according to item 5.