JPH0434643B2 - - Google Patents

Description

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

The present invention relates to a steering control device for a compaction machine, which determines a pressure point based on the travel trajectory of a compaction machine such as a compactor or a road roller, and automatically or semi-automatically controls steering to the compaction 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 not possible to determine the location to perform the work and perform the predetermined pressure work there. Everything is left to the manual work of the operator. Therefore, the work including determining the pressure point and moving there becomes a burden for the operator.
Automation is awaited.

[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 travel trajectory of the compaction machine and recognize its current position, thereby tightening pressure points. An object of the present invention is to provide a compaction machine pressure control device that can determine the steering conditions of the compaction machine and perform automatic or semi-automatic control.

[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. A data input means 11 is provided for inputting a preset compaction speed and compaction frequency or compaction work condition data consisting of a required compaction density and soil water content data; (b) mounted on the compaction machine C; 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; A traveling locus calculation means 1 is provided for calculating the traveling locus of C as a linear locus connecting consecutive two-dimensional coordinate points; (d) The current position is determined from the traveling locus obtained by the traveling locus calculation means 1. A pressure point determination means 2 is provided for determining whether or not the pressure point is within the range of the pressure point of the planned range data; (e) Determining whether the work at the pressure point satisfies the input pressure point work condition. (f) Provide a remaining range recognition means 4 that calculates a remaining range by subtracting the range of pressure that has been confirmed to be completed from the expected range of pressure, (g) (h) providing a pressure point determining means 5 for determining the pressure point closest to the compaction machine within the range as the point to be compacted next; (h) an operation for calculating steering conditions for heading to the determined pressure point; (i) Based on the obtained steering conditions, the steering control mechanism 8 is automatically controlled, or the steering conditions or procedures are instructed to the operator via the external display device 9; A technical measure of providing a steering control means 7 is taken.

[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 the expected constriction range data consisting of ratio data. Based on the signal detected from the position detection means 10,
The position (coordinates of points) of the compaction machine C is calculated by the traveling trajectory calculation means 1, and the traveling trajectory is obtained as a linear trajectory connecting the two-dimensional coordinate points. Next, based on the travel locus and the input expected congestion range data, the compaction area determination means 2 determines whether the compaction machine has reached a pressure area within the expected congestion area. When the pressure completion confirmation means 3 confirms that the predetermined pressure work has been completed at the pressure pressure point, the remaining range recognition means 4 then confirms the completion of pressure pressure based on the input pressure planned range data. The calculated constriction pressure points are subtracted to calculate the remaining constriction pressure range. The constriction pressure point determination means 5 determines the next constriction pressure point from the remaining constriction pressure planned range, and the steering condition calculation means 6 determines the next constriction pressure point determined as described above from the current position data (coordinates). Calculate the steering conditions or procedures for moving to. Based on the procedure of the steering condition calculation means 6, the steering control means 7 outputs a control command to the steering control mechanism 14.
Or control the external display device 13. Under this control, when the compaction machine C comes to the next congested pressure point, the congested pressure point determining means 2 determines that it is a congested pressure point, and the same procedure as described above is repeated until the work is completed.

【Example】

Hereinafter, a preferred embodiment in which the compaction machine pressure management device 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 having a microcomputer configuration. This pressure work control device 20 includes 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 travel control mechanism 12 are connected. Here, the data input means 11 may be a keyboard or the like for manually inputting the data, but
In this embodiment, it is comprised of a data reading device, into which data such as the expected pressure range and pressure work condition data stored in the external storage C1 in advance can be input. The expected strain range data consists of map data (represented by two-dimensional coordinates) of the expected strain range to be performed in a work unit time (for example, one day). Next, the compaction work condition data is the design required compaction density for each compaction point, soil data such as soil moisture content, data for determining the compaction frequency and compaction speed, or data directly related to compaction. It consists of data on the number of pressures and the pressure speed, and is stored in the memory (not shown) of the pressure work control device 20 via the data reading device 11.
is input. Arithmetic processing unit 20A of this pressure work control device 20
The system includes a traveling 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 condition calculation means 6, and a steering condition calculation means 6. A direction control means 7, an optimum load pressure condition determining means 8, and a load pressure running 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 planned pressure range data expressed in two-dimensional coordinates stored in the external storage C1 and the pressure work condition data are sent to the data reading device 1.
Input via 1. Next, in a step, the rotary encoder 10
Input the detection signals of a and 10b. The current position coordinates are calculated in steps based on the input rotational speed data of the left and right driving wheels W1 and W2. That is, the input rotation speed data is input to the travel trajectory 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 is made up of two-dimensional coordinates with the same standards (coordinate axes, units) as the planned congestion range data input via can. 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 traveling trajectory of the compaction machine is not limited to the above embodiment. In this embodiment, as a relative position detection sensor as the position detection sensor 10, a configuration using 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 illustrated. However, other configurations using relative position detection sensors include the following configurations. (1) As the position detection sensor 10, a sensor that detects the speed of the compaction machine (data from a speedometer may be used) and a sensor that detects the steering angle are provided, and the traveling trajectory calculation means 1 detects the speed sensor. A configuration in which a moving distance is calculated by integrating over time based on speed data detected from the steering wheel, and position coordinates are calculated by combining the moving distance and the detected steering angle to obtain a steering trajectory. 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 trajectory 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 travel trajectory calculation means 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 calculate the travel trajectory. There are configurations that calculate . Although the configuration using the above-mentioned absolute position detection sensor is highly reliable, it has the disadvantage that a large number of fixed objects serving as reference points must be provided. Therefore, a configuration in which the relative position detection sensor and the absolute position detection sensor are used together is preferable. That is, check points are set and usually calculated by the traveling trajectory calculating means 1, and the absolute position is calculated at the check point position, and the trajectory data calculated by the relative traveling trajectory calculating means, that is, the current If it does not match, it is corrected to absolute position data, and using that as the starting point of the calculation, the travel trajectory is calculated again using the relative travel trajectory calculation means (this is a fixed position data). This configuration has the advantage of requiring fewer objects (check points). In the next step, it is determined whether or not the position coordinate data of the compactor C calculated in this manner is a pressure point predetermined based on the pressure planned range data. That is, the constriction point determining means 2 determines whether the above-mentioned position coordinates are included in the expected constriction pressure range. When a pressure point is determined, the pressure work (number of pressures and speed of pressure) may be performed manually by the operator or controlled automatically or semi-automatically. Good too. That is, as shown in FIG. 2, for example, the data input means 11 inputs in advance the number of times of compaction and pressure speed conditions for each compaction point, or the required design compaction density and soil water content ratio for calculating them. Soil data is input in advance, and in a step, the optimum pressure condition determination means 8 stores the pressure work conditions, pressure frequency, and pressure speed data corresponding to the pressure point in memory (not shown).
, the compaction machine C is called up to determine the number of times of compaction and the speed, and the compaction machine C is called via the compaction travel control means 9 in a step.
A configuration may be provided that performs constriction pressure travel control. 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. Determine by calculating the number of pressures and the pressure speed. The number of times of compaction pressure and the number of times of compaction pressure determined in this manner are sent to the travel control mechanism 12 as control conditions, and the compaction pressure speed and number of times of compaction pressure of the compaction machine C are controlled via the actuator. In this embodiment, a speed stage control mechanism 12A and an engine governor control mechanism 12B are provided as the traveling control mechanism 12, and are controlled and driven according to the working conditions. Next, in step it is determined whether or not 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 pressure point is a pressure point, and also reads the number of load pressures from the optimum load pressure condition determining means 8, and sets the load pressure during running under pressure. A configuration in which the number of compressions, that is, the number of forward and backward movements is counted (subtracted) and the remaining number of times is displayed on the external display device 13, and when the number of compressions satisfies the above-mentioned conditions, it is determined that the compression is completed, or the optimum pressure is determined. Monitoring means or an operator that detects whether or not the constriction work is being performed in accordance with the optimum work conditions determined by the condition determining means 8 and determines that the work is completed when the conditions are met, or when the operator has completed the predetermined work. There are configurations such as manually turning on the pressure termination button. When it is confirmed that the predetermined work has been completed, in the next step, the remaining range recognition means 4 subtracts the pressure point where 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, for example, by determining the location where pressure is to be applied at the shortest distance from the current position, and determining that location as the location where pressure is to be applied next. Then, in step, the steering condition calculation means 6 calculates the driving 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.
In step, the compactor C is moved to the next pressure point by controlling the steering from the steering control means 7 to the steering control mechanism 14. Then, the process returns to step and the pressure point determining means 2 controls the compactor C to move to the next pressure point. Then, it is determined whether the current position is a pressure point, and if it is determined that the current position is a pressure point, the same procedure as described above is repeated. Further, if it is determined in the step that there is no remaining range in the expected pressure range data, the process advances to step 21 and it is determined whether or not the work is completed. This may be detected based on whether or not a work end button is pressed. If it is determined that the work has been completed, the process is finished; if not, the process returns to the step again and data input is performed. In the above embodiment, both the travel control mechanism 12 and the steering control means 14 are configured to automatically control the drive mechanism and the steering mechanism via the actuator, but the external display device 13 is used to allow the operator to perform the above control. It may also be configured to give driving or steering instructions. Note that this pressure work control device 20 includes a recording device 3.
It is preferable to have 0 built-in, since this allows the actual compression work to be recorded. This recording device 30 controls the recording of the number of times of constriction pressure, the constriction pressure speed, etc. confirmed by the constriction completion confirmation means 3 for each constriction pressure point by means of a recording control means 31, or records and controls the traveling locus. It's okay. And manual switch K for data input.
If provided, it is possible to manually input, for example, the operator's identification code and compactor vehicle model data. These input data are stored in the recording control means 3.
1 to the writing device 16 and written into an IC card or other external storage C2. At the same time, for example, when the working condition data is soil data such as required compaction density and soil water content data, by inputting the model data of the compaction machine C, the optimum compaction pressure condition determining means 8 determines the model of the compaction machine C. It may be configured such that the weight data corresponding to the weight data is called and calculations are made based on the weight data to determine the compression speed or the number of times. 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 data processing device 40 configured with a computer such as a host computer located at an external management office or the like via a playback device (IC card reader). Data processing is performed to obtain management data such as daily work reports. 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 unit C2 or in combination with the data processing device 40 via the communication means.
It may also be configured to perform data communication. In the figure, reference numeral 13' is an image output device that externally displays the input expected pressure range data or map data, and displays the current position of the compaction machine and the remaining range of pressure on top of it. This is a device that allows the operator to perform work while visually checking the current location. FIG. 4 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 is used to calculate the relative position detection means 10.
It is determined whether the position data calculated by the detection signals from a to 10c is correct or not, and if it is not correct, the position data detected by the absolute position detection means 10d is replaced to determine the constriction pressure point. The positional coordinate data is fed back to the trajectory calculating means 1, and the traveling trajectory is calculated using the positional 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 travel trajectory calculation means 1 and the position confirmation means 21 to the steering condition calculation means 6 to check whether the vehicle is traveling correctly. This makes it possible to calculate the steering direction more accurately. Note that the other configurations are the same as those in the previous embodiment, so the same configurations are denoted by the same reference numerals and the description thereof will be omitted. 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, road rollers consist of a driving wheel (front wheel) and a guide wheel (rear wheel...) (some have one wheel, some have two wheels, etc.), so a sensor that detects the rotation speed of the wheels such as a rotary encoder is used to control the steering wheel. Since the direction cannot be calculated, in order to relatively calculate the traveling trajectory, a sensor, a steering control device, a steering device (kingpin), etc. that detect the deviation of the left and right end positions of the front wheels that perform steering are required. It is preferable to use a sensor that detects the steering angle from the steering angle. 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】

The present invention has the above configuration, and is capable of detecting a compaction pressure point from a running trajectory based on the planned compaction pressure range of the compaction machine, and controlling the steering direction to the determined compaction pressure point. This reduces the burden on the operator when traveling to pressure points, which previously had to be done manually, and ensures highly reliable work.

[Brief explanation of drawings]

Fig. 1 is a functional block diagram of a constriction pressure control device for a compaction machine according to the present invention, Fig. 2 is a block diagram showing an embodiment of the device of the present invention, Fig. 3 is a flowchart of the above embodiment, and Fig. 4 The figure is a block diagram showing another embodiment of the invention. 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, 10...Position detection means, 1
1...Data input means.

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; pressure point determination means for determining whether 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; a pressure completion confirmation means for confirming whether or not the pressure has been completed; a remaining range recognition means for calculating the remaining range by subtracting the pressure range for which the pressure has been confirmed to have been completed from the expected pressure range; A pressure point determining means for determining a pressure point closest to the consolidation machine as the next point to be compacted; a steering condition calculating means for calculating steering conditions for heading to the determined pressure point; Operation of a compaction machine characterized by comprising a steering control means that automatically controls a steering control mechanism or instructs an operator on steering procedures via an external display device based on steering conditions. direction control 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. Steering control device for hardening machines. 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. Steering control device for compaction machines. 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 steering control device for a compaction machine according to item 1.