JP6751588B2 - Control device for autonomous driving and autonomous driving method - Google Patents

Description

The present invention relates to an autonomous driving control device for a construction machine and an autonomous driving method.

In disaster recovery work, unmanned work may be adopted for the purpose of ensuring the safety of workers. In unmanned construction, it is common for the operator to remotely control the construction machine while checking the images sent from the site on multiple monitor screens. In this method, the operator cannot operate while directly feeling the situation around the work place with all five senses, so that the quality of work may differ depending on the skill of the operator. In addition, a device and a communication environment for acquiring a plurality of images are required.

In addition, as another unmanned construction method, sensors that replace the five human senses are mounted on the construction machine, and a work start command is given to autonomously control the construction machine to run along a preset planned line. A type of unmanned construction method has been developed (see, for example, Non-Patent Dedication 1).

In the technique described in Non-Patent Document 1, regarding the traveling of the compaction path, the straight line connecting the traveling start point and the target point is divided into a plurality of parts, and the construction machine is controlled so as to face the nearby division points. Then, after passing through the division point, the direction is controlled toward the next closest division point, and by repeating this, the vehicle travels to the final target point.

Yo Satoshi Kurihara, 3 outsiders, "Demonstration of autonomous driving of vibrating rollers", Taisei Corporation Technology Center Bulletin, Taisei Corporation Technology Center, December 1, 2014, No. 47, No56

However, in the technique described in Non-Patent Document 1, since the target is moved to the next division point and controlled after passing through one division point, a delay occurs in the steering operation in a construction machine having a structure such as a vibrating roller. To do. Therefore, it is difficult to run on the line that is originally desired to run, and there is a problem that meandering runs within a certain range.
This problem will be described with reference to FIG. For example, as shown in FIG. 7A, it is assumed that the vibrating roller is traveling toward the first partition point. Then, when the vibrating roller passes the first dividing point, the target of the vibrating roller is changed from the first dividing point to the second second dividing point closest to the first dividing point, and the steering is corrected (FIG. 7 (FIG. 7). b) See). At this time, a delay occurs due to the correction operation of the steering while traveling, and the vehicle cannot return to the planned line and meanders (see FIG. 7C). As a result, as shown in FIG. 7D, the vibrating roller repeats meandering.
It should be noted that meandering by a certain amount occurs to some extent from the viewpoint of running accuracy, but it is desired to control the running smoothly as if operated by a human while maintaining the running accuracy.

From such a viewpoint, it is an object of the present invention to provide an autonomous driving control device and an autonomous driving method capable of smoothly traveling while maintaining traveling accuracy.

A construction machine having an articulating mechanism such as a vibrating roller is characterized in that the rear wheels travel on the trajectory on which the front wheels, which are guide wheels, travel.
Due to the characteristics of such an articulating mechanism, the inventor of the present invention has the consciousness of the driver during driving (including maneuvering by boarding and maneuvering by remote control) in the front wheels, and by maneuvering with reference to the front wheels. We paid attention to the fact that it realized driving with less meandering. Specifically, the target of the position of the front wheels is a rut formed between the rut and the adjacent lane, and the pilot can use the rut and the running line of the front wheels next to each other while ensuring a predetermined lap length. Operate the steering wheel so that it is parallel to the lane. The present invention realizes the running of a construction machine by human control by autonomous running.

The autonomous driving control device according to the present invention that solves the above problems is an autonomous driving control device that controls a construction machine that autonomously travels. The construction machine comprises an articulating mechanism having front and rear wheels.
The reference point of the construction machine for performing autonomous traveling control is provided on a vertical line passing through the center position of the rotation axis of the wheel on the traveling direction side or the center position of the rotation axis, and the traveling direction of the construction machine is set. This is the direction of the wheels on the traveling direction side.
When the distance from the travel reference line to the construction machine is larger than a predetermined first threshold value, the autonomous driving control device corrects the traveling direction of the construction machine so as to approach the travel reference line. Output a signal.
Further, the autonomous travel control device travels when the distance from the travel reference line to the construction machine is smaller than the second threshold value which is the same as or smaller than the first threshold value. A control signal for making the traveling direction of the construction machine parallel to the reference line is output.

Further, the autonomous driving method according to the present invention is an autonomous driving method in which a construction machine is autonomously driven. The construction machine comprises an articulating mechanism having front and rear wheels.
The reference point of the construction machine for performing autonomous traveling control is provided on a vertical line passing through the center position of the rotation axis of the wheel on the traveling direction side or the center position of the rotation axis, and the traveling direction of the construction machine is set. This is the direction of the wheels on the traveling direction side.
In this autonomous driving method, when the distance from the traveling reference line to the construction machine is larger than a predetermined first threshold value, the traveling direction of the construction machine is corrected so as to approach the traveling reference line.
Further, when the distance from the traveling reference line to the construction machine is smaller than the second threshold value which is the same as or smaller than the first threshold value, the construction is performed with respect to the traveling reference line. Make the traveling direction of the machine parallel.

According to the present invention, since the vehicle travels at a certain position from the travel reference line, the travel accuracy is maintained. Further, since the point (intermediate point) that must be passed in the middle of the traveling path (traveling reference line) is not determined, the meandering amount is relatively small as compared with the conventional case, and the traveling is smooth.

According to the present invention, it is possible to run smoothly while maintaining running accuracy.

It is a figure for demonstrating the autonomous driving method which concerns on embodiment of this invention, (a) is the whole view of the unmanned construction system which uses the autonomous driving method, (b) is the compaction area which performs unmanned construction. Is an example of. It is external drawing of the vibrating roller used in the autonomous driving method which concerns on embodiment of this invention. It is a schematic diagram of the articulation mechanism of the vibrating roller, (a) shows the state at the time of going straight, and (b) shows the state at the time of turning. It is a block diagram for demonstrating the autonomous control system of a vibrating roller. It is a figure for demonstrating the autonomous driving method which concerns on embodiment of this invention. It is a figure which shows the result of the driving experiment of the autonomous driving method in the prior art and the autonomous driving method in this invention, (a) is the result of the driving experiment which controlled by the autonomous driving method in the prior art, (b) is This is the result of a traveling experiment controlled by the autonomous driving method in the present invention. It is a figure for demonstrating the problem of autonomous driving in the prior art, and (a)-(d) show each process.

Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings as appropriate.
Each figure is only schematically shown to the extent that the present invention can be fully understood. Therefore, the present invention is not limited to the illustrated examples. In addition, the dimensions of the members in the referenced drawings may be exaggerated for the sake of clarity. In each figure, common components and similar components are designated by the same reference numerals, and duplicate description thereof will be omitted.

<< Autonomous driving method according to this embodiment >>
The autonomous driving method means that the construction machine is equipped with sensors and the construction machine is driven along a preset planned line. In this embodiment, unmanned construction is also performed at the same time as the construction machine runs autonomously, so it may be called "unmanned construction". FIG. 1A shows an unmanned construction system M using the autonomous driving method according to the present embodiment.

The unmanned construction system M autonomously runs a construction machine to compact the ground at the construction site. The unmanned construction system M includes a vibrating roller 1 that rolls the ground while autonomously traveling on the construction site, a total station 2 that stands on the construction site, and a host PC installed in an operation room located away from the construction site. (Personal Computer) 3 is provided. The vibrating roller 1, the total station 2, and the host PC 3 can communicate using wireless communication. The vibrating roller 1 is an example of a construction machine, and the type of the construction machine is not limited to this.

<Total station>
The total station 2 automatically tracks the traveling vibrating roller 1 and periodically (for example, 300 milliseconds) transmits the position information of the vibrating roller 1 to the host PC 3. The total station 2 is, for example, a place that does not interfere with the running of the vibrating roller 1, and is installed at a position where automatic tracking of the vibrating roller 1 is always possible.

<Host PC>
The host PC 3 is operated by the construction manager. The construction manager registers the construction conditions in the host PC 3 in advance, and then inputs the instruction to start the construction. This information is transmitted to the vibrating roller 1. Then, when the transmission is completed, the unmanned construction by the vibrating roller 1 is started.
Further, during the period during which the unmanned construction is being performed, the host PC 3 transmits the position information of the vibrating roller 1 received from the total station 2 to the vibrating roller 1.
On the other hand, the host PC 3 periodically receives the aircraft information of the vibrating roller 1 from the vibrating roller 1 and displays the aircraft information on the display screen. The aircraft information may be any information as long as the state of the vibrating roller 1 can be confirmed, and may be, for example, the traveling direction, speed, steering angle, etc. of the vibrating roller 1. The construction manager can grasp the progress of the construction by checking the machine information of the vibrating roller 1 displayed on the host PC 3. In principle, the construction manager does not give an instruction to the vibrating roller 1 after giving an instruction to start the construction.

The construction conditions include, for example, (1) rolling area information regarding an area for rolling (hereinafter referred to as "rolling area"), and (2) rolling path for a rolling path set in the rolling area. Information, (3) Rolling condition information regarding the rolling condition in which the vibrating roller 1 rolls the rolling path, and the like are included. The compaction path means a region where the vibrating roller 1 travels to compact. Therefore, the compaction path has a predetermined width. The reference line of the rolling compaction path is a virtual line along the extending direction (longitudinal direction) of the rolling compaction path, and is a traveling route that is a target of autonomous traveling of the vibrating roller 1. The reference line can be set at any position on the rolling path. In this embodiment, the center line of the compaction path is adopted as the reference line.

The compaction area information includes the number of compaction areas and the coordinates (x, y) for specifying each compaction area. As shown in FIG. 1 (b), in the case of a rectangular compaction area, the coordinates (x, y) of the four corners of the compaction area are given as the coordinates for specifying each compaction area.
The rolling path information includes the number of rolling paths, the coordinates (x, y) for specifying each rolling path, the lane change width, and the like. As shown in FIG. 1 (b), when rolling in a straight line in the vertical direction, the coordinates (x, y) at both ends of the center line of each rolling path are used as the coordinates for specifying each rolling path. Also, as the lane change width, the distance between the center lines of the adjacent compaction paths is given.

The compaction condition information includes the number of compactions in each compaction path, the coordinates of the entry point to the compaction area, the coordinates of the exit point from the compaction area, and the like. As shown in FIG. 1 (b), in the case of sequentially rolling from the rolling path set on the left side of the rectangular rolling area toward the right side, for example, the leftmost rolling as an approach point to the rolling area. The coordinates (x, y) of one end point of the center line of the compaction path are given, and one end point (x, y) of the center line of the rightmost compaction path is given as the exit point from the compaction area.

<Vibration roller>
The configuration of the vibrating roller 1 (may be abbreviated as “roller”) will be described with reference to FIG. The vibrating roller 1 includes a vehicle body 10, two iron wheels 11 and 11 attached to the front and rear of the vehicle body 10, an articulating mechanism 12 arranged at the bottom of the vehicle body 10, and an all-around prism installed at the top of the vehicle body 10. It is composed of 13 and a communication antenna 14, an autonomous driving control device 15, and an aircraft information acquisition means S (see FIG. 4). The vibrating roller 1 can move forward and backward by changing the rotation directions of the iron wheels 11 and 11.

The vehicle body 10 is the main body of the vibrating roller 1. The vehicle body 10 houses a driving means (not shown) inside. In the following, when the term "roller azimuth G" is used, it means the orientation of the vehicle body 10.
The iron ring 11 includes a device that generates vibration (not shown), and rolls on the ground by rotating while vibrating. In the following, the front iron wheel 11 may be referred to as a front wheel 11a, and the rear iron wheel 11 may be referred to as a rear wheel 11b. The front wheels 11a serve as a reference for controlling autonomous driving when moving forward, and the rear wheels serve as a reference for controlling autonomous driving when moving backward. Details will be described later.

The articulating mechanism 12 is a mechanism for turning the vibrating roller 1 and is installed in the lower part of the vehicle body 10. The articulating mechanism 12 is a center that connects a front wheel holding portion 12a that rotatably holds the front wheels 11a, a rear wheel holding portion 12b that rotatably holds the rear wheels 11b, and a front wheel holding portion 12a and a rear wheel holding portion 12b. It includes a pin 12c and a steering cylinder (not shown) interposed between the front wheel holding portion 12a and the rear wheel holding portion 12b. When a control command for correcting the traveling direction (a control command with the steering angle θ as the control command angle) is received from the autonomous traveling control device 15, the steering cylinder expands and contracts according to the steering angle θ. Then, when the steering cylinder expands and contracts, the front wheel holding portion 12a is refracted around the center pin 12c, and the direction of the front wheel 11a changes accordingly.

The all-around prism 13 shown in FIG. 2 is a tracking target of the total station 2. Here, in consideration of the characteristic of the articulating mechanism 12 that the rear wheels 11b follow the front wheels 11a, the center position of the rotation axis of the iron wheel 11 on the side where the vibrating roller 1 is advancing with respect to the reference point for performing self-sustaining traveling control or It is preferable to provide it on a vertical line passing through the center position of the rotation axis. Therefore, in the present embodiment, the position of the all-around prism 13 is corrected by calculation so as to be directly above the center position of the rotation axis of the iron ring 11 on the side where the vibrating roller 1 is advancing. That is, since the vibrating roller 1 rolls a predetermined number of times by reciprocating traveling repeatedly forward and backward, the correction is performed so that the front wheels 11a serve as a reference point when moving forward and the rear wheels 11b serve as a reference point when moving backward. The reference direction (reference direction) when controlling the vibrating roller 1 is the direction θJ of the iron wheel 11 (front wheel 11a or rear wheel 11b) on the side where the reference point is set.

With reference to FIG. 3, a reference point and a reference direction when performing independent traveling control of the vibrating roller 1 will be described. The vibrating roller 1 can move forward and backward as described above, but here, the description will be made assuming the case of moving forward. Therefore, the position of the prism as a reference point is corrected to the center position of the rotation axis of the front wheel 11a. Although details will be described later, the orientation (azimuth angle G (deg)) of the vehicle body 10 of the vibrating roller 1 is detected by the attitude detection sensor S1 (see FIG. 4). Further, the steering angle θ (deg) of the articulating mechanism 12 is detected by the steering angle detection sensor S3 (see FIG. 4).

As shown in FIG. 3A, when traveling straight ahead (when the steering angle θ is 0 °), the front wheel holding portion 12a and the rear wheel holding portion 12b are linear with respect to the traveling direction, so that the front wheels 11a And the rotation axes of the rear wheels 11b are parallel. That is, the azimuth angle G (direction of the vehicle body 10) of the vibrating roller 1 and the direction θJ of the front wheels 11a are in the same direction.

On the other hand, as shown in FIG. 3B, when turning to the right (when the steering angle θ is not 0 °), the front wheel holding portion 12a is refracted to the right with respect to the traveling direction around the center pin 12c. Along with this, the right side of the front wheel 11a inclines in a direction close to the rear wheel 11b. Similarly, when turning to the left, the front wheel holding portion 12a bends to the left with respect to the traveling direction with the center pin 12c as the center, and the left side of the front wheel 11a inclines in a direction close to the rear wheel 11b accordingly. As a result, the front wheels 11a and the rear wheels 11b pass through the same locus. In this case, the azimuth angle G of the vibrating roller 1 (direction of the vehicle body 10) and the direction θJ of the front wheels 11a are different. The direction θJ of the front wheel 11a of the vibrating roller 1 during turning adds (or subtracts) the steering angle θ (deg) to the azimuth angle G (deg) of the vibrating roller 1 when the friction between the ground and the front wheel 11a is ignored. ).

Although not shown, the reference point when moving backward is set on a vertical line passing through the center position of the rotation axis of the rear wheel 11b or the center position of the rotation axis. That is, when moving backward, the position of the all-around prism 13 is corrected on a vertical line passing through the center position of the rotation axis of the rear wheel 11b or the center position of the rotation axis. Further, the direction (reference direction) θJ of the rear wheel 11b of the vibrating roller 1 when moving backward is the opposite direction of the azimuth angle G (direction of the vehicle body 10) of the vibrating roller 1 regardless of whether it is going straight or turning.

By correcting the position of the all-around prism 13 in this way, the coordinates of the reference point acquired via the total station 2 are the center position of the rotation axis of the front wheel 11a when moving forward or the rotation of the rear wheel 11b when moving backward. The center position of the axis. Therefore, in the control of autonomous driving, the steering operation is less likely to be delayed. This correction may be performed by any of the vibrating roller 1, the total station 2, and the host PC 3, and is performed by calculation in any of the devices. The reference point of the vibrating roller 1 is not limited to this, and may be provided, for example, at the position of the center pin 12c or on a vertical line passing through the center pin 12c.

In FIG. 2, the communication antenna 14 communicates with the host PC 3. Specifically, the autonomous driving control device 15 of the vibrating roller 1 receives construction conditions (rolling area information, rolling path information, rolling condition information), position information, and the like from the host PC 3 via the communication antenna 14. To do. Further, the autonomous driving control device 15 transmits the aircraft information of the vibrating roller 1 to the host PC 3 via the communication antenna 14.

The configuration of the aircraft information acquisition means S will be described with reference to FIG. FIG. 4 is a schematic view of an autonomous control system M1 that realizes autonomous control of the vibrating roller 1. The aircraft information acquisition means S includes an attitude detection sensor S1, a speed detection sensor S2, a steering angle detection sensor S3, and a forward exploration sensor S4.
The attitude detection sensor S1 detects the azimuth angle G (deg) of the vibrating roller 1. The posture detection sensor S1 is, for example, a MEMS type gyro and is installed inside the vehicle body 10. The azimuth angle G (deg) is passed to the autonomous driving control device 15, and is used for calculating the current position using inertial navigation (INS). The position information of the vibrating roller 1 acquired by the total station 2 is used for correcting the drift of the attitude detection sensor S1.

The speed detection sensor S2 detects the speed V (km / h) at which the vibrating roller 1 moves forward and backward. The speed detection sensor S2 is, for example, a rotary encoder that detects the rotational speed of the iron wheel 11, and is installed on the rear wheel 11b. The speed V (km / h) is passed to the autonomous driving control device 15, and is used for calculating the current position using inertial navigation (INS).

The steering angle detection sensor S3 detects the steering angle θ (deg) of the articulating mechanism 12. The steer angle detection sensor S3 is, for example, a potentiometer and is installed at the center pin 12c of the articulation mechanism 12. The steering angle θ (deg) is passed to the autonomous driving control device 15, and is used for correcting the traveling direction of the vibrating roller 1. The sensor that detects the amount of advance / retreat of the rod of the steering cylinder may be the steering angle detection sensor S3.

The forward exploration sensor S4 detects the object information Q (coordinates) in the forward direction of the vibrating roller 1. The forward exploration sensor S4 is, for example, a 2D scanner and is installed in the front upper part of the vehicle body 10. The forward exploration sensor S4 is handed over to the autonomous driving control device 15 and is used for obstacle avoidance control.

The autonomous driving control device 15 shown in FIG. 4 autonomously follows a preset planned line (center line of the compaction path) using the information acquired by the aircraft information acquisition means S and the information received from the host PC 3. It controls driving. The autonomous driving control device 15 is composed of, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. Then, the control by the autonomous driving control device 15 is realized by the program execution process realized by the CPU expanding the program stored in the ROM or the like into the RAM.

The autonomous driving control device 15 calculates the steering angle θ required for autonomous driving, creates a control command with the calculated steering angle θ as the control command angle, and periodically (for example, 100 millisec) this control command. ) Is transmitted to the articulating mechanism 12. The articulating mechanism 12 expands and contracts the steering cylinder by the amount corresponding to the steering angle θ of this control command, and bends the front wheel holding portion 12a around the center pin 12c. Along with this, the direction of the front wheels 11a changes, and the course of the vibrating roller 1 is corrected.

The control of autonomous driving by the autonomous driving control device 15 according to the present embodiment will be described with reference to FIG. Here, a "rolling process" is assumed as a traveling pattern controlled by the autonomous driving control device 15. In the rolling compaction step, the vibrating roller 1 is reciprocated on the rolling compaction path as many times as the number of rolling compactions. The autonomous driving control device 15 obtains the center line of the compaction path in advance by calculation during autonomous driving in the compaction process. The autonomous driving control device 15 calculates the center line of the compaction path from the coordinates (x, y) of both ends (start point, target point) of the center line of each compaction path, for example. Then, the direction from the start point of the center line of the compaction path to the target point is defined as "θT".

Further, the autonomous driving control device 15 sets a band-shaped region that extends evenly on both the left and right sides from the center line of the compaction path as an allowable range of misalignment. The width (X cm) of the allowable range of this misalignment may be determined in advance as a threshold value, and is preferably about 20 cm (about ± 20 cm from the center line of the compaction path).

When the control of autonomous driving in the compaction process is started, the autonomous driving control device 15 directs the iron wheels 11 (here, the front wheels 11a are assumed) on the traveling direction side with respect to the direction θT of the center line of the compaction path. The vibrating roller 1 is run so that θJ is parallel. However, when the position of the reference point of the vibrating roller 1 is separated by a certain amount or more from the center line of the rolling path, the direction of the front wheels 11a is changed so that the reference point of the vibrating roller 1 returns to the center line of the rolling path. .. Then, when the position of the reference point of the vibrating roller 1 returns within a certain amount with respect to the center line of the compaction path, the direction of the front wheels 11a is returned parallel to the direction θT of the center line of the compaction path.
The term "parallel" here does not have to be parallel in a strict sense, and even if there is a predetermined error (for example, ± 5 °), it is included in parallel. The error in parallel may be determined in advance by the distance from the start point to the target point, the width of the allowable range of displacement, and the amount of displacement of the vibrating roller 1 at the target point of the rolling path can maintain the allowable range. It may be an angle of degree.

For example, it is assumed that the amount of misalignment of the vibrating roller 1 with respect to the center line of the compaction path is not within the permissible range at a certain point in time. In that case, the autonomous driving control device 15 corrects the steering angle θ of the vibrating roller 1 so as to approach the center line of the compaction path (see time t _{1 in} FIG. 5). In this case, the steering angle θ may be any angle, and the direction θJ of the front wheels 11a of the vibrating roller 1 after the correction of the steering angle θ and the direction θT of the center line of the compaction path intersect. Just do it. For example, if the goal is to reach the centerline of the rolling path as soon as possible, the steering angle θ may be the minimum turning radius. As a result, the vibrating roller 1 changes the traveling direction while traveling, and travels toward the center line of the compaction path.

When the vibrating roller 1 advances as it is, the iron wheel 11 (here, the front wheel 11a) on the traveling direction side of the vibrating roller 1 enters within the allowable range of misalignment (see time t _{2 in} FIG. 5). In that case, the autonomous driving control device 15 corrects the steering angle θ of the vibrating roller 1 so that the direction θJ of the front wheels 11a is parallel to the direction θT of the center line of the compaction path. Here, as already described, the steering angle θ of the articulating mechanism 12 by the steering angle detection sensor S3 is used to calculate the direction θJ of the front wheels 11a. For example, the autonomous driving control device 15 calculates the value obtained by adding (or subtracting) the steering angle θ (deg) to the azimuth angle G (deg) of the vibrating roller 1 as the direction θJ of the front wheels. Thus, the vibration roller 1 changes the traveling direction while traveling directs direction θT of the rolling passage of the center line direction θJ of the front wheel 11 (see time t ₃ in FIG. 5).

After that, the autonomous driving control device 15 returns the steering angle θ of the vibrating roller 1 to “0 °” and causes the vibrating roller 1 to go straight. As a result, the vibrating roller 1 travels parallel to the center line of the compaction path (see time t _{4 in} FIG. 5).

Various methods can be considered for the control after the vibrating roller 1 starts to travel parallel to the center line of the compaction path. For example, the autonomous driving control device 15 may finely adjust the traveling direction of the vibrating roller 1 by appropriately correcting the steering angle θ, or until the front wheels come off the displacement amount of the vibrating roller 1 outside the permissible range. It is not necessary to correct the steering angle θ. In the former case, it is better to reduce the amount of meandering. For example, the calculation cycle (Δt) of the control command is set longer than in the case where the vibrating roller 1 does not run parallel to the center line of the rolling compaction path. May be good. Further, when the vibrating roller 1 is traveling at an angle of a predetermined error included parallel to the center line of the rolling compaction path, the steering angle θ may not be corrected.

As described above, the autonomous driving control device 15 according to the present embodiment has the direction θT of the center line of the compaction path within the band-shaped allowable range extending from the center line (reference line) of the compaction path to both the left and right sides. The vibrating roller 1 is driven so that the direction θJ of the iron ring 11 on the traveling direction side is parallel to the above. Therefore, the vibrating roller 1 according to the present embodiment travels at a constant position from the center line of the compaction path, so that the traveling accuracy is maintained. Further, since the point (intermediate point) that must be passed in the middle of the compaction path is not determined, the amount of meandering is relatively small as compared with the conventional case, and the traveling is smooth.

FIG. 6 shows the results of a traveling experiment in which the vibrating roller 1 is controlled by the autonomous driving method in the prior art and the autonomous driving method in the present invention. FIG. 6A is the result of a running experiment controlled by the autonomous driving method in the prior art, and FIG. 6B is the result of the running experiment controlled by the autonomous driving method in the present invention. The horizontal axis of the graph shown in FIG. 6 is the number of data (pieces), and the vertical axis is the amount of misalignment (m) from the center line (reference line) of the compaction path.

The running experiment shown in FIG. 6 was carried out under the following conditions.
・ Number of lanes: 15 lanes (staircase 10m-44m)
・ Running speed: 1km / h
・ Wrap length: 20 cm
・ Number of constructions: 1 round trip without vibration, 1 round trip with vibration ・ Construction range: 832m ²
With reference to FIG. 6, it can be seen that the amount of misalignment (m) from the center line (reference line) of the compaction path is smaller overall when the control of the present invention is used as compared with the control of the prior art.

[Modification example]
Although the embodiments of the present invention have been described above, the present invention is not limited to this, and can be carried out within a range that does not change the gist of the claims. A modified example of the embodiment is shown below.

In the embodiment, when the amount of misalignment of the vibrating roller 1 with respect to the center line (reference line) of the rolling path is not within the permissible range, the vibrating roller 1 is returned to the center line of the rolling path and within the permissible range. When the front wheel 11a entered, the direction of the vibrating roller 1 was parallel to the center line of the compaction path. That is, both the determination of returning the vibrating roller 1 to the center line of the rolling path and the determination of making the direction of the vibrating roller 1 parallel to the center line of the rolling path are performed using one threshold value. As a result, the control was simple in the embodiment.
However, these two determinations may be made using different thresholds. For example, the first threshold value is used to determine that the vibrating roller 1 is returned to the center line of the rolling path, and the second threshold value is used to determine that the direction of the vibrating roller 1 is parallel to the center line of the rolling path. May be good. By doing so, it is possible to control the traveling position of the vibrating roller 1 in more detail.

Further, in the embodiment, the "rolling process" is assumed as the traveling pattern controlled by the autonomous driving control device 15, but it may be applied to the "approaching process" or the "lane changing process". The approach step is to cause the vibrating roller 1 located outside the compaction area to enter the compaction path set in the compaction area. The lane change step is to move the vibrating roller 1 to the next compaction path.

Further, in the embodiment, the vibrating roller 1 has been described as an example of a construction machine that autonomously travels along the compaction path. However, the types of construction machinery and the types of travel paths are not limited to this. Construction machines that run autonomously need only be equipped with an articulating mechanism, and the wheels are not limited to iron wheels. Further, the traveling path for autonomous driving may be a preset one, and the traveling reference line is not limited to the center line of the traveling path.
For example, the construction machine may be a dump truck provided with an articulating mechanism, and the traveling path in that case may be a transport road in a tunnel mine or a quarry where tunnel construction is being carried out. In the former case, for example, the dump truck transports the scraps generated by the blasting work to the outside of the tunnel, and in the latter case, for example, the dump truck transports the rock mined at the quarry site to the outside of the quarry site.
The traveling path may include not only a straight line but also a curved line. When a curve is included, for example, the traveling of the portion is controlled as a combination of a plurality of straight traveling paths.

In the embodiment, the steering angle θ required for correcting the angle difference has been described as a value with respect to a reference value (for example, 0 °), but it may be a value for an increase or decrease with respect to the current value (steering angle Δθ).

1 Vibration roller (construction machine)
2 Total station 3 Host PC
10 Body 11a Front wheels (iron wheels)
11b Rear wheel (iron wheel)
12 Articulate mechanism (steering device)
12c Center pin 13 All-around prism 14 Communication antenna 15 Autonomous driving control device S1 Attitude control sensor S2 Speed detection sensor S3 Steer angle detection sensor S4 Forward exploration sensor

Claims (2)

It is a control device for autonomous driving that controls construction machinery that travels autonomously.
The construction machine comprises an articulating mechanism having front and rear wheels.
The reference point of the construction machine for performing autonomous traveling control is provided on a vertical line passing through the center position of the rotation axis of the wheel on the traveling direction side or the center position of the rotation axis.
The traveling direction of the construction machine is the direction of the wheels on the traveling direction side.
When the distance from the traveling reference line to the construction machine is larger than a predetermined first threshold value, a control signal for correcting the traveling direction of the construction machine so as to approach the traveling reference line is output.
When the distance from the traveling reference line to the construction machine is smaller than the second threshold value which is the same as or smaller than the first threshold value, the construction machine with respect to the traveling reference line. Outputs a control signal to make the traveling directions of
A control device for autonomous driving that is characterized by this. It is an autonomous driving method that makes construction machinery run autonomously.
The construction machine comprises an articulating mechanism having front and rear wheels.
The reference point of the construction machine for performing autonomous traveling control is provided on a vertical line passing through the center position of the rotation axis of the wheel on the traveling direction side or the center position of the rotation axis.
The traveling direction of the construction machine is the direction of the wheels on the traveling direction side.
When the distance from the traveling reference line to the construction machine is larger than the predetermined first threshold value, the traveling direction of the construction machine is corrected so as to approach the traveling reference line.
When the distance from the traveling reference line to the construction machine is smaller than the second threshold value which is the same as or smaller than the first threshold value, the construction machine with respect to the traveling reference line. Make the direction of travel parallel,
An autonomous driving method characterized by that.

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