DK180230B1 - Method for machine-controlled production of a carrier layer - Google Patents

Abstract

Method for the machine-controlled production of a base course, in which a building site is worked with at least one clearing blade, in which method the actual conditions of the building site to be worked are registered and evaluated by means of planned nominal conditions, and in which a correction movement is made, which is based on the data evaluation. characterized in that a basic position is determined and saved for the lifting mechanism (4) by the clearing blade (3), and that the correction movement starting from the basic position may be limited in time and / or space.

Description

The invention relates to a method for machine-controlled production of a base layer, in which a building site is worked with at least one clearing blade, in which the actual conditions of the building site to be worked are registered and evaluated. by means of fixed nominal states and in which a correction movement is made based on the data evaluation.

The invention further relates to a vehicle for machine-controlled production of a carrier layer, which vehicle comprises at least one lifting mechanism comprising a clearing blade, the drive of which is connected by means of control lines to a computer in the vehicle.

Such methods are carried out with insulated devices, the so-called leveling machines, eg leveling machines, bulldozers, graders (Kilver), leveling boards for wheel loaders or levelers which are pulled by means of tractors to the superstructure to be worked. | early procedures, it was up to the driver of the tractor to visually record the actual conditions of the building site to be treated, to evaluate them by mental activity on the basis of planned nominal conditions, and based on this evaluation to determine if and how a correction movement must be performed.

In connection with the driver of the tractor, this range of tasks requires a high degree of skill and experience from the driver. | recent procedures, the driver is automatically relieved of generated process steps, so that the quality of a carrier layer produced by a method according to the invention is less dependent on values such as skills and experience.

For such a relief of the driver, it is especially known to detect the actual conditions of the building site to be treated with sensors, and to evaluate them on the basis of the planned nominal conditions.

The sensory detection takes place, for example, by means of laser or GPS signals, which are processed in a computer in the vehicle.

Such processing can range from just a graphical representation of the actual conditions in the cab of the tractor to automatically generated correction movements.

However, it has been found to be problematic in the prior art that the clearing blade, when in engagement with the building site, can only follow the corrective movements of the lifting mechanism with great inertia.

Consequently, the hydraulically generated correction movements lead off

DK 180230 B1 2 the lifting mechanism regularly for over-steering, whereby the chassis of the clearing blade lifts the clearing blade from the ground, regardless of whether the corrective movements are performed manually by a driver or automatically by means of a built-in computer.

Thus, especially for a computer in the vehicle, it is not recognizable whether the lifting of the chassis can be traced back to a partial compaction in the building site, a material accumulation in front of the clearing blade or inertia in the building site.

US 2005/0194163 A1 is an example of a prior art in which a method for machine-assisted machining of base layers on a construction site is described.

The base layer is machined with at least one height-adjustable clearing blade mounted on a vehicle with a lifting mechanism.

The height of the clearing blades can be adjusted manually by an operator or automatically via computer control.

The system includes machines with several clearing blades, each with its own sensor and lifting mechanism, as well as systems with a single clearing blade with several sensors and lifting mechanisms connected to the same blade.

In this solution method, the actual conditions on the construction site are measured including measurements of the position of one or more clearing blades.

These measurements are processed in a computer system, where they are evaluated in relation to planned nominal conditions.

On the basis of these calculations, the computer system determines an intended correction movement of the clearing blade.

However, in this method there is no description of how measures can be implemented to ensure that the position of the clearing blade is not over-corrected in relation to the ground, or how changes in the distance from the clearing blade to the ground can be taken into account when the vehicle , on which the clearing blade is mounted, is in motion.

The invention therefore has for its object to provide a method of the type stated in the introduction, whereby override in performing the correction movements is largely avoided.

This object is achieved by means of the features according to claim 1. Advantageous embodiments according to the invention are stated in the subclaims.

The method according to the invention is characterized in that a basic position is determined for the lifting mechanism of the clearing blade and stored in a computer, and

DK 180230 B1 3 that the correction movement starting from the basic position is limited in time and / or space, so that the mechanically possible movement space is reduced. With such a restriction, a correction movement of the lifting mechanism is terminated even before an actual state has reached the determined nominal state. The correction movement thus acts as a kind of directional impulse or step. Only when the effect of such an impulse or a step, taking into account inertia in the clearing blade, is completely known from the preferably continuously detected detection of the actual conditions, a new correction movement is performed if necessary, if temporal or spatial constraint may have a different effect. catch than the previous correction movement. "Starting from the basic position" means that the extent of each correction movement is thus measured from the basic position, and that the limitation of each correction movement is independent of the level of a determined difference between an actual state and a nominal state. In contrast, only the direction of each correction movement depends on the difference, as this must counteract the difference formation. In this way, with the optional time or spatial restriction of the correction movement, it is reliably prevented that the method according to the invention can lead to an over-control of the lifting mechanism.

According to a first embodiment of the invention, the time-limited correction movement is started by manual contact activation and terminated again. | In the case of manual contact activation, the restriction of the correction movement occurs prematurely, i.e. even before reaching a defined limit value, for example as a function of the activation duration, the activation pressure or the number of activation intervals. According to a further embodiment of the invention, the spatially limited correction movement is started automatically by a computer-controlled contact activation and terminated automatically again. | In the case of the computer-controlled contact activation, the restriction of the correction movement of a computer program or a calculation algorithm is controlled.

DK 180230 B1 4 According to another embodiment of the invention, the spatially limited correction movement is started by manual contact activation and ends automatically by computer-controlled contact activation.

In this semi-automatic controlled contact activation, the restriction of the correction movement takes place after reaching a certain limit value.

In order to reliably prevent any override in both a manual and an automatic contact activation, the lifting mechanism is automatically retracted to its basic position after the completion of a correction movement.

Withdrawal can be started either immediately at the end of the contact activation or with a time delay.

Thus, a repeated contact activation does not lead to a correction movement of increased magnitude, but only leads to a repetition of the correction movement.

Based on the data evaluation, it is in principle also possible that the lifting mechanism is not returned to the basic position after the completion of a correction movement, but that an additional correction movement is performed if its limitation is different from that of the previous correction movement.

In order to be able to produce a base layer that is largely independent of the driver's skills and abilities, it is proposed to detect the actual conditions of the building site to be treated, using sensors and to evaluate them in a computer-controlled manner on the basis of the rated nominal states.

It is thus within the scope of the invention that the actual conditions of the building site to be treated are visually detected and evaluated manually, in particular in the case of intellectual activity on the basis of the nominal conditions determined according to plan.

The sensory detection is preferably performed via at least two inductive sensors, which are arranged as a transducer in the direction of travel next to each other.

If the base layer to be produced is provided for the production of a surface for traffic bounded by a curb, it is proposed to set the nominal states by means of a reference value meter running at the curb. | the following are the actual conditions of the building plot to be treated on the basis

DK 180230 B1 of the data provided by the reference value meter and on the basis of this data evaluation a correction movement is performed if necessary. According to a further embodiment of the invention, the correction movement 5 consists of at least two individual movements produced in the lifting mechanism. The individual movements preferably take place via pivoting movements generated by lifting cylinders, over which the clearing blade is height-adjustably suspended in the chassis of an insulated apparatus. To form a transverse direction of the motion gradient, the cylinders can also be controlled individually.

With regard to the vehicle, the invention is characterized in that the lifting mechanism has a presettable basic position and that with the computer in the vehicle around the basic position a temporal and / or spatial limitation is formed for the mechanically possible space of movement of the lifting mechanism. Thus, the basic position is a defined starting position, in which the lifting mechanism can be moved back at any time, and which is the reference point for each temporal and / or spatial limitation. The vehicle according to the invention is designed either as an insulated device or as a towing device, in which the insulated device is connected to a towing vehicle. The computer in the vehicle is thus either an integral part of the tractor, otherwise it is an integral part of the insulated apparatus with a control unit that can be arranged in the cab of the tractor, so that it enables a practical remote control of the computer in the vehicle from the cab. While with the time limit a kind of electronic time relay is formed, the spatial limit acts as a kind of electronic position or limit switches. In any case, the restriction represents a forced reduction of the mechanically possible movement space in a preset basic position, so that overriding of the lifting mechanism is largely avoided. According to a first embodiment of the vehicle according to the invention, this has at least two clearing blades, between which the wheels are arranged on the chassis. Especially for working a corner area of a building site by means of maneuvering, the lifting mechanism is controlled with the correction movement of the clearing blade which

DK 180230 B1 6 is in the direction of travel in front of the wheels.

The clearing blade behind the wheels in the direction of travel is driven from the basic position to a raised rest position.

An embodiment of the invention, from which further inventive features appear, is shown in the drawing.

It shows: FIG. 1: a perspective view of an application example with an isolated apparatus for carrying out the method according to the invention; and FIG. 2: a perspective view of the application example according to Figure 1, but seen from a 90 ° rotated perspective.

FIG. 1 and 2 show an insulated device 1, on whose uniaxial chassis 2 a height-adjustable clearing blade 3 is suspended via a lifting mechanism 4. The chassis 2 has a drawbar 5, via which the insulated device 1 is coupled to a tractor 6. For machine-controlled manufacturing a support layer 7, the insulated apparatus 1 is pulled with the tractor 6 over a building site 8 to be worked.

In addition, the insulated apparatus 1 has two data transfer devices 9, 10 arranged side by side on its clearing blade 3 in the direction of travel, via which the actual conditions of the building site 8 to be treated are detected.

For evaluation of the actual conditions on the basis of determined nominal conditions, a navigation device 11 is located on the building site 8 to be worked.

Based on the data analysis, a correction movement is performed on the clearing blade 3, which, based on a basic position defined for the clearing blade 3, is either temporarily and / or spatially limited.

All features mentioned in the foregoing description and in the claims may be combined in any choice with features in the independent claim.

The description of the invention is therefore not limited to the described or combinations of features according to the claims, but all meaningful combinations within the scope of the invention should be considered as described.

Claims (10)

DK 180230 B1 7 Patent claim A method for machine-controlled production of a base layer, in which a building site is worked with at least one clearing blade which is height-adjustable via a lifting mechanism, in which method the actual conditions of the building site to be worked are recorded in a computer, and in which evaluates these in relation to scheduled nominal states, and where said computer detects a correction movement of said clearing blade, which is based on said evaluation, characterized in that for the lifting mechanism (4) of the clearing blade (3) is determined and stored a basic position in the computer and that the correction movement starting from the basic position is limited so that the mechanically possible space for movement is reduced in time and / or space. The method according to claim 1, characterized in that the time-limited correction movement is started and also terminated by manual use of switch. Method according to Claim 1 or 2, characterized in that the spatially limited correction movement is started automatically and terminated automatically by computer-controlled use of a switch. Method according to one of Claims 1 to 2, characterized in that the system for the spatially limited correction movement is started by manual use of a switch and terminated automatically by computer-controlled use of a switch. Method according to one of Claims 2 to 4, characterized in that the lifting mechanism (4) is moved automatically back to its basic position after completion of a correction movement. DK 180230 B1 8 Method according to one of Claims 1 to 5, characterized in that the actual conditions of the worked building site (8) are detected by sensors and evaluated by computer-controlled based on planned nominal conditions. Method according to one of Claims 1 to 6, characterized in that the nominal states are determined by a reference value meter controlled by a curb. Method according to one of Claims 1 to 7, characterized in that the correction movement is composed of at least two individual movements formed in the lifting mechanism (4). Vehicle for machine-controlled production of a carrier layer, which vehicle comprises at least one clearing blade which is height-adjustable via a lifting mechanism, the lifting mechanism having a drive which is connected by means of control lines to a computer in the vehicle, characterized in that the lifting mechanism comprises a preset basic position, and that with the computer in the vehicle around the basic position there is a temporal and / or spatial limitation of the mechanically possible movement space of the lifting mechanism. The vehicle according to claim 9, characterized in that it comprises at least two clearing blades, between which undercarriage wheels are arranged.