EP0964958B1 - Procédé pour friser des surfaces de circulation routière - Google Patents

Procédé pour friser des surfaces de circulation routière Download PDF

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Publication number
EP0964958B1
EP0964958B1 EP98959818A EP98959818A EP0964958B1 EP 0964958 B1 EP0964958 B1 EP 0964958B1 EP 98959818 A EP98959818 A EP 98959818A EP 98959818 A EP98959818 A EP 98959818A EP 0964958 B1 EP0964958 B1 EP 0964958B1
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EP
European Patent Office
Prior art keywords
milling
data
traffic area
profile data
profile
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP98959818A
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German (de)
English (en)
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EP0964958A1 (fr
Inventor
Günter HÄHN
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Wirtgen GmbH
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Wirtgen GmbH
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Publication date
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Publication of EP0964958A1 publication Critical patent/EP0964958A1/fr
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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/004—Devices for guiding or controlling the machines along a predetermined path

Definitions

  • the invention relates to a method for milling Traffic areas with a milling drum, a milling machine or a device for milling traffic areas according to the preamble of claim 20.
  • Such milling machines are needed to manufacture a new road surface first the old road surface a traffic area.
  • US-A-4473319 describes a generic method for milling Traffic surfaces with a milling drum of a milling machine by detecting the Longitudinal ripple of the traffic area and creation of profile data by assignment the measured profile values to position data of a position determination device.
  • nominal profile data are generated from the measured profile values, wherein the target profile data corrected with respect to the longitudinal ripple of the traffic area should be.
  • the measured relative profile values which are the To represent longitudinal ripple, smoothed by filters, where initially the short wavelengths are filtered out.
  • the measured profile value is filtered again until a simulated Vehicle crossing a certain ride comfort standard is achieved. It It is understood that the result of the simulation only for a particular vehicle and for a certain speed.
  • the smoothing can be for different Spring mass systems and different vehicle speeds repeated become.
  • a measuring method according to US-A-4473319 can not between a dome, which should be preserved in the road surface profile, and an undesirable Lekswellmaschine the traffic area can be distinguished, since the Measurement takes place with respect to an imaginary plane, which may also be an inclined surface may be in the region of a slope or a slope.
  • a vehicle in particular a bulldozer, to be provided with a GPS position determining device.
  • the GPS positioning device can also be used to the three-dimensional To detect terrain condition.
  • the GPS receiver can also do this be arranged on a tool of the bulldozer.
  • the used GPS system has the task, the work progress in the change of the terrain structure to document and display.
  • the invention is the Object to provide a method for milling traffic areas, in a simple way, a correction of the longitudinal ripple of a traffic area allows.
  • the actual profile of the traffic area can be in on-line procedure with the help of a Profilabtast issued measured, the measured actual profile data corresponding position data associated with a relative or absolute position-determining device become.
  • the target profile data unless provided by one on the Milling machine installed calculator can be calculated using data carriers or transmitted by radio to the machine control.
  • the height coordinate z is determined using the position data of the absolute Position determining device based on the profile scanning device or the milling machine determined. This z-coordinate is then using a Depth gauge additionally specified, both on the Profilabtast worn as well as arranged on the milling machine. This z coordinate value of Actual profile data provides an exact position value in the space for the actual profile data.
  • the z-coordinates can be combined with absolute or relative Position data in the plane (x, y coordinates) and or with a route information about the distance traveled relative to a reference point Distance.
  • a significant advantage of the method according to the invention therefore also in that an elaborate position determination with respect to the milling machine may be omitted if the assignment of the desired profile data, e.g. over a Route information is possible.
  • the use of an absolute coordinate system has the advantage that the longitudinal ripple of a road profile against terrain contours, for example a slope or a slope, can be distinguished.
  • the actual value forms the set depth of cut, the disturbance variable, the setpoint value from the target profile data, the reference variable, and the Control signal for the milling depth of the milling drum the controlled variable.
  • profile data may possibly also be archived previous data will be used.
  • the desired profile data may be location vectors for controlling the Milling machine, specifically the position of the milling machine in the plane (x, y, z or x, z coordinates), the Corrected milling depth (z-coordinate) with respect to the longitudinal ripple the inclination and the direction of travel of the milling machine contain.
  • the traffic area After processing the traffic area again measured the actual profile and the actual profile data with stored the assigned position data for documentation. With the help of this documentation can be compared to the Clients are shown how exactly the target profile the traffic area has been respected.
  • the actual profile is first in a first Part of the traffic area added.
  • This section serves as base length for the recorded actual profile data stored in the initial base record become.
  • the actual profile data contained in the initial baseline record serve to generate the desired profile data for the first section.
  • the actual profile becomes continue beyond the first section continuously sampled, with the basic data set continuously through the newly recorded actual profile data is updated.
  • the basic data record refers to this to a predetermined base length of the traffic area. These Base length moves along with the work progress, so that according to the inclusion of new actual profile data, the most recent actual profile data from the basic data set be removed.
  • the milling of further sections the traffic area is then dependent of continuously updated target profile data on the Base of the constantly updated basic data record.
  • the length of the first section corresponds the traffic area of the base length of the continuous updated basic dataset.
  • the basic data record contains the actual profile data of a subsection the traffic area whose length is greater than the largest still to be compensated longitudinal wave of the traffic area.
  • the basic data set for example the actual profile data of a subsection of the Traffic area of approx. 50 to 300 m in length; preferably of about 100 to 200 m in length, contains.
  • the recording of the actual profile of the traffic area in the first sectionabites can also advantageously by the Milling machine done.
  • the milling drum is not in the process Intervention with the traffic area.
  • the milling machine is a profile scanning device and a position determination device arranged.
  • the base length of the traffic area detected by the basic data record for generating the desired profile data be changeable during the work progress. On This way, during the milling process on specifics the structure of the terrain.
  • the separate profile scanner can be pre-selected Distance to the milling machine the actual profile before the Scan the milling machine.
  • the continuously generated nominal profile data are generated from a basic data record, for example, on a relative to the milling machine ahead Part of the traffic area and z.T. on one already passed by the milling machine section refers. In this case, therefore always has a separate profile scanning relative to the milling machine go ahead.
  • This method has the advantage that the base length to which the base dataset relates always a preceding section of the traffic area taken into account during online on-line profile data collection on the milling machine the base length in essential in retrospect, i. on an already overrun Part of the traffic area refers.
  • the method for milling traffic areas 2 is in Fig. 1 explained in more detail. Basically, the procedure exists from three process steps, namely first the actual profile recording with the creation of the actual profile data, then the creation of a desired target profile and finally the milling process. Following the milling process can be a recent actual profile recording for documentation of the Milling result done.
  • the actual profile recording can be done in advance, with a Profilabtast issued 8 the later to be processed traffic area 2 leaves and thereby the actual profile of the traffic area 2 detected at least two-dimensionally.
  • expedient is the use of an absolute position determining device 16a, 16c, with the help of which the actual profile can be created with high accuracy.
  • the Profile scanner 8 is with a relative depth gauge provided so that the depth values (z-coordinate) the absolute position determining device 16a, 16b by the relative depth values of the profile scanner 8 can be corrected. It will be so at least two-dimensional actual profile data by assignment the measured depth values to position data of the relative or absolute position determining means 16a, 16b created.
  • the milling process now consists of the current one Position of the milling machine at least in terms of Wegkoordinate to determine. This is done with, for example a position determining device 16b, which on the Machine frame 12 of the milling machine 6 is arranged.
  • Relative height coordinate between the chassis of a Milling machine 6 or a Profilabtast prepared 8 measured with this relative z-value used to correct the Absolute z-coordinate is used.
  • Position determining device 16b of the milling machine 6 again generates absolute position data.
  • the machine control 10 can with the help of the position determination device 16b directly the depth of the Milling roller 4 depending on the current position data the milling machine 6 and the difference of the actual value and that resulting from the target profile data Control target value for the milling depth.
  • Fig. 2 illustrates the formation of the reference variable z-target for the control circuit of the milling depth control. This will be done first with the aid of the position-determining device 16b the absolute machine position in the plane or on the Straights determined. At the same time the currently set Milling depth z-is the relative distance value of the Machine frame 12 to the removed traffic area. 3 determined, so that then the current position data with the current depth of cut actual value. By comparison with the desired profile data can be in dependence from the machine position, the target value z target for the Take the milling depth from the nominal profile data. The difference of the value z-nominal minus z-actual represents the control deviation representing a height adjustment signal for the landing gear 14,15 is generated, so that a regulation of the desired value the depth of cut takes place.
  • Fig. 3 shows the milling machine 6, the front suspension rests on the still unprocessed traffic area 2, while the rear suspension 15 already worked on the traffic area 3 rests.
  • both suspensions 14,15 are adjusted.
  • a height adjustment of the milling drum 4 itself provided.
  • the old traffic area 2 a considerable longitudinal ripple, with Help of the milling depth control of the machine control 10 can be eliminated.
  • the cleared traffic area 3 can be manufactured with an accuracy in the millimeter range become.
  • the Profilabtast prepared 8 moves to create the Is-profile data before the milling machine 6 on the renewed Traffic Area 2.
  • the same profile scanner 8 can, as shown on the right side of Fig. 3 can be seen is, even over the cleared traffic area 3 drive, a new actual profile data acquisition for the purpose of documentation to enable.
  • FIG 4 shows the milling machine with an absolute position-determining device 16b, 16c (differential GPS).
  • This consists of a stationary Global Positioning System (GPS) 16c, which in addition to the appropriate location editing traffic area 2 is installed and also is needed for the Profilabtast issued 8.
  • GPS Global Positioning System
  • the milling machine 6 has another on the machine frame 12 arranged GPS system 16b.
  • the measured values of the position-determining device 16b, 16c are supplied to the machine controller 10 and can be displayed there by means of a monitor 20 become.
  • the desired profile data for example, as in FIG. 4, created externally to a computer 22 and then with the help a data carrier reading device 24 of the machine control 10 fed.
  • the desired profile data to be transmitted by radio to the machine control 10.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Road Repair (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Claims (15)

  1. Procédé pour fraiser des surfaces de circulation routière (2) avec une fraise (4) d'une fraiseuse (6), lequel procédé consiste à :
    saisir l'ondulation longitudinale de la surface de circulation routière (2) en mesurant le profil réel avec un dispositif d'analyse de profil (8) déplaçable, en utilisant la coordonnée de hauteur des données de position d'un dispositif de détermination de position (16a, 16c), la coordonnée de hauteur des données de position du dispositif de détermination de position (16a, 16c) étant corrigée à l'aide d'un dispositif de mesure de profondeur par des valeurs de mesure de profondeur relatives entre le dispositif de détermination de position (16a, 16c) et la surface de circulation routière (2) pour élaborer des données de profil réel dans au moins deux dimensions,
    établir les données de profil réel en associant la coordonnée de hauteur mesurée des données de position à des données de position du dispositif de détermination de position (16a, 16c) dans le plan,
    générer des données de profil de consigne à partir des données de profil réel mesurées, les données de profil de consigne étant corrigées quant à l'ondulation longitudinale des surfaces de circulation routière,
    déterminer la position actuelle de la fraiseuse (6), et
    régler la profondeur de fraisage de la fraise (4) en fonction de la différence entre les données de profil réel mesurées et les données de profil de consigne,
    caractérisé en ce que
       la coordonnée de hauteur des données de profil réel ainsi que les données de position du dispositif de détermination de position (16a, 16c) sont déterminées dans un système de coordonnées absolu,
       les données de profil de consigne sont déterminées dans le même système de coordonnées absolu.
  2. Procédé selon la revendication 1, caractérisé en ce que la fraiseuse est orientable, l'orientation et/ou l'inclinaison transversale de la fraiseuse réglable en hauteur (6) étant commandées en fonction des données de profil de consigne et des données de position actuelles.
  3. Procédé selon la revendication 1 ou 2, caractérisé par la mesure du profil réel de la surface de circulation routière (2) dans un procédé en ligne à l'aide d'un dispositif d'analyse de profil (8) se déplaçant en avant de la fraiseuse (6).
  4. Procédé selon l'une des revendications 1 à 3, caractérisé en ce que, après le traitement de la surface de circulation routière (2), le profil réel est de nouveau mesuré et les données de profil réel sont mémorisées conjointement avec les données de position associées pour la documentation.
  5. Procédé selon l'une des revendications 1 à 4, caractérisé en ce que la position de la fraiseuse est déterminée sous la forme de coordonnées d'engin dans l'espace (x, y, z) ou dans le plan (x, y) au moyen d'une station de poursuite automatique à laser.
  6. Procédé selon l'une des revendications 1 à 4, caractérisé en ce que la position de la fraiseuse est déterminée sous la forme de coordonnées d'engin dans l'espace (x, y, z) ou dans le plan (x, y) au moyen d'un système DGPS assisté.
  7. Procédé selon l'une des revendications 1 à 6, caractérisé en ce que la commande d'engin (10) utilise la surface de circulation routière, un fil conducteur ou un plan artificiel déployé avec lumière laser comme plan de référence pour la régulation de la profondeur de fraisage.
  8. Procédé selon l'une des revendications 1 à 7, caractérisé en ce que les données de profil de consigne sont transmises à l'aide de transmetteurs de données ou par ondes radioélectriques aux commandes d'engin (10).
  9. Procédé selon la revendication 1, caractérisé par
    l'enregistrement du profil réel en parcourant une première portion de la surface de circulation routière (2) dont la longueur est supérieure à la plus grande longueur d'une ondulation longitudinale de la surface de circulation routière (2) qui reste à compenser,
    la génération des données de profil de consigne à partir d'un ensemble initial de données de base qui contient les données de profil réel de la première portion de la surface de circulation routière (2),
    le fraisage de la première portion de la surface de circulation routière (2) avec une régulation de la profondeur de fraisage en se fondant sur les données de profil de consigne, générées à partir de l'ensemble initial de données de base, de la première portion,
    l'actualisation en continu de l'ensemble de données de base se rapportant à une longueur de base prédéterminée de la surface de circulation routière (2) après le fraisage de la première portion conformément à l'avancement du travail restant en actualisant par pas les données de profil réel, et
    l'interrogation d'autres portions de la surface de circulation routière (2) en fonction de données de profil de consigne actualisées en continu en se fondant sur l'ensemble de données de base actualisé en permanence.
  10. Procédé selon la revendication 9, caractérisé en ce que l'ensemble de données de base contient les données de profil réel d'une portion d'environ 50 à 300 mètres, de préférence d'environ 100 à 200 m de longueur.
  11. Procédé selon l'une des revendications 9 à 10, caractérisé par l'enregistrement du profil réel de la surface de circulation routière (2) dans la première portion avec un dispositif d'analyse de profil (8) séparé.
  12. Procédé selon l'une des revendications 9 à 10, caractérisé par l'enregistrement du profil réel de la surface de circulation routière (2) dans la première portion par la fraiseuse (6) sans engagement de la fraise (4).
  13. Procédé selon la revendication 12, caractérisé par l'enregistrement en continu du profil réel de la surface de circulation routière (2) après la première portion avec un dispositif d'analyse de profil (8) placé dans la région en avant de la fraiseuse (6).
  14. Procédé selon l'une des revendications 9 à 13, caractérisé en ce que la longueur de base, saisie par l'ensemble de données de base, de la surface de circulation routière (2) peut être modifiée pour le calcul des données de profil de consigne pendant la poursuite du travail.
  15. Procédé selon la revendication 11, caractérisé en ce que le dispositif d'analyse de profil (8), déplaçable séparément, analyse le profil réel en avant de la fraiseuse à une distance présélectionnable de la fraiseuse (6) et en ce que les données de profil de consigne générées en continu sont générées à partir d'un ensemble de données de base qui se rapporte en partie à une portion, en avant de la fraiseuse (6), de la surface de circulation routière et en partie à une portion déjà parcourue par la fraiseuse (6).
EP98959818A 1997-12-19 1998-10-31 Procédé pour friser des surfaces de circulation routière Expired - Lifetime EP0964958B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19756676 1997-12-19
DE19756676A DE19756676C1 (de) 1997-12-19 1997-12-19 Verfahren und Vorrichtung zum Abfräsen von Verkehrsflächen
PCT/EP1998/006899 WO1999032726A1 (fr) 1997-12-19 1998-10-31 Procede et dispositif pour fraiser des surfaces de circulation routiere

Publications (2)

Publication Number Publication Date
EP0964958A1 EP0964958A1 (fr) 1999-12-22
EP0964958B1 true EP0964958B1 (fr) 2005-12-28

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EP98959818A Expired - Lifetime EP0964958B1 (fr) 1997-12-19 1998-10-31 Procédé pour friser des surfaces de circulation routière

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US (1) US6371566B1 (fr)
EP (1) EP0964958B1 (fr)
JP (1) JP2001512543A (fr)
DE (2) DE19756676C1 (fr)
WO (1) WO1999032726A1 (fr)

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WO2023151729A1 (fr) 2022-02-09 2023-08-17 Exact Control System a.s. Procédé et dispositif de fraisage de la surface d'une zone de circulation dans au moins deux couches

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US6371566B1 (en) 2002-04-16
EP0964958A1 (fr) 1999-12-22
WO1999032726A1 (fr) 1999-07-01
DE59813317D1 (de) 2006-02-02
JP2001512543A (ja) 2001-08-21
DE19756676C1 (de) 1999-06-02

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