EP1672122A1 - Procédé et appareil pour contrôler une machine de construction de chaussée - Google Patents

Procédé et appareil pour contrôler une machine de construction de chaussée Download PDF

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Publication number
EP1672122A1
EP1672122A1 EP04029963A EP04029963A EP1672122A1 EP 1672122 A1 EP1672122 A1 EP 1672122A1 EP 04029963 A EP04029963 A EP 04029963A EP 04029963 A EP04029963 A EP 04029963A EP 1672122 A1 EP1672122 A1 EP 1672122A1
Authority
EP
European Patent Office
Prior art keywords
height
working part
working
position element
base surface
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.)
Withdrawn
Application number
EP04029963A
Other languages
German (de)
English (en)
Inventor
Andreas Buehlmann
Peter A. Dr. Stegmaier
Volker Kuch
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Leica Geosystems AG
Original Assignee
Leica Geosystems AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Leica Geosystems AG filed Critical Leica Geosystems AG
Priority to EP04029963A priority Critical patent/EP1672122A1/fr
Priority to US11/721,976 priority patent/US7643923B2/en
Priority to DE502005007537T priority patent/DE502005007537D1/de
Priority to PCT/EP2005/056932 priority patent/WO2006064062A1/fr
Priority to EP05816965A priority patent/EP1825064B1/fr
Priority to CN2005800418524A priority patent/CN101072916B/zh
Priority to JP2007546084A priority patent/JP5390100B2/ja
Priority to CA2591563A priority patent/CA2591563C/fr
Priority to AT05816965T priority patent/ATE434086T1/de
Priority to AU2005315566A priority patent/AU2005315566B2/en
Publication of EP1672122A1 publication Critical patent/EP1672122A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • 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
    • E01C19/006—Devices for guiding or controlling the machines along a predetermined path by laser or ultrasound
    • 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
    • E01C19/48—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ

Definitions

  • the invention relates to a method according to the preamble of claim 1 and a device according to the preamble of claim. 9
  • machines are used for various work steps that travel along a given route and perform a desired processing step.
  • asphalt pavers are used to apply asphalt pavers with a vehicle and a height-adjustable trowel or screed fastened thereto.
  • the asphalt material is distributed by the vehicle along the front edge of the screed.
  • the screed sweeps and smoothes and densifies the asphalt material to provide a continuous asphalt pavement having a desired surface course.
  • a reference is used for vertical positioning. If, as a reference line, a rope or a wire has to be stretched along the road to be paved, this is a great expense. If the base surface on which the asphalt is applied is used as a reference, it must be formed very precisely with great effort.
  • a laser beam is used as a reference, in which case with a sensor attached to the screed bar records the height of the screed relative to the laser and maintains the screed bar at a desired height.
  • DE 100 60 903 describes a prior art in which the position of a reference surface is detected with a touch probe or with three spaced apart in the direction of movement laser measuring heads.
  • it is proposed to arrange at one point above the screed bar three differently aligned laser distance meters which detect the distance to three measurement points one behind the other in the direction of movement.
  • the distance values are each converted into a height and a horizontal distance.
  • a height control signal is generated for the screed or other processing tool.
  • the accuracy of the height determination with the obliquely aligned laser distance meters is reduced by the mounting accuracy and the fact that at least one measuring point is located on the already applied coating.
  • an exactly constant sensor alignment is hardly achievable due to vibrations as well as large temperature and humidity fluctuations.
  • a small unrecognized angle change already leads to a significant error in the height calculated from the measurement assuming the wrong orientation.
  • a method in which a road processing machine with a height-adjustable working part together with at least a transmitter is used.
  • a sensor on the machine receives at least one signal of the at least one transmitter and from the received signal, a height position information is derived, which is used for vertical positioning of the height-adjustable working part.
  • a system of transmitter and sensor is about a GPS system used.
  • the reference surface is run over without processing only for detecting the reference surface layer, which is associated with a double driving effort.
  • a solution is known from EP 1 079 029 A2 in which a GPS system and a tilt-adjustable rotary laser system are used for the three-dimensional control or leveling of a construction machine.
  • the GPS system on the construction machine determines two location coordinates of the construction machine, which are transmitted to the fixed rotation laser system.
  • the current location coordinates are assigned a desired altitude and the rotating laser is aligned to mark the desired altitude for a linear laser receiver of the construction machine.
  • the laser receiver determines the current deviation of the working tool from the desired height. According to this deviation, the altitude of the working tool is adjusted.
  • This solution is very expensive because it includes a GPS system, a complex rotary laser system, a radio link between these systems, a linear laser receiver and at least one controller.
  • there are problems in areas such as under bridges where the satellite signals required by the GPS system can not be received.
  • DE 199 51 297 C1 relates to an automatic longitudinal control of a paver during the installation of a road layer. Solutions are based on tracking a prism mounted on the paver using a laser total station. This station tracks the prism by means of an alignable in all directions optics. The position of the construction machine or screed is calculated from the solid angle of the optics, the distance between the prism and the optics and the position of the total station. For precise height adjustment of the screed, the prism must be arranged as directly above the screed trailing edge as possible. However, there are then steering inaccuracies that negatively affect the course of pavement. To compensate for the effects of steering inaccuracies are slidable parts of the screed proposed transversely to the direction of travel, so that even with an inaccurate track through an optimal lateral displacement of these parts a precise application of the coating is guaranteed.
  • a road processing machine with laterally movable screed parts is mechanically complex. In construction machines without lateral adjustment, the problems resulting from the steering inaccuracy remain.
  • the invention is based on the object to find a simple solution with which a height-adjustable working part of a road processing machine can be precisely positioned in the vertical direction and the steering function of the road processing machine can be improved.
  • the height determination at the prism must be converted into a height at the working part (screed) using at least one value of at least one reference determination.
  • an active positioning element for example a GPS device
  • An active position element should be able to determine its position with the help of other elements whose positions are known. The other elements can again be active or passive elements. If a GPS device is used as the position element, then this should also be able to determine the position in the vertical direction as accurately as possible.
  • a position element in the form of a modified GPS device yet another signal from a Vertikalpositioniersender, for example, as a rotating laser supplied, so that from the satellite signals and the other signal, the spatial position of the position element are determined very accurately in the vertical direction can.
  • an effective height difference between the position element and a point at the working part can be determined for each possible alignment position of this connection. For the determination of the effective height difference, it is most accurate if the inclination of the direct connecting line between the position element and the point at the working part, ie an angle to the vertical or to the horizontal, is determined.
  • connection consists of at least one substantially vertical and one substantially horizontal portion, so the respective inclinations of both sections can be detected. However, if the fixed connection is rotated substantially only about a single horizontal axis, then a single tilt determination is sufficient.
  • the horizontal pivot axis of the working part leading linkage is changed by a height adjustment in height. This allows the working part to float on the warm asphalt material.
  • a height difference between the position element and the working tool must be determined with at least one value derived from a reference determination.
  • the reference determination preferably comprises an inclination determination with which the current orientation of the fixed connection is detected. If necessary, the alignment of the fixed connection can also be determined by means of two distance measurements to the base surface or to a reference height. For this purpose, the distances from two different points of the fixed connection to a reference position are determined.
  • the roadworking machine travels forward on the base surface, two points offset in the direction of travel are skewed over the same area of the base surface. If now the horizontal distance between the two points of the fixed connection is divided by the driving speed, one obtains the time interval which should elapse between a distance measurement at the first and a distance measurement at the second point. This time interval can be used to ensure that the two distance measurements are made on the same reference surface. Alternatively, the position determination with the help of total station and prism can be used.
  • the height difference between position element and working part can be determined.
  • a known height of the position element can be determined exactly the height of the working part or a working edge with the determined height difference.
  • This height determination for the working part can also be carried out if there is no firm connection between the position element and the working part.
  • a second distance sensor is arranged offset to the first sensor in the direction of travel to the rear. This arrangement can also be used without firm connection between the working part and the position element for determining the height of the working part in straight running of the machine. In curves, the position determination can be used.
  • the height adjustment device performs only a parallel displacement of the fixed connection during adjustment, the height difference does not depend on the adjustment height.
  • the height correction is constant and it only needs to be checked that no further correction is needed. Accordingly, the reference determination is to monitor the parallel alignment.
  • the orientation of the roadworking machine or of the underlying base surface can be determined with at least one inclination determination.
  • the measured slope can be used as a reference for correcting altitude. From the position of the position element and this height correction results in the current height of the working part.
  • the position element can be arranged so that the travel path of the roadworking machine can also be optimally monitored can.
  • the positioning element is fastened to a location of the roadworking machine which is as far away as possible from the turning axis.
  • the position element must be as far away from the working part as possible.
  • the positioning element is arranged in the front end region. In an undesirable lateral swinging of the vehicle, the position element is noticeably moved away from the driving line.
  • a correction control can immediately bring the road processing machine back on the desired track. The working part essentially always stays on the desired path.
  • FIG. 1 and 2 show a roadworking machine 2 traveling on a base surface 1.
  • the illustrated machine is a road paver with a vehicle 3 and a working part 4 fastened thereto in a height-adjustable manner in the form of a screed.
  • the asphalt material 5 is distributed by a distributor 6 along the front edge of the working part 4.
  • the working part 4 passes over the asphalt material 5 and smoothes and compacts it to provide a continuous asphalt pavement 7 having a desired surface course.
  • the positioning of the working part 4 at a desired height via a slight pivotal movement of two sides of the machine pivotally mounted supports 8, the pivot bearing 9 are movable as pivot points of hydraulic cylinders as actuators 10 and adjustable in height.
  • the current position and / or points should be determined at points along the route Determined direction of travel, determines the working height of the working part and the determined position or direction of travel with a desired position or desired direction and the working height are compared with a desired height. As soon as the position or direction of travel deviates from the desired position or desired direction at the corresponding location, a control signal should be provided with which the deviation can be compensated by a corresponding control of the roadworking machine 2. If the working height deviates from the desired height, the working part 4 should be raised or lowered by the supports 8 until the desired height is achieved.
  • a position element arranged on the roadworking machine 2 can be tracked with a laser total station 12 when it is equipped with a prism 11.
  • This station 12 tracks the prism 11 by means of an alignable in all directions optics. From the solid angle of the optics, the distance between prism 11 and optics and the position of the total station 12, the position of the prism 11 is calculated. For comparison with a desired route, the positions and / or directions along the desired route must be present as set points for the road-building machine 2 at the location where the prism 11 is located. In order to ensure a desired processing path in the working part, the curve behavior of the road-working machine 2 should be taken into account in the determination of the desired path for the prism 11, so that the working part 4 moves along the desired path. The direction of travel can be determined from successive positions.
  • the permissible tolerances for the working height are smaller than for the lateral alignment of the working part.
  • the current height of the working part 4 must be recorded extremely accurately.
  • the working part 4 is lower relative to the height of the prism 11 than in the case of a flat base surface 1. Lifting and lowering movements of the carrier 8 and also variable inclinations of the base surface 1 change the height difference between the prism and the working part 4 ,
  • At least one value of at least one reference determination should be used for the calculation of the working height in the working part.
  • the laser total station 12 is provided with an evaluation and control device (not shown) for evaluating the position information of the position element, here of the prism 11 - and connected to provide control signals for controlling the roadworking machine 2 and for controlling the height adjustment of the working part 4. Also, the at least one reference sensor for performing at least one reference determination is connected to the control device. At least a part of the connections are designed as radio links.
  • the control device is preferably arranged on the roadworking machine 2, but could possibly also be arranged at the laser total station 12. If the control device is arranged on the machine 2, the connections to sensors and actuators can be formed as line connections.
  • FIG. 1 it is proposed in the context of a first embodiment to form a fixed connection 13 from one of the carriers 8 to the prism 11.
  • This connection 13 comprises, for example, a substantially horizontally extending connecting part 13a and a vertically connected connecting part 13b connected thereto.
  • an effective height difference between the prism 11 and a point at the working part 4 can be determined for each possible alignment position of this connection 13.
  • the effective height difference it is most accurate if the inclination of the direct connecting line between the prism and the point at the working part 4, ie an angle to the vertical or to the horizontal, is determined.
  • a tilt sensor 14 aligned in the direction of the direct connection line to a part of the fixed connection 13 are attached.
  • the tilt sensor 14 is attached to the horizontally extending connecting part 13a.
  • a second tilt sensor aligned perpendicular to the first tilt sensor, is also arranged on the fixed connection, so that the inclination of the fixed connection can be detected in two different directions.
  • a transversely mounted to the direction of inclination sensor can thus provide additional information.
  • At least one first distance measurement to the base surface 1 and temporally offset at the working part 4 with a second distance measuring device 16 at least one second distance measurement to the base surface 1 is performed in a second embodiment for reference determination at the prism 11 with a first distance measuring device 15.
  • the time offset between measurements belonging together should be chosen based on the driving speed so that the two measurements are made essentially at the same reference point.
  • the prism is connected to the roadworking machine 2 via a support bar 13c.
  • the prism 11 and the first distance measuring device 15 there is a fixed distance in the vertical direction and a substantially vanishing distance in the horizontal direction. Analog must be given between the working part 4 and the second distance measuring device 16 in the vertical direction a fixed and in the horizontal direction the smallest possible distance. Because asphalt material 5 is distributed by a distributor 6 in the working part 4, the second distance measurement preferably has to be made directly in front of the distributor 6 be carried out so that the base surface is still exposed. If the distance measurement is made laterally next to the discharged asphalt, it can also be done directly next to the working part. It goes without saying that the arrangement of the second distance measuring device 16 can be adapted to the respective working part 4.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Road Paving Machines (AREA)
  • Road Repair (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
EP04029963A 2004-12-17 2004-12-17 Procédé et appareil pour contrôler une machine de construction de chaussée Withdrawn EP1672122A1 (fr)

Priority Applications (10)

Application Number Priority Date Filing Date Title
EP04029963A EP1672122A1 (fr) 2004-12-17 2004-12-17 Procédé et appareil pour contrôler une machine de construction de chaussée
US11/721,976 US7643923B2 (en) 2004-12-17 2005-12-19 Method and device for monitoring a road processing machine
DE502005007537T DE502005007537D1 (de) 2004-12-17 2005-12-19 Verfahren und vorrichtung zum kontrollieren einer strassenbearbeitungsmaschine
PCT/EP2005/056932 WO2006064062A1 (fr) 2004-12-17 2005-12-19 Procede et systeme pour controler un engin de travaux routiers
EP05816965A EP1825064B1 (fr) 2004-12-17 2005-12-19 Procede et systeme pour controler un engin de travaux routiers
CN2005800418524A CN101072916B (zh) 2004-12-17 2005-12-19 用于监控道路处理机的方法和装置
JP2007546084A JP5390100B2 (ja) 2004-12-17 2005-12-19 道路舗装機械の監視方法及びその監視装置
CA2591563A CA2591563C (fr) 2004-12-17 2005-12-19 Procede et systeme pour controler un engin de travaux routiers
AT05816965T ATE434086T1 (de) 2004-12-17 2005-12-19 Verfahren und vorrichtung zum kontrollieren einer strassenbearbeitungsmaschine
AU2005315566A AU2005315566B2 (en) 2004-12-17 2005-12-19 Method and device for monitoring a road processing machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP04029963A EP1672122A1 (fr) 2004-12-17 2004-12-17 Procédé et appareil pour contrôler une machine de construction de chaussée

Publications (1)

Publication Number Publication Date
EP1672122A1 true EP1672122A1 (fr) 2006-06-21

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ID=34927826

Family Applications (2)

Application Number Title Priority Date Filing Date
EP04029963A Withdrawn EP1672122A1 (fr) 2004-12-17 2004-12-17 Procédé et appareil pour contrôler une machine de construction de chaussée
EP05816965A Active EP1825064B1 (fr) 2004-12-17 2005-12-19 Procede et systeme pour controler un engin de travaux routiers

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP05816965A Active EP1825064B1 (fr) 2004-12-17 2005-12-19 Procede et systeme pour controler un engin de travaux routiers

Country Status (9)

Country Link
US (1) US7643923B2 (fr)
EP (2) EP1672122A1 (fr)
JP (1) JP5390100B2 (fr)
CN (1) CN101072916B (fr)
AT (1) ATE434086T1 (fr)
AU (1) AU2005315566B2 (fr)
CA (1) CA2591563C (fr)
DE (1) DE502005007537D1 (fr)
WO (1) WO2006064062A1 (fr)

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CN102261032A (zh) * 2011-05-04 2011-11-30 三一重工股份有限公司 一种摊铺机及其找平控制装置
CN104099854A (zh) * 2014-07-31 2014-10-15 中联重科股份有限公司 找平仪调节装置及其调节方法、摊铺机
AT517924A1 (de) * 2015-11-10 2017-05-15 Ing Günther Lehmann Dipl Markiersystem
CN109750580A (zh) * 2017-11-03 2019-05-14 宝马格有限公司 通过压路机测量铺筑层厚度
CH717191A1 (de) * 2020-03-04 2021-09-15 Kibag Bauleistungen Ag Vorrichtung zum Einbau von Gussasphalt auf einem Fahrbahnuntergrund und Verfahren zur Fertigung einer Asphaltfahrbahn.
CN114293438A (zh) * 2020-10-08 2022-04-08 约瑟夫福格勒公司 路面整修机以及用于找平熨平板的方法

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US9869286B1 (en) * 2014-11-18 2018-01-16 Carl M. Clark Vehicle rollover safety device
US10539084B2 (en) 2014-11-18 2020-01-21 Carl M. Clark Vehicle rollover safety device utilizing a circular arc level
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WO2017010541A1 (fr) * 2015-07-15 2017-01-19 住友建機株式会社 Engin de voirie
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CN106968155A (zh) * 2017-05-23 2017-07-21 山东奥邦机械设备制造有限公司 一种沥青摊铺机
JP7022601B2 (ja) * 2018-01-23 2022-02-18 株式会社トプコン 測量装置および測量方法
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DE102018119962A1 (de) 2018-08-16 2020-02-20 Wirtgen Gmbh Selbstfahrende Baumaschine und Verfahren zum Steuern einer selbstfahrenden Baumaschine
CN109186544A (zh) * 2018-11-09 2019-01-11 湖南联智桥隧技术有限公司 一种临空界面高程测量的方法及装置
EP3660598B1 (fr) * 2018-11-30 2021-10-20 MOBA Mobile Automation AG Application automatique de spécification locale
CN110004800A (zh) * 2019-04-10 2019-07-12 安徽开源路桥有限责任公司 基于3d数字控制系统的沥青混凝土路面施工设备及施工方法
DE102019118059A1 (de) 2019-07-04 2021-01-07 Wirtgen Gmbh Selbstfahrende Baumaschine und Verfahren zum Steuern einer selbstfahrenden Baumaschine
CN110568844B (zh) * 2019-08-23 2022-03-29 东南大学 无人驾驶压路机直线行驶激光辅助定位系统
DE102019135225B4 (de) 2019-12-19 2023-07-20 Wirtgen Gmbh Verfahren zum Abfräsen von Verkehrsflächen mit einer Fräswalze, sowie Fräsmaschine zur Durchführung des Verfahrens zum Abfräsen von Verkehrsflächen
EP4083322A1 (fr) 2021-04-27 2022-11-02 Leica Geosystems AG Système et procédé de commande d'un processus de construction routière
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AU2005315566B2 (en) 2010-07-01
CA2591563A1 (fr) 2006-06-22
CN101072916A (zh) 2007-11-14
CA2591563C (fr) 2013-08-13
EP1825064B1 (fr) 2009-06-17
US20080208417A1 (en) 2008-08-28
DE502005007537D1 (de) 2009-07-30
CN101072916B (zh) 2012-05-09
AU2005315566A1 (en) 2006-06-22
EP1825064A1 (fr) 2007-08-29
US7643923B2 (en) 2010-01-05
JP5390100B2 (ja) 2014-01-15
WO2006064062A1 (fr) 2006-06-22
ATE434086T1 (de) 2009-07-15
JP2008524473A (ja) 2008-07-10

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