EP1825064A1 - Method and device for monitoring a road processing machine - Google Patents

Method and device for monitoring a road processing machine

Info

Publication number
EP1825064A1
EP1825064A1 EP05816965A EP05816965A EP1825064A1 EP 1825064 A1 EP1825064 A1 EP 1825064A1 EP 05816965 A EP05816965 A EP 05816965A EP 05816965 A EP05816965 A EP 05816965A EP 1825064 A1 EP1825064 A1 EP 1825064A1
Authority
EP
European Patent Office
Prior art keywords
height
working part
processing machine
working
road processing
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.)
Granted
Application number
EP05816965A
Other languages
German (de)
French (fr)
Other versions
EP1825064B1 (en
Inventor
Andreas Buehlmann
Peter A. 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 EP05816965A priority Critical patent/EP1825064B1/en
Publication of EP1825064A1 publication Critical patent/EP1825064A1/en
Application granted granted Critical
Publication of EP1825064B1 publication Critical patent/EP1825064B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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 for controlling the travel of a road surface moving machine according to the preamble of claim 1, a road processing machine according to the preamble of claim 11 and a system for carrying out a method for controlling the travel of a road surface moving machine on a base surface and the working height of a height-adjustable working part according to claim 17.
  • 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.
  • the screed bar can be positioned vertically so that a desired surface profile is achieved as accurately as possible.
  • a Reference 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 the height of the screed relative to the laser is detected with a sensor attached to the screed bar and the screed bar is kept 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 change in angle already leads to a considerable error in the height calculated from the measurement assuming the wrong orientation.
  • a method is known in which a road processing machine with a height-adjustable working part is used together with at least one transmitter.
  • 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 is a GPS system, a complex rotation 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.
  • the invention is based on the object of finding 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 prism arranged on the roadworking machine horizontally away from the working part in front of the center of gravity of the roadworking machine and thus the steering function can be improved without causing the height adjustment of the working part is deteriorated.
  • 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.
  • Position item such as a GPS device, can be used.
  • An active position element should be connected to the
  • the other elements may be active or passive Act 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 further 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.
  • 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. From the two distances to a reference surface, the height difference between position element and working part can be determined. With 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 position element and a first distance sensor for determining a distance to the base surface are arranged in front of the road processing machine in the direction of travel.
  • 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.
  • Slope determination the orientation of the road processing machine or the underlying Base surface to be determined.
  • 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 path of the Road processing machine can be optimally monitored.
  • the positioning element is fastened to a location of the roadworking machine which is as far away as possible from the turning axis.
  • the positioning of the position element is selected with regard to an optimized signal utilization with respect to the determination of the travel path of the roadworking machine.
  • the position element in the direction of travel before the machine center of gravity can be arranged laterally on the left or right edge of the machine.
  • Particularly favorable is the positioning of the position element at the front end of the road processing machine in the direction of travel as far as possible left or right - and thus as far forward and close to the chassis. Because roadworking machines usually rotate with a height-adjustable working part while driving a curve such that the working part does not swing or at least only slightly swings out, the position element should be as far away from the working part as possible.
  • the positioning element When the working part is arranged in the rear end region of the machine, 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.
  • the position element is the generic precise control of the travel of the road processing machine at a position at least - in the direction of travel of the machine - in front of the machine center of gravity, in particular as far as possible in front of the machine center of gravity attached.
  • the attachment of the position element or the prism as far forward as possible also simplifies the design of the control algorithm, which is simpler in so far as the control of the direction of travel can be adjusted directly to the horizontal error and the longitudinal axis of the road processing machine need not be known. Their additional knowledge naturally improves the regulation.
  • Fig. 1 is a schematic side view of a road processing machine with a tilt sensor and Fig. 2 is a schematic side view of a road processing machine with two distance measuring devices
  • 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 disposed at the rear end of the road working machine 2 sweeps and smoothes the asphalt material 5 and compacts it to provide a continuous asphalt pavement 7 having a desired surface course.
  • the pivot bearing 9 are movable as pivot points of hydraulic cylinders as actuators 10 and adjustable in height.
  • the current position and / or direction is determined at points along the track, 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 with a Nominal height to be compared.
  • 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 along the desired path emotional. The direction of travel can be determined from successive positions.
  • the prism 11 is as far as possible placed in front - in the embodiment, for example
  • 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. Between the positional height of the prism 11 and the working height of the working part 4 there is no fixed relationship, because they are arranged offset in the longitudinal direction of the machine. When the base surface 1 is inclined in the direction of travel, 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 connected to an evaluation and control device, not shown, for evaluating the position information of the position element - here the prism 11 - and for providing control signals for controlling the
  • Road processing machine 2 and connected to control the height adjustment of the working part 4.
  • 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.
  • This connection 13 comprises, for example, a substantially horizontally extending connecting part 13a and a vertically connected connecting part 13b connected thereto. If the prism 11 is connected via a fixed connection with the working part 4, then for each possible alignment position of this connection 13 can be an effective Height difference between the prism 11 and a point at the working part 4 can be determined. For the determination of 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. For this purpose, 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 with a second distance measuring device 16 at least one second distance measurement to the base surface 1 are 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.
  • 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, preferably the second distance measurement must be performed directly in front of the distributor 6, 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.
  • Working part 4 at least a second distance measurement to the base surface 1 can be advantageously used.

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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)

Abstract

The aim of the invention is to monitor the travel way of a road processing machine (2) that drives on a basic surface (1) as well as the working height of a working part (4) which is disposed thereon in a vertically adjustable manner. Said aim is achieved by detecting the three-dimensional position of a positional element (11), determining a direction of travel from at least two three-dimensional positions, and determining the working height of the working part (4). The determined direction of travel is compared to a setpoint direction while the working height is compared to a setpoint height. The positional element (11) is placed in a position that is at a horizontal distance from the working part (4). The vertical component of the three-dimensional position of the positional element (11) is converted into the working height of the working part (4) with the aid of at least one value of at least one reference determination. At least one inclination sensor (14) is used for determining the reference if the positional element (11) and the working part (4) are interconnected in a fixed fashion. Additionally, at least one first distance from the positional element (11) to the basic surface (1) can be measured while at least one second distance from the working part (4) to the basic surface can be measured in a delayed manner, the delay being selected based on the driving speed or the determination of the position in such a way that the two measurements are taken substantially at the same reference point. This simple solution allows the direction of travel and the working height of the working part (4) to be accurately monitored.

Description

Verfahren und Vorrichtung zum Kontrollieren einer StrassenbearbeitungsmaschineMethod and device for controlling a road-building machine
Die Erfindung bezieht sich auf ein Verfahren zum Kontrollieren des Fahrweges einer auf einer Basisoberfläche fahrenden Strassenbearbeitungsmaschine nach dem Oberbegriff des Anspruches 1, eine Strassenbearbeitungsmaschine nach dem Oberbegriff des Anspruches 11 und ein System zur Durchführung eines Verfahrens zum Kontrollieren des Fahrweges einer auf einer Basisoberfläche fahrenden Strassenbearbeitungsmaschine und der Arbeitshöhe eines daran höhenverstellbar angeordneten Arbeitsteiles nach Anspruch 17.The invention relates to a method for controlling the travel of a road surface moving machine according to the preamble of claim 1, a road processing machine according to the preamble of claim 11 and a system for carrying out a method for controlling the travel of a road surface moving machine on a base surface and the working height of a height-adjustable working part according to claim 17.
Beim Erstellen und Reparieren von Strassen und Plätzen werden für verschiedene Arbeitsschritte Maschinen eingesetzt, die entlang eines vorgegebenen Fahrweges fahren und dabei einen gewünschten Bearbeitungsschritt durchführen. Beispielsweise werden zum Auftragen von Asphalt-Belägen Strassenfertiger mit einem Fahrzeug und einem höhenverstellbar daran befestigten Glättbalken bzw. einer Bohle verwendet. Das Asphaltmaterial wird vom Fahrzeug entlang des vorderen Randes des Glättbalkens verteilt. Wenn die Maschine auf dem vorbereiteten Strassenbett vorrückt, streicht der Glättbalken über das Asphaltmaterial und glättet sowie verdichtet dieses, um einen kontinuierlichen Asphaltbelag mit einem gewünschten Oberflächenverlauf bereitzustellen.When creating and repairing streets and squares, machines are used for various work steps that travel along a given route and perform a desired processing step. For example, 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. As the machine advances on the prepared road bed, the screed sweeps and smoothes and densifies the asphalt material to provide a continuous asphalt pavement having a desired surface course.
Aus dem Stande der Technik sind verschiedene Lösungen bekannt mit denen der Glättbalken vertikal so positioniert werden kann, dass ein gewünschter Oberflächenverlauf möglichst genau erzielt wird. Zur vertikalen Positionierung wird beispielsweise eine Referenz verwendet. Wenn als Referenzlinie etwa ein Seil oder ein Draht entlang der zu asphaltierenden Strasse gespannt werden muss, so ist dies mit einem grossen Aufwand verbunden. Wenn die Basisoberfläche, auf welche der Asphalt aufgetragen wird, als Referenz verwendet wird, so muss diese mit grossem Aufwand sehr genau ausgebildet werden. Gemäss einer weiteren Lösung wird ein Laserstrahl als Referenz verwendet, wobei dann mit einem am Glättbalken befestigten Sensor die Höhe des Glättbalkens relativ zum Laser erfasst und der Glättbalken auf einer gewünschten Höhe gehalten wird.Various solutions are known from the prior art with which the screed bar can be positioned vertically so that a desired surface profile is achieved as accurately as possible. For vertical positioning, for example, a Reference used. 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. According to another solution, a laser beam is used as a reference, in which case the height of the screed relative to the laser is detected with a sensor attached to the screed bar and the screed bar is kept at a desired height.
Die DE 100 60 903 beschreibt einen Stand der Technik bei dem die Lage einer Referenzfläche mit einem Tastski oder mit drei in Bewegungsrichtung voneinander beabstandeten Lasermessköpfen erfasst wird. Um eine aufwändige Konstruktion zum Halten der Lasersensoren zu vermeiden, wird vorgeschlagen an einer Stelle über dem Glättbalken drei verschieden ausgerichtete Laser-Distanzmesser anzuordnen, welche die Distanz zu drei in Bewegungsrichtung hintereinander liegenden Messpunkten erfassen. Die Distanzwerte werden je in eine Höhe und einen horizontalen Abstand umgerechnet. Abhängig von den erfassten Höhen und von der Sollhöhe wird ein Höhensteuersignal für den Glättbalken oder ein anderes Bearbeitungswerkzeug erzeugt.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. In order to avoid a complicated construction for holding the laser sensors, 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. Depending on the detected heights and height, a height control signal is generated for the screed or other processing tool.
Die Genauigkeit der Höhenbestimmung mit den schräg ausgerichteten Laser-Distanzmessern wird durch die Montagegenauigkeit und durch die Tatsache, dass mindestens ein Messpunkt auf dem bereits aufgebrachten Belag liegt, reduziert. Bei Strassenbaumaschinen ist eine exakt gleich bleibende Sensorausrichtung aufgrund von Vibrationen sowie grossen Temperatur- und Feuchtigkeitsschwankungen kaum erzielbar. Bei schräg nach vorne gerichteten Distanzmessern führt eine kleine unerkannte Winkeländerung bereits zu einem erheblichen Fehler in der aus der Messung unter Annahme der falschen Ausrichtung berechneten Höhe.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. In road construction machines, an exactly constant sensor alignment is hardly achievable due to vibrations as well as large temperature and humidity fluctuations. At an angle to Front-facing distance meters, a small unrecognized change in angle already leads to a considerable error in the height calculated from the measurement assuming the wrong orientation.
Aus der US 5,549,412 ist ein Verfahren bekannt, bei dem eine Strassenbearbeitungsmaschine mit einem höhenverstellbaren Arbeitsteil zusammen mit mindestens einem Sender eingesetzt wird. Dabei empfängt ein Sensor auf der Maschine mindestens ein Signal des mindestens einen Senders und aus dem empfangenen Signal wird eine Höhen-Positionsinformation abgeleitet, die zur vertikalen Positionierung des höhenverstellbaren Arbeitsteiles verwendet wird. Als System aus Sender und Sensor wird etwa ein GPS-System verwendet. Um eine gewünschte Belagsoberfläche über einer Referenzfläche zu erzielen, wird die Referenzfläche ohne Bearbeitung lediglich zum Erfassen der Referenzflächenlage überfahren, was mit einem doppelten Fahraufwand verbunden ist.From US 5,549,412 a method is known in which a road processing machine with a height-adjustable working part is used together with at least one transmitter. In this case, 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. As a system of transmitter and sensor is about a GPS system used. In order to achieve a desired pad surface over a reference surface, the reference surface is run over without processing only for detecting the reference surface layer, which is associated with a double driving effort.
Aus der EP 1 079 029 A2 ist eine Lösung bekannt bei der zum dreidimensionalen Steuern bzw. Nivellieren einer Baumaschine ein GPS-System und ein neigungsverstellbares Rotationslasersystem verwendet werden. Das GPS-System auf der Baumaschine ermittelt zwei Ortskoordinaten der Baumaschine, welche an das ortsfeste Rotationslasersystem übermittelt werden. Den aktuellen Ortskoordinaten wird eine Sollhöhe zugeordnet und der Rotationslaser wird so ausgerichtet, dass er bei einem linearen Laserempfänger der Baumaschine die Sollhöhe markiert. Der Laserempfänger ermittelt die aktuelle Abweichung des Arbeitswerkzeuges von der Sollhöhe. Entsprechend dieser Abweichung wird die Höhenlage des Arbeitswerkzeuges verstellt. Diese Lösung ist sehr aufwendig, weil sie ein GPS-System, ein komplexes Rotationslasersystem, eine Funkverbindung zwischen diesen Systemen, einen linearen Laserempfänger und mindestens eine Steuerung umfasst. Zudem ergeben sich Probleme in Bereichen, beispielsweise unter Brücken, wo die vom GPS-System benötigten Sattelitensignale nicht empfangen werden können.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 is a GPS system, a complex rotation laser system, a radio link between these systems, a linear laser receiver and at least one controller. In addition, there are problems in areas such as under bridges where the satellite signals required by the GPS system can not be received.
Weitere Möglichkeiten zur Höhenbestimmung des Arbeitsteils können aus der DE 196 47 150 entnommen werden, in der eine Vorrichtung und ein Verfahren zum Steuern der Einbauhöhe eines Strassenfertigers beschrieben werden. Die Erfassung der Höhe der Bohlenkante erfolgt hier durch Potentiometersensoren, Ultraschallsensoren oder Laserempfänger.Further possibilities for determining the height of the working part can be found in DE 196 47 150, in which an apparatus and a method for controlling the installation height of a paver are described. The height of the screed edge is detected here by potentiometer sensors, ultrasonic sensors or laser receivers.
Die DE 199 51 297 Cl bezieht sich auf eine automatische Längssteuerung eines Strassenfertigers während des Einbauens einer Strassenschicht. Es wird von Lösungen ausgegangen, bei denen ein am Strassenfertiger angeordnetes Prisma mit einer Laser-Totalstation verfolgt wird. Diese Station verfolgt das Prisma mittels einer in alle Richtungen ausrichtbaren Optik. Aus dem Raumwinkel der Optik, der Distanz zwischen Prisma und Optik und der Position der Totalstation wird die Position der Baumaschine bzw. der Bohle berechnet. Für die genaue Höhenregulierung der Bohle muss das Prisma möglichst direkt über der Bohlenhinterkante angeordnet werden. Es ergeben sich dann aber Lenkungsungenauigkeiten, die den Belagsverlauf negativ beeinflussen. Um die Auswirkungen der Lenkungsungenauigkeiten zu kompensieren werden quer zur Fahrtrichtung verschiebbare Teile der Bohle vorgeschlagen, so dass auch bei einem ungenauen Fahrweg durch eine optimale seitliche Verschiebung dieser Teile ein präzises Auftragen des Belages gewährleistet ist. Eine Strassenbearbeitungsmaschine mit seitlich verschiebbaren Bohlenteilen ist mechanisch aufwändig gebaut. Bei Baumaschinen ohne seitliche Verstellmöglichkeiten bleiben die von der Lenkungsungenauigkeit hervorgehenden Probleme bestehen.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 route 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.
Der Erfindung liegt nun die Aufgabe zugrunde, eine einfache Lösung zu finden, mit welcher ein höhenverstellbares Arbeitsteil einer Strassenbearbei- tungsmaschine in vertikaler Richtung präzise positioniert und die Lenkfunktion der Strassenbearbeitungsmaschine verbessert werden kann.The invention is based on the object of finding 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.
Diese Aufgabe wird durch die Merkmale des Anspruches 1, 11 und 17 gelöst. Die abhängigen Ansprüche beschreiben alternative bzw. vorteilhafte Ausführungsvarianten.This object is solved by the features of claims 1, 11 and 17. The dependent claims describe alternative or advantageous embodiments.
Bei der Lösung der Aufgabe wurde erkannt, dass das Prisma an der Strassenbearbeitungsmaschine horizontal vom Arbeitsteil entfernt vor dem Schwerpunkt der Strassenbearbeitungsmaschine angeordnet und damit die Lenkfunktion verbessert werden kann, ohne dass dabei die Höhenregulierung des Arbeitsteiles verschlechtert wird. Dazu muss aber die Höhenbestimmung beim Prisma unter Verwendung mindestens eines Wertes mindestens einer Referenzbestimmung in eine Höhe beim Arbeitsteil (Bohle) umgerechnet werden.In the solution of the problem has been recognized that the prism arranged on the roadworking machine horizontally away from the working part in front of the center of gravity of the roadworking machine and thus the steering function can be improved without causing the height adjustment of the working part is deteriorated. For this, however, 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.
Es versteht sich von selbst, dass anstelle einer Laser- Totalstation und eines passiven Prismas auch ein aktivesIt goes without saying that instead of a laser total station and a passive prism also an active
Positionselement, beispielsweise ein GPS-Gerät, verwendet werden kann. Ein aktives Positionselement soll mit derPosition item, such as a GPS device, can be used. An active position element should be connected to the
Hilfe von anderen Elementen, deren Positionen bekannt sind, seine Position ermitteln können. Bei den anderen Elementen kann es sich wiederum um aktive oder passive Elemente handeln. Wenn als Positionselement ein GPS-Gerät verwendet wird, so sollte dieses auch die Position in vertikaler Richtung möglichst genau bestimmen können. Gegebenenfalls wird einem Positionselement in der Form eines modifizierten GPS-Gerätes noch ein weiteres Signal von einem Vertikalpositioniersender, z.B. ausgeführt als rotierender Laser, zugeführt, so dass aus den Satellitensignalen und dem weiteren Signal die räumliche Lage des Positionselementes auch in vertikaler Richtung sehr genau bestimmt werden kann.Help from other items whose positions are known to be able to determine its position. The other elements may be active or passive Act 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. Optionally, 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 further signal, the spatial position of the position element are determined very accurately in the vertical direction can.
Hierfür verwendbare Verfahren und Vorrichtungen zur Positionierung bzw. Höhenmessung mit Laserempfang werden beispielsweise in der US 4,807,131 beschrieben.For this purpose, suitable methods and devices for positioning or height measurement with laser reception are described for example in US 4,807,131.
Wenn das Positionselement über eine feste Verbindung mit dem Arbeitsteil verbunden ist, so kann für jede mögliche Ausrichtungslage dieser Verbindung ein effektiver Höhenunterschied zwischen dem Positionselement und einem Punkt beim Arbeitsteil ermittelt werden. Für die Ermittlung des effektiven Höhenunterschiedes ist es am genauesten, wenn die Neigung der direkten Verbindungslinie zwischen dem Positionselement und dem Punkt beim Arbeitsteil, also ein Winkel zur Vertikalen oder zur Horizontalen, ermittelt wird.If the position element is connected to the working part via a fixed connection, 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.
Wenn die Verbindung aus mindestens einem im Wesentlichen vertikal und einem im Wesentlichen horizontal verlaufenden Teilstück besteht, so können auch die jeweiligen Neigungen beider Teilstücke erfasst werden. Wenn die feste Verbindung aber im Wesentlichen nur um eine einzige horizontale Achse gedreht wird, so genügt eine einzige Neigungsbestimmung. Die horizontale Schwenkachse des zum Arbeitsteil führenden Gestänges wird von einer Höhenverstellvorrichtung in der Höhe verändert. Dies ermöglicht es dem Arbeitsteil, auf dem warmen Asphalt- Material aufzuschwimmen. Um ausgehend von der erfassten Lage des Positionselementes die genaue Lage des Arbeitsteiles zu ermitteln, muss mit mindestens einem aus einer Referenzbestimmung abgeleiteten Wert ein Höhenunterschied zwischen Positionselement und Arbeitswerkzeug bestimmt werden.If the 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. In order to determine the exact position of the working part on the basis of the detected position of the position element, a height difference between the position element and the working tool must be determined with at least one value derived from a reference determination.
Die Referenzbestimmung umfasst vorzugsweise eine Neigungsbestimmung, mit der die aktuelle Ausrichtung der festen Verbindung erfasst wird. Die Ausrichtung der festen Verbindung kann gegebenenfalls auch mittels zweier Abstandsmessungen zur Basisoberfläche bzw. zu einer Referenzhöhe ermittelt werden. Dazu werden die Abstände von zwei verschiedenen Punkten der festen Verbindung zu einer Referenzposition ermittelt.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.
Weil die Strassenbearbeitungsmaschine auf der Basisoberfläche vorwärts fährt, sind zwei Punkte, die in Fahrtrichtung versetzt angeordnet sind, zeitversetzt über dem gleichen Bereich der Basisoberfläche. Wenn nun der horizontale Abstand zwischen den beiden Punkten der festen Verbindung durch die Fahrgeschwindigkeit dividiert wird, so erhält man das Zeitintervall, welches zwischen einer Abstandsmessung beim ersten und einer Abstandsmessung beim zweiten Punkt verstreichen soll. Mit diesem Zeitintervall kann gewährleistet werden, dass die beiden Abstandsmessungen an der gleichen Referenzoberfläche gemacht werden. Alternativ dazu kann auch die Positionsbestimmung mit Hilfe von Totalstation und Prisma herangezogen werden. Aus den beiden Distanzen zu einer Referenzoberfläche kann der Höhenunterschied zwischen Positionselement und Arbeitsteil ermittelt werden. Bei bekannter Höhe des Positionselementes kann mit dem ermittelten Höhenunterschied die Höhenlage des Arbeitsteiles bzw. einer Arbeitskante exakt bestimmt werden. Diese Höhenbestimmung für das Arbeitsteil kann auch durchgeführt werden, wenn keine feste Verbindung zwischen Positionselement und Arbeitsteil vorliegt. Das heisst, dass beispielsweise in Fahrtrichtung vorne an der Strassenbearbeitungsmaschine ein Positionselement und ein erster Distanzsensor zum Bestimmen eines Abstandes zur Basisoberfläche angeordnet sind. Am Arbeitsteil ist ein zweiter Distanzsensor zum ersten Sensor in Fahrtrichtung nach hinten versetzt angeordnet. Diese Anordnung ist auch ohne feste Verbindung zwischen Arbeitsteil und Positionselement zur Höhenbestimmung des Arbeitsteiles bei Geradeauslauf der Maschine einsetzbar. In Kurven kann die Positionsbestimmung herangezogen werden.Because 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. From the two distances to a reference surface, the height difference between position element and working part can be determined. With 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. This means that, for example, a position element and a first distance sensor for determining a distance to the base surface are arranged in front of the road processing machine in the direction of travel. At 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.
Wenn die Höhenverstellvorrichtung beim Verstellen lediglich eine Parallelverschiebung der festen Verbindung durchführt, so hängt der Höhenunterschied nicht von der Verstellhöhe ab. Bei einer Basisoberfläche, deren Ausrichtung im Wesentlichen überall gleich ist, beispielsweise horizontal, ist die Höhenkorrektur konstant und es muss lediglich kontrolliert werden, dass keine weitere Korrektur nötig ist. Entsprechend besteht die Referenzbestimmung darin, die parallele Ausrichtung zu überwachen.If 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. For a base surface whose orientation is substantially the same everywhere, for example horizontally, 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.
Bei einer Basisoberfläche, deren Ausrichtung sich entlang des Fahrweges ändert, kann mit mindestens einerIn a base surface, the orientation of which changes along the track, with at least one
Neigungsbestimmung die Ausrichtung der Strassenbearbeitungsmaschine bzw. der darunter liegenden Basisoberfläche ermittelt werden. Die gemessene Neigung kann als Referenzbestimmung zur Korrektur der Höhe benützt werden. Aus der Lage des Positionselementes und dieser Höhenkorrektur ergibt sich die aktuelle Höhe des Arbeitsteiles .Slope determination the orientation of the road processing machine or the underlying Base surface to be determined. 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.
Weil nun auch bei einem vom Arbeitsteil in Längsrichtung der Strassenbearbeitungsmaschine - insbesondere um wenigstens die halbe bzw. sogar die ganze Längenerstreckung der Maschine - entfernt angeordneten Positionselement die Höhenlage des Arbeitsteiles immer genau bestimmbar ist, kann das Positionselement so angeordnet werden, dass auch der Fahrweg der Strassenbearbeitungsmaschine optimal überwacht werden kann. Um eine hohe Sensibilität bezüglich Fahrzeugbewegungen vom Fahrweg weg zu gewährleisten, wird das Positionselement an einer Stelle der Strassenbearbeitungsmaschine befestigt, die möglichst weit von der Wendeachse entfernt ist. Insbesondere wird die Positionierung des Positionselementes hinsichtlich einer optimierten Signalausnutzung in Bezug auf die Bestimmung des Fahrwegs der Strassenbearbeitungsmaschine gewählt. So sind beispielsweise bei einer Anordnung des Positionselements möglichst nahe an den vorderen Fahrwerken der Maschine Positionsänderungen der Maschine durch Messungen zum Positionselement äusserst schnell und präzise erfassbar. Z.B. kann das Positionselement in Fahrrichtung vor dem Maschinenschwerpunkt seitlich am linken oder rechten Rand der Maschine angeordnet werden. Besonders günstig ist die Positionierung des Positionselements am in Fahrrichtung vorderen Ende der Strassenbearbeitungsmaschine möglichst weit links oder rechts - und damit möglichst weit vorne und nahe an den Fahrwerken. Weil Strassenbearbeitungsmaschinen mit einem höhenverstellbaren Arbeitsteil beim Fahren einer Kurve meist so drehen, dass das Arbeitsteil nicht oder zumindest nur wenig ausschwenkt, sollte das Positionselement so weit wie möglich vom Arbeitsteil entfernt sein. Wenn das Arbeitsteil im hinteren Endbereich der Maschine angeordnet ist, so wird das Positionselement im vorderen Endbereich angeordnet. Bei einem unerwünschten seitlichen Ausschwenken des Fahrzeuges wird das Positionselement erkennbar von der Fahrlinie weg bewegt. Eine Korrektursteuerung kann die Strassenbearbeitungsmaschine sofort wieder auf den gewünschten Fahrweg bringen. Das Arbeitsteil bleibt dabei im Wesentlichen immer auf dem gewünschten Weg.Because now also in a working part in the longitudinal direction of the road processing machine - especially at least half or even the entire length of the machine - remotely located position element, the altitude of the working part is always accurately determined, the position element can be arranged so that the path of the Road processing machine can be optimally monitored. In order to ensure a high sensitivity with respect to vehicle movements away from the travel path, the positioning element is fastened to a location of the roadworking machine which is as far away as possible from the turning axis. In particular, the positioning of the position element is selected with regard to an optimized signal utilization with respect to the determination of the travel path of the roadworking machine. Thus, for example, with an arrangement of the position element as close as possible to the front landing gear of the machine position changes of the machine by measurements to the position element extremely quickly and accurately detected. For example, the position element in the direction of travel before the machine center of gravity can be arranged laterally on the left or right edge of the machine. Particularly favorable is the positioning of the position element at the front end of the road processing machine in the direction of travel as far as possible left or right - and thus as far forward and close to the chassis. Because roadworking machines usually rotate with a height-adjustable working part while driving a curve such that the working part does not swing or at least only slightly swings out, the position element should be as far away from the working part as possible. When the working part is arranged in the rear end region of the machine, 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.
Das Positionselement ist zur gattungsgemäss präzisen Kontrolle des Fahrwegs der Strassenbearbeitungsmaschine an einer Position mindestens - in Fahrtrichtung der Maschine - vor dem Maschinenschwerpunkt, insbesondere so weit wie möglich vor dem Maschinenschwerpunkt, angebracht. Die Anbringung des Positionselements bzw. des Prismas möglichst weit vorne erlaubt auch eine einfachere Ausgestaltung des Kontrollalgorithmus, der insofern einfacher wird, da so die Regelung der Fahrtrichtung direkt auf den horizontalen Fehler abgestellt werden kann und die Längsachse der Strassenbearbeitungsmaschine nicht bekannt sein muss. Deren zusätzliche Kenntnis verbessert natürlich die Regelung.The position element is the generic precise control of the travel of the road processing machine at a position at least - in the direction of travel of the machine - in front of the machine center of gravity, in particular as far as possible in front of the machine center of gravity attached. The attachment of the position element or the prism as far forward as possible also simplifies the design of the control algorithm, which is simpler in so far as the control of the direction of travel can be adjusted directly to the horizontal error and the longitudinal axis of the road processing machine need not be known. Their additional knowledge naturally improves the regulation.
Bei der erfindungsgemässen Lösung kann mit lediglich einer Positionsverfolgung mit einem Positionselement, z.B. GPS oder einem Prisma, eine präzise Fahrbewegung und eine präzise Höhenpositionierung des Arbeitsteiles erzielt werden. Zur Ermittlung der Höhe des Arbeitsteiles muss lediglich mindestens eine Art von Referenzbestimmung durchgeführt werden.In the solution according to the invention, with only one position tracking with one position element, eg GPS or a prism, a precise travel movement and a precise height positioning of the working part can be achieved. To determine the height of the working part At least one type of reference determination must be carried out.
Die Zeichnungen erläutern die Erfindung anhand zweier Ausführungsbeispiele. Dabei zeigtThe drawings illustrate the invention with reference to two embodiments. It shows
Fig. 1 eine schematische Seitenansicht einer Strassenbearbeitungsmaschine mit einem Neigungssensor und Fig. 2 eine schematische Seitenansicht einer Strassenbearbeitungsmaschine mit zwei DistanzmesseinrichtungenFig. 1 is a schematic side view of a road processing machine with a tilt sensor and Fig. 2 is a schematic side view of a road processing machine with two distance measuring devices
Die Fig. 1 und 2 zeigen eine auf einer Basisoberfläche 1 fahrende Strassenbearbeitungsmaschine 2. Bei der dargestellten Maschine handelt es sich um einen Strassenfertiger mit einem Fahrzeug 3 und einem daran höhenverstellbar befestigten Arbeitsteil 4 in der Form einer Bohle. Das Asphaltmaterial 5 wird von einem Verteilorgan 6 entlang des vorderen Randes des Arbeitsteiles 4 verteilt. Wenn die Strassenbearbeitungsmaschine 2 auf der vorbereiteten Basisoberfläche 1 vorrückt, streicht das am hinteren Ende der Strassenbearbeitungsmaschine 2 angeordnete Arbeitsteil 4 über das Asphaltmaterial 5 und glättet sowie verdichtet dieses, um einen kontinuierlichen Asphaltbelag 7 mit einem gewünschten Oberflächenverlauf bereitzustellen. Die Positionierung des Arbeitsteiles 4 auf einer gewünschten Höhe erfolgt über eine leichte Schwenkbewegung von zwei beidseits der Maschine schwenkbar angeordneten Trägern 8, deren Schwenklager 9 als Drehpunkte von Hydraulikzylindern als Betätigungsorganen 10 bewegbar bzw. in der Höhe verstellbar sind. Um eine exakte Bearbeitung entlang eines gewünschten Fahrweges zu vereinfachen, soll an Punkten entlang des Fahrweges die jeweils aktuelle Position und/oder Fahrrichtung ermittelt, die Arbeitshöhe des Arbeitsteiles bestimmt und die ermittelte Position bzw. Fahrrichtung mit einer Sollposition bzw. Sollrichtung sowie die Arbeitshöhe mit einer Sollhöhe verglichen werden. Sobald die Position bzw. Fahrrichtung von der Sollposition bzw. Sollrichtung am entsprechenden Ort abweicht, sollte ein Steuersignal bereit gestellt werden, mit dem durch eine entsprechende Steuerung der Strassenbearbeitungsmaschine 2 die Abweichung kompensiert werden kann. Wenn die Arbeitshöhe von der Sollhöhe abweicht, so soll das Arbeitsteil 4 von den Trägern 8 gehoben oder gesenkt werden, bis die gewünschte Höhe erzielt wird.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. When the road working machine 2 advances on the prepared base surface 1, the working part 4 disposed at the rear end of the road working machine 2 sweeps and smoothes the asphalt material 5 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. In order to simplify an exact machining along a desired track, the current position and / or direction is determined at points along the track, 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 with a Nominal height to be compared. 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.
Ein an der Strassenbearbeitungsmaschine 2 angeordnetes Positionselement, kann, bei Ausführung mit einem Prisma 11, mit einer Laser-Totalstation 12 verfolgt werden. Diese Station 12 verfolgt das Prisma 11 mittels einer in alle Richtungen ausrichtbaren Optik. Aus dem Raumwinkel der Optik, der Distanz zwischen Prisma 11 und Optik und der Position der Totalstation 12 wird die Position des Prismas 11 berechnet. Für einen Vergleich mit einem gewünschten Fahrweg müssen die Positionen und/oder Richtungen entlang des gewünschten Fahrweges als Sollwerte für die Strassenbearbeitungsmaschine 2 an der Stelle, an welcher das Prisma 11 angeordnet ist, vorliegen. Um einen gewünschten Bearbeitungsweg beim Arbeitsteil zu gewährleisten, sollte das Kurvenverhalten der Strassenbearbeitungsmaschine 2 bei der Bestimmung des Sollweges für das Prisma 11 berücksichtigt werden, so dass sich das Arbeitsteil 4 entlang des gewünschten Weges bewegt. Die Fahrrichtung kann aus aufeinander folgenden Positionen bestimmt werden.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 along the desired path emotional. The direction of travel can be determined from successive positions.
Weil sich bei Strassenbearbeitungsmaschinen 2 Richtungsänderungen durch seitliche Bewegungen des vorderen Endes der Maschine meist deutlicher zeigen als im Bereich des Arbeitsteiles, und weil der Regelalgorithmus der Richtungsregelung aufgrund der Position des Prismas ohne Kenntnis der Längsachse der Maschine einfacher wird, so wird das Prisma 11 möglichst weit vorne platziert - in der Ausführungsform z.B. am in Fahrrichtung vorderen äusserst linken Ende der Strassenbearbeitungsmaschine 2. Das Prisma 11 - am vorderen Ende - ist hier in Längsrichtung (Fahrrichtung) um die ganze Längenerstreckung (Erstreckung in Fahrrichtung) der Strassenbearbeitungsmaschine 2 vom Arbeitsteil 4 - am hinteren Ende - entfernt positioniert. Damit ist eine gute Kontrolle der Maschine mit lediglich einem Prisma möglich.Because 2 directional changes by lateral movements of the front end of the machine usually show more clearly in road processing machines than in the region of the working part, and because the control algorithm of directional control due to the position of the prism without knowledge of the longitudinal axis of the machine is easier, the prism 11 is as far as possible placed in front - in the embodiment, for example The prism 11 - at the front end - here in the longitudinal direction (direction of travel) to the entire length extension (extension in the direction of travel) of the road processing machine 2 from the working part 4 - positioned at the rear end - away. This allows a good control of the machine with only one prism.
Die zulässigen Toleranzen bei der Arbeitshöhe sind kleiner als bei der seitlichen Ausrichtung des Arbeitsteiles. Für den Vergleich einer erfassten Arbeitshöhe mit einer Sollhöhe muss die aktuelle Höhe des Arbeitsteiles 4 äusserst genau erfasst werden. Zwischen der Positionshöhe des Prismas 11 und der Arbeitshöhe des Arbeitsteiles 4 besteht keine feste Beziehung, weil sie in Längsrichtung der Maschine versetzt angeordnet sind. Wenn die Basisoberfläche 1 in Fahrrichtung geneigt verläuft, so ist das Arbeitsteil 4 relativ zur Höhe des Prismas 11 tiefer als bei einer ebenen Basisoberfläche 1. Hebe- und Senkbewegungen der Träger 8 und auch variable Neigungen der Basisoberfläche 1 verändern den Höhenunterschied zwischen Prisma und Arbeitsteil 4. Um aus der Positionshöhe des Prismas 11 eine möglichst genaue Arbeitshöhe ableiten zu können, soll mindestens ein Wert mindestens einer Referenzbestimmung für die Berechnung der Arbeitshöhe beim Arbeitsteil verwendet werden.The permissible tolerances for the working height are smaller than for the lateral alignment of the working part. For the comparison of a recorded working height with a desired height, the current height of the working part 4 must be recorded extremely accurately. Between the positional height of the prism 11 and the working height of the working part 4 there is no fixed relationship, because they are arranged offset in the longitudinal direction of the machine. When the base surface 1 is inclined in the direction of travel, 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 , In order to be able to derive as precise a working height as possible from the positional height of the prism 11, at least one value of at least one reference determination should be used for the calculation of the working height in the working part.
Die Laser-Totalstation 12 ist mit einer nicht dargestellten Auswerte- und Steuereinrichtung zum Auswerten der Lageinformation des Positionselementes - hier des Prismas 11 - und zum Bereitstellen von Steuersignalen zum Steuern derThe laser total station 12 is connected to an evaluation and control device, not shown, for evaluating the position information of the position element - here the prism 11 - and for providing control signals for controlling the
Strassenbearbeitungsmaschine 2 und zum Steuern der Höhenverstellung des Arbeitsteiles 4 verbunden. Ebenfalls der mindestens eine Referenzsensor zum Durchführen mindestens einer Referenzbestimmung ist mit der Steuereinrichtung verbunden. Mindestens ein Teil der Verbindungen sind als Funkverbindungen ausgebildet. Die Steuereinrichtung ist vorzugsweise auf der Strassenbearbeitungsmaschine 2 angeordnet, könnte aber gegebenenfalls auch bei der Laser-Totalstation 12 angeordnet sein. Wenn die Steuereinrichtung auf der Maschine 2 angeordnet ist, so können die Verbindungen zu Sensoren und Betätigungsvorrichtungen als Leitungsverbindungen ausgebildet werden.Road processing machine 2 and connected to control 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.
Gemäss Fig.l wird im Rahmen einer ersten Ausführungsform vorgeschlagen, eine feste Verbindung 13 von einem der Träger 8 zum Prisma 11 auszubilden. Diese Verbindung 13 umfasst beispielsweise ein im Wesentlichen horizontal verlaufendes Verbindungsteil 13a und ein damit verbundenes vertikal verlaufendes Verbindungsteil 13b. Wenn das Prisma 11 über eine feste Verbindung mit dem Arbeitsteil 4 verbunden ist, so kann für jede mögliche Ausrichtungslage dieser Verbindung 13 ein effektiver Höhenunterschied zwischen dem Prisma 11 und einem Punkt beim Arbeitsteil 4 ermittelt werden. Für die Ermittlung des effektiven Höhenunterschiedes ist es am genauesten, wenn die Neigung der direkten Verbindungslinie zwischen dem Prisma und dem Punkt beim Arbeitsteil 4, also ein Winkel zur Vertikalen oder zur Horizontalen, ermittelt wird. Dazu kann ein Neigungssensor 14 ausgerichtet in Richtung der direkten Verbindungslinie an einem Teil der festen Verbindung 13 befestigt werden.According to Fig.l is proposed in a first embodiment, a solid compound 13 of one of the carrier 8 to form 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. If the prism 11 is connected via a fixed connection with the working part 4, then for each possible alignment position of this connection 13 can be an effective Height difference between the prism 11 and a point at the working part 4 can be determined. For the determination of 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. For this purpose, a tilt sensor 14 aligned in the direction of the direct connection line to a part of the fixed connection 13 are attached.
In der dargestellten Ausführungsform ist der Neigungssensor 14 am horizontal verlaufenden Verbindungsteil 13a befestigt. Gegebenenfalls wird auch noch ein zweiter Neigungssensor, senkrecht zum ersten Neigungssensor ausgerichtet, an der festen Verbindung angeordnet, so dass die Neigung der festen Verbindung in zwei verschiedenen Richtungen erfasst werden kann. Ein quer zur Fahrtrichtung angebrachter Neigungssensor kann somit Zusatzinformationen bereitstellen.In the illustrated embodiment, the tilt sensor 14 is attached to the horizontally extending connecting part 13a. Optionally, 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.
Gemäss Fig. 2 wird im Rahmen einer zweiten Ausführungsform zur Referenzbestimmung beim Prisma 11 mit einer ersten Distanzmesseinrichtung 15 mindestens eine erste Distanzmessung zur Basisoberfläche 1 und zeitlich versetzt beim Arbeitsteil 4 mit einer zweiten Distanzmesseinrichtung 16 mindestens eine zweite Distanzmessung zur Basisoberfläche 1 durchgeführt. Der Zeitversatz zwischen zusammen gehörenden Messungen soll anhand der Fahrgeschwindigkeit so gewählt werden, dass die beiden Messungen im Wesentlichen an der gleichen Referenzstelle erfolgen. Zwischen dem Prisma 11 und dem Arbeitsteil 4 muss nun keine feste Verbindung vorliegen. Das Prisma ist über eine Haltestange 13c mit der Strassenbearbeitungsmaschine 2 verbunden. Zwischen dem Prisma 11 und der ersten Distanzmesseinrichtung 15 ist in vertikaler Richtung ein fester und in horizontaler Richtung im Wesentlichen ein verschwindender Abstand gegeben. Analog muss zwischen dem Arbeitsteil 4 und der zweiten Distanzmesseinrichtung 16 in vertikaler Richtung ein fester und in horizontaler Richtung ein möglichst kleiner Abstand gegeben sein. Weil beim Arbeitsteil 4 Asphaltmaterial 5 von einem Verteilorgan 6 verteilt wird, muss vorzugsweise die zweite Distanzmessung direkt vor dem Verteilorgan 6 durchgeführt werden, damit die Basisoberfläche noch freiliegt. Wenn die Distanzmessung seitlich neben dem ausgetragenen Asphalt gemacht wird, so kann sie auch direkt neben dem Arbeitsteil durchgeführt werden. Es versteht sich von selbst, dass die Anordnung der zweiten Distanzmesseinrichtung 16 an das jeweilige Arbeitsteil 4 angepasst werden kann.According to FIG. 2, at least one first distance measurement to the base surface 1 and with a second distance measuring device 16 at least one second distance measurement to the base surface 1 are 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. Between the prism 11 and the working part 4 now no solid connection must be present. The prism is connected to the roadworking machine 2 via a support bar 13c. Between 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, preferably the second distance measurement must be performed directly in front of the distributor 6, 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.
Es versteht sich von selbst, dass auch Verfahren mit mindestens einer Neigungsbestimmung und zusätzlich mindestens einer ersten Distanzmessung zurIt goes without saying that methods with at least one inclination determination and additionally at least one first distance measurement for
Basisoberfläche 1 sowie zeitlich versetzt beimBase surface 1 and offset in time
Arbeitsteil 4 mindestens einer zweiten Distanzmessung zur Basisoberfläche 1 vorteilhaft eingesetzt werden können. Working part 4 at least a second distance measurement to the base surface 1 can be advantageously used.

Claims

Patentansprüche claims
1. Verfahren zum Kontrollieren des Fahrweges einer auf einer Basisoberfläche (1) fahrendenA method of controlling the travel of a person traveling on a base surface (1)
Strassenbearbeitungsmaschine (2) und der Arbeitshöhe eines daran höhenverstellbar angeordneten Arbeitsteiles (4) bei welchem Verfahren die räumliche Lage eines an der Strassenbearbeitungsmaschine (2) angeordneten Positionselementes (11) erfasst, gegebenenfalls aus mindestens zwei räumlichen Lagen, insbesondere zu zwei Zeitpunkten oder aus zwei Positions-Koordinaten, eine Fahrrichtung ermittelt, und die Arbeitshöhe des Arbeitsteiles (4) bestimmt wird, wobeiRoad processing machine (2) and the working height of a height adjustable adjustable working part (4) in which method detects the spatial position of the road processing machine (2) arranged position element (11), optionally from at least two spatial positions, in particular at two times or from two positions Coordinates, determines a direction of travel, and the working height of the working part (4) is determined, wherein
- die Arbeitshöhe mit einer Sollhöhe, und/oder- The working height with a desired height, and / or
- die erfasste Lage mit einer Solllage und/oder- The detected position with a desired position and / or
- die ermittelte Fahrrichtung mit einer Sollrichtung verglichen werden, dadurch gekennzeichnet, dass- The determined direction of travel to be compared with a desired direction, characterized in that
- das Positionselement (11) an einer Position angeordnet ist, die horizontal vom Arbeitsteil (4) entfernt in Fahrrichtung vor dem Schwerpunkt der Strassenbearbeitungsmaschine (2) gelegen ist, und - die Positionshöhe der räumlichen Lage des- The position element (11) is arranged at a position which is located horizontally away from the working part (4) in the direction of travel in front of the center of gravity of the road processing machine (2), and - the positional height of the spatial position of
Positionselementes (11) unter Verwendung mindestens eines Wertes mindestens einer Referenzbestimmung in die Arbeitshöhe beim Arbeitsteil (4) umgerechnet wird.Position element (11) using at least one value of at least one reference determination in the working height of the working part (4) is converted.
2.Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass das Positionselement (11) horizontal vom Arbeitsteil (4) in Längsrichtung der Strassenbearbeitungsmaschine (2) um wenigstens die halbe, insbesondere die ganze, Längenerstreckung der Strassenbearbeitungsmaschine (2) entfernt positioniert ist.2.Verfahren according to claim 1, characterized in that the position element (11) horizontally from the working part (4) in the longitudinal direction of the road processing machine (2) by at least half, in particular the whole, longitudinal extent of Road processing machine (2) is positioned away.
3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass3. The method according to claim 1 or 2, characterized in that
- das Positionselement (11) am in Fahrrichtung vorderen Ende, insbesondere am äusserst linken oder äusserst rechten vorderen Ende, und- The position element (11) at the front end in the direction of travel, in particular at the leftmost or extremely right front end, and
- das Arbeitsteil (4) am in Fahrrichtung hinteren Ende der Strassenbearbeitungsmaschine (2) angeordnet sind.- The working part (4) are arranged at the rear end of the road processing machine (2) in the direction of travel.
4. Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass zwischen dem Positionselement (11) und dem Arbeitsteil (4) eine feste Verbindung ausgebildet ist.4. The method according to any one of claims 1 to 3, characterized in that between the position element (11) and the working part (4) is formed a fixed connection.
5. Verfahren nach Anspruch 4, dadurch gekennzeichnet, dass zur Referenzbestimmung mindestens eine Neigungsbestimmung mit einem an der festen Verbindung angeordneten Neigungssensor (14) durchgeführt wird.5. The method according to claim 4, characterized in that for the reference determination at least one tilt determination is performed with an arranged on the fixed connection tilt sensor (14).
6. Verfahren nach Anspruch 5, dadurch gekennzeichnet, dass zur Referenzbestimmung zwei Neigungsbestimmungen durch zwei an der festen Verbindung angeordnete, unterschiedlich ausgerichtete Neigungssensoren (14) durchgeführt werden.6. The method according to claim 5, characterized in that for determining the reference two inclination determinations by two arranged on the fixed connection, differently oriented inclination sensors (14) are performed.
7. Verfahren nach Anspruch 5 oder 6, dadurch gekennzeichnet, dass aus der mindestens einen Neigungsbestimmung ein Höhenunterschied zwischen der Positionshöhe des Positionselementes (11) und der Arbeitshöhe beim Arbeitsteil (4) abgeleitet wird. 7. The method according to claim 5 or 6, characterized in that from the at least one tilt determination, a height difference between the positional height of the position element (11) and the working height of the working part (4) is derived.
8. Verfahren nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass zur Referenzbestimmung beim Positionselement (11) mindestens eine erste Distanzmessung zur8. The method according to any one of claims 1 to 7, characterized in that for reference determination at the position element (11) at least a first distance measurement for
Basisoberfläche (1) und zeitlich versetzt beim Arbeitsteil (4) mindestens eine zweite Distanzmessung zur Basisoberfläche (1) durchgeführt wird, wobei der Zeitversatz anhand der Fahrgeschwindigkeit oder einer Positionsbestimmung so gewählt wird, dass die beiden Messungen im Wesentlichen an der gleichen Referenzstelle erfolgen.At least a second distance measurement to the base surface (1) is carried out base surface (1) and offset in time at the working part (4), wherein the time offset is selected based on the vehicle speed or a position determination so that the two measurements are made substantially at the same reference point.
9. Verfahren nach Anspruch 8, dadurch gekennzeichnet, dass aus der Positionshöhe des Positionselementes (11) und der mindestens einen ersten Distanzmessung die Lage der Referenzstelle abgeleitet wird und beim Fahren der Strassenbearbeitungsmaschine (2) vorzugsweise eine Basishöhe der Basisoberfläche (1) zumindest entlang einer Linie erfasst wird.9. The method according to claim 8, characterized in that from the positional height of the position element (11) and the at least one first distance measurement, the position of the reference point is derived and when driving the road processing machine (2) preferably a base height of the base surface (1) at least along one Line is detected.
10. Verfahren nach Anspruch 8, dadurch gekennzeichnet, dass aus der Positionshöhe des Positionselementes (11) , der mindestens einen ersten Distanzmessung und der mindestens einen zweiten Distanzmessung mindestens eine Arbeitshöhe abgeleitet wird und beim Fahren der Strassenbearbeitungsmaschine (2) vorzugsweise die Arbeitshöhe des Arbeitsteiles (4) zumindest entlang einer Linie erfasst wird.10. The method according to claim 8, characterized in that from the positional height of the position element (11), the at least one first distance measurement and the at least one second distance measurement at least one working height is derived and when driving the road processing machine (2) preferably the working height of the working part ( 4) is detected at least along a line.
11. Strassenbearbeitungsmaschine (2) mit11. Road processing machine (2) with
- einem an der Strassenbearbeitungsmaschine (2) höhenverstellbar angeordneten Arbeitsteil (4) und - einem an der Strassenbearbeitungsmaschine (2) angeordneten Positionselement (11) , wobei die Strassenbearbeitungsmaschine (2) auf einer Basisoberfläche (1) bewegbar ist und die räumliche Lage des Positionselementes (11) von mindestens einer Station (12) erfassbar ist, und wobei von einer Auswerte- und Steuereinrichtung die Lageinformation des Positionselementes (11) auswertbar und Steuerinformationen für das Steuern der Strassenbearbeitungsmaschine (2) und die- One on the road processing machine (2) height adjustable arranged working part (4) and a positional element (11) arranged on the roadworking machine (2), wherein the roadworking machine (2) is movable on a base surface (1) and the spatial position of the positional element (11) is detectable by at least one station (12), and wherein an evaluation and control device, the position information of the position element (11) evaluable and control information for controlling the road processing machine (2) and the
Höhenverstellung des Arbeitsteiles (4) bereitstellbar sind, dadurch gekennzeichnet, dassHeight adjustment of the working part (4) are providable, characterized in that
- das Positionselement (11) horizontal vom Arbeitsteil (4) entfernt in Fahrrichtung vor dem Schwerpunkt der Strassenbearbeitungsmaschine (2) angeordnet ist, und- The positioning element (11) is arranged horizontally away from the working part (4) in the direction of travel in front of the center of gravity of the road-working machine (2), and
- der Strassenbearbeitungsmaschine (2) mindestens ein Referenzsensor (14, 15, 16) zum Durchführen mindestens einer Referenzbestimmung zugeordnet ist, wobei die Positionshöhe der räumlichen Lage des Positionselementes (11) unter Verwendung mindestens eines vom Referenzsensor (14, 15, 16) abgeleiteten Referenzwertes in eine Arbeitshöhe beim Arbeitsteil (4) umrechenbar ist.- the road processing machine (2) at least one reference sensor (14, 15, 16) is assigned for performing at least one reference determination, wherein the positional height of the spatial position of the position element (11) using at least one of the reference sensor (14, 15, 16) derived reference value in a working height at the working part (4) is convertible.
12. Strassenbearbeitungsmaschine (2) nach Anspruch 11, dadurch gekennzeichnet, dass das Positionselement (11) horizontal vom Arbeitsteil in Längsrichtung der Strassenbearbeitungsmaschine (2) um wenigstens die halbe, insbesondere die ganze, Längenerstreckung der Strassenbearbeitungsmaschine (2) entfernt positioniert ist. 12. Road processing machine (2) according to claim 11, characterized in that the position element (11) is positioned horizontally away from the working part in the longitudinal direction of the road processing machine (2) by at least half, in particular the whole, longitudinal extent of the road processing machine (2).
13. Strassenbearbeitungsmaschine (2) nach Anspruch 11 oder 12, dadurch gekennzeichnet, dass13. Road processing machine (2) according to claim 11 or 12, characterized in that
- das Positionselement (11) am in Fahrrichtung vorderen Ende, insbesondere am äusserst linken oder äusserst rechten vorderen Ende, und- The position element (11) at the front end in the direction of travel, in particular at the leftmost or extremely right front end, and
- das Arbeitsteil (4) am in Fahrrichtung hinteren Ende der Strassenbearbeitungsmaschine (2) angeordnet sind.- The working part (4) are arranged at the rear end of the road processing machine (2) in the direction of travel.
14. Strassenbearbeitungsmaschine (2) nach einem der Ansprüche 11 bis 13, dadurch gekennzeichnet, dass das Arbeitsteil (4) als Bohle ausgebildet ist.14. Road processing machine (2) according to one of claims 11 to 13, characterized in that the working part (4) is designed as a screed.
15. Strassenbearbeitungsmaschine (2) nach einem der Ansprüche 11 bis 14, dadurch gekennzeichnet, dass mindestens ein Referenzsensor als Neigungssensor (14) ausgebildet ist, der an einer festen Verbindung (13) zwischen dem Positionselement (11) und dem Arbeitsteil (4) anzuordnen ist und einen Höhenunterschied zwischen der Positionshöhe des Positionselementes (11) und der Arbeitshöhe des Arbeitsteiles (4) ableitbar macht.15. Road processing machine (2) according to one of claims 11 to 14, characterized in that at least one reference sensor is designed as a tilt sensor (14) to be arranged on a fixed connection (13) between the position element (11) and the working part (4) is and makes a height difference between the positional height of the position element (11) and the working height of the working part (4) derivable.
16. Strassenbearbeitungsmaschine (2) nach einem der Ansprüche 11 bis 15, dadurch gekennzeichnet, dass mindestens zwei Referenzsensoren als erster und zweiter Distanzsensor (15, 16) ausgebildet sind, wobei der erste Distanzsensor (15) beim Positionselement (11) und der zweite (16) beim Arbeitsteil (4) so angeordnet sind, dass Distanzmessungen zur Basisoberfläche (1) anhand der Fahrgeschwindigkeit so zeitlich versetzt erfasst werden, dass die beiden Messungen im Wesentlichen an der gleichen Referenzstelle erfolgen. 16. Road processing machine (2) according to one of claims 11 to 15, characterized in that at least two reference sensors as first and second distance sensor (15, 16) are formed, wherein the first distance sensor (15) in the position element (11) and the second ( 16) are arranged at the working part (4) in such a way that distance measurements relative to the base surface (1) are detected offset in time with reference to the travel speed, so that the two measurements are made essentially at the same reference point.
17. System zur Durchführung eines Verfahrens zum Kontrollieren des Fahrweges einer auf einer Basisoberfläche (1) fahrenden17. System for carrying out a method for controlling the travel of a moving on a base surface (1)
Strassenbearbeitungsmaschine (2) und der Arbeitshöhe eines daran höhenverstellbar angeordneten Arbeitsteiles (4) mitRoad processing machine (2) and the working height of a height adjustable arranged thereon working part (4)
- einer Strassenbearbeitungsmaschine (2) nach einem der Ansprüche 11 bis 16,a road-building machine (2) according to one of claims 11 to 16,
- einer Station (12) zum Erfassen der räumlichen Lage des Positionselementes (11) und- A station (12) for detecting the spatial position of the position element (11) and
- einer Auswerte- und Steuereinrichtung zum Auswerten der Lageinformation des Positionselementes (11) und zum Bereitstellen von Steuerinformationen für das Steuern der Strassenbearbeitungsmaschine (2) und der Höhenverstellung des Arbeitsteiles (4) .- An evaluation and control device for evaluating the position information of the position element (11) and for providing control information for controlling the road processing machine (2) and the height adjustment of the working part (4).
18. System nach Anspruch 17, dadurch gekennzeichnet, dass die Auswerte- und Steuereinrichtung auf der Strassenbearbeitungsmaschine (2) angeordnet ist. 18. System according to claim 17, characterized in that the evaluation and control device is arranged on the roadworking machine (2).
EP05816965A 2004-12-17 2005-12-19 Method and device for monitoring a road processing machine Active EP1825064B1 (en)

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EP04029963A EP1672122A1 (en) 2004-12-17 2004-12-17 Method and apparatus for controlling a road working machine
EP05816965A EP1825064B1 (en) 2004-12-17 2005-12-19 Method and device for monitoring a road processing machine
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US20080208417A1 (en) 2008-08-28
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US7643923B2 (en) 2010-01-05
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