EP1861546A1 - System for co-ordinated soil cultivation - Google Patents
System for co-ordinated soil cultivationInfo
- Publication number
- EP1861546A1 EP1861546A1 EP06705412A EP06705412A EP1861546A1 EP 1861546 A1 EP1861546 A1 EP 1861546A1 EP 06705412 A EP06705412 A EP 06705412A EP 06705412 A EP06705412 A EP 06705412A EP 1861546 A1 EP1861546 A1 EP 1861546A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- compression
- area
- compaction
- values
- value
- 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
Links
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- 238000005056 compaction Methods 0.000 claims description 159
- 238000007906 compression Methods 0.000 claims description 118
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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
- E01C19/22—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 consolidating or finishing laid-down unset materials
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
- E01C19/28—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows
- E01C19/288—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows adapted for monitoring characteristics of the material being compacted, e.g. indicating resonant frequency, measuring degree of compaction, by measuring values, detectable on the roller; using detected values to control operation of the roller, e.g. automatic adjustment of vibration responsive to such measurements
-
- 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
- E01C19/22—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 consolidating or finishing laid-down unset materials
- E01C19/30—Tamping or vibrating apparatus other than rollers ; Devices for ramming individual paving elements
- E01C19/34—Power-driven rammers or tampers, e.g. air-hammer impacted shoes for ramming stone-sett paving; Hand-actuated ramming or tamping machines, e.g. tampers with manually hoisted dropping weight
- E01C19/38—Power-driven rammers or tampers, e.g. air-hammer impacted shoes for ramming stone-sett paving; Hand-actuated ramming or tamping machines, e.g. tampers with manually hoisted dropping weight with means specifically for generating vibrations, e.g. vibrating plate compactors, immersion vibrators
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D3/00—Improving or preserving soil or rock, e.g. preserving permafrost soil
- E02D3/02—Improving by compacting
- E02D3/046—Improving by compacting by tamping or vibrating, e.g. with auxiliary watering of the soil
- E02D3/074—Vibrating apparatus operating with systems involving rotary unbalanced masses
Definitions
- the invention relates to a system for coordinated tillage, a method for compacting at least one bottom area (3) or at least one tamping area applied to a floor area to a predetermined area-specific compression target value, a compacting device for such a system and an operating method for the system.
- WO 2005/028755 describes a method and a device for determining relative as well as absolute soil stiffness values of a ground area.
- the device is operated in intimate contact with the ground. The floor and the device form a single vibration system.
- the device is moved jumping over the ground surface and in this case the amplitude values and frequencies of the subharmonic frequency values forming at the excitation frequency are evaluated.
- the absolute measurement is a measurement in one place while the relative measurement is done during the override.
- a relative soil stiffness determined during a compact override can be converted into an absolute value of the soil rigidity.
- the values determined in this case are displayed to the driver of the compacting device, who then has to decide on the further compression procedure.
- the compaction control is used to measure and record a first compaction measured value, which is generated with a first compacting device in blackcaps in road construction and to compare with a second, generated by a second compacting device Verdichtungswert, the second compaction values at approximately the same Asphalt temperature has been determined.
- the second compacting device is coupled to the first tracked substantially tracking.
- the compacting vibratory rollers can also be provided in two separate rollers and the two compactors can be coupled to one another via a computer-aided tracking system or steering system.
- the coupled lane-true steering can be done via a Global Positioning System (GPS) or via radar, ultrasound or infrared.
- GPS Global Positioning System
- the degree of compaction achieved is determined by measuring vibration reflections during the compaction process. If, in spite of the increasing number of compression transitions, the compression no longer changes in the compression-contraction device, it is assumed that the compression with a certain compacting device achievable highest density is reached.
- the achieved compaction values are displayed on a display unit to the roller guide.
- the object of the invention is to provide a system belonging to the technical field mentioned above, with which an optimal soil compaction in an optimal time frame can be achieved.
- a coordinated tillage system comprises a plurality of compaction devices for soil compaction, wherein the compaction devices are configured to determine location-related relative compaction values.
- the system further comprises a calibration device for determining location-based absolute compression values and a computing unit for correlating relative and absolute location-related compression values, wherein compression devices, calibration device and computer are connected to one another by telecommunications.
- a system control is provided, which is designed in such a way that the location-related relative compression values of the compression devices and the location-related absolute compression values are continuously transmitted to the arithmetic unit, stored there and, in the presence of locally identical compression values, computed compression correlation values and transmitted to the compression devices, where they are used as correction value be stored.
- the calibration device eg pressure plate
- the calibration device connected to the system makes it possible to instantaneously calibrate or adjust the compaction devices in use, for example, at another location on the construction site, which have processed the calibrated site or at least determined relative compaction values at this location.
- the compaction values are always in the system with location coordinates provided, ie a proper record includes at least the compaction value and location. Additional data can be appended, such as time, machine identification, layer thickness, material property.
- the system control can be implemented in many different ways. It is typically a computer program having various modules installed on the compaction devices, the calibration device, and the central processing unit, which control the timing and communication technology communication. It can e.g. query the various devices from the arithmetic unit.
- the arithmetic unit is typically included in a fixed server. It can be realized by a software installed on the server. However, it is also possible to provide one of the devices used (for example the calibrating device or one of the compacting devices) with the arithmetic unit at the construction site. For telecommunications communication among the devices, a separate dedicated network or a publicly available public network (e.g., GSM, radiotelephone) may be used.
- a separate dedicated network or a publicly available public network e.g., GSM, radiotelephone
- a typical system according to the invention will comprise various rollers (weight, power, technology). It therefore makes sense that each compacting device in the system is identified with a code and when each measurement is provided with the identification of the compacting device.
- the system becomes scalable in this way, i. new devices can be added as needed (or integrated into the system). Furthermore, it is possible in this way to monitor the quality of the compaction devices, because there are always different possibilities of comparison.
- the data is stored primarily in the arithmetic unit. There is practically a
- Map of the data of the terrain to be processed is Map of the data of the terrain to be processed.
- the inventive arrangement of the devices communicating with each other is preferably designed in the sense of a complete construction site management system. Accordingly, technical or physical properties of the soil areas are also stored (for example geometry, consistency and other properties of the soil layers). You can also enter data that is needed for costing. As a result, it becomes possible to prepare the terrain (e.g., the route of a road) faster and less expensively.
- each unit is equipped with a GPS receiver (that is quite generally a receiver for a satellite-based location determination).
- the location can also be determined via a construction site-specific reference system (by positioning stationary transmitters / receivers to which the units can orient themselves).
- the calibration device is preferably a standard device for carrying out the pressure plate test (DIN 18 196). If the standard or the client for the determination of the absolute compression value another device, such as a compaction roller which is designed to determine absolute compression values or a vibrating plate for determining absolute soil stiffness values (WO 2005/028755, Ammann), then such as Calibration device in Purpose of the invention used in the system. As a calibration device, therefore, a further compression device is used, which is designed not only to determine relative but also absolute compression values. It should be noted at this point that the system according to the invention can easily also have several calibration devices.
- the inventive system can be operated by a variety of methods.
- a compacted floor area is e.g. created with the following steps.
- a plurality of (at least two, preferably three or more) partial areas are run over both with a first compacting device and with a further compacting device.
- the location-related relative compaction values are communicated to the center, which calculates a correlation between the various measurements and thus between the compaction devices.
- An advantage of the invention is the relief of the person (e.g., roller operator) who has to run the compacting device.
- the machine settings (overrunning distances, overrun speed and compressor values) are made automatically for optimal, time-reduced compaction, the operator of the compaction device can now focus fully on guiding the compaction device and the safety conditions to be observed.
- a subsequent "shaking up" of ground areas by unnecessary further driving over is ruled out.
- Another driving over which is necessary, for example, for reaching areas still to be compacted, can now be carried out in such a way that no "shaking up” takes place.
- a combination of a plurality of compacting devices which moreover can also have different force devices for a compaction to be carried out.
- the compressor values are understood in particular to be an adjustable floor reaction force F B and a phase angle ⁇ .
- the phase angle ⁇ is an angle between the maximum ground reaction force F B directed perpendicularly to the surface of the ground area and a maximum vibration value of a vibration response of a vibration system. As described below, this vibration system is formed from the bottom portion and the compression unit vibrating unit.
- unbalances with an imbalance torque and an imbalance frequency are used for compaction. Since in the invention the compressor values are set automatically by a regulated adjusting device, the unbalancing torque and the imbalance frequency are controlled analogously, ie adjusted by a computing unit.
- a predetermined compression setpoint of a floor area or arranged on a floor area covering is achieved.
- the compression setpoint will always be the same over long distances, but it does not have to be, since the unbalance torque and imbalance frequency can be set automatically.
- the soil compaction achieved is immediately determined when passing over, and the determined actual compaction value is stored together with the location coordinates of the area for a later treatment.
- compressor values is understood to mean the compression-causing movements of the compacting device.
- reaction is in each case based on the soil or lining to be compacted or compacted.
- This subsequent treatment can now be a renewed compacting overrun or even a treatment of the soil area, if it turns out by the repeated location-related compaction measurements that this soil area not further, for example due to its material composition, the substrate, etc., is compressible.
- the impossibility of further compression can be determined by the fact that the achieved Verdichtungsistute are determined and stored locally related to each compression process. These stored values are compared. If no (significant) increase in compaction is detected, then just this area is not further compressible. In order to avoid damaging or wasting time in this area due to further compaction processes, imbalance torque and unbalance frequency can be set in this area in such a way that only a surface-smoothing override takes place.
- Unbalance torque and imbalance frequency are also set for smoothing over the surface if an area is already compressed to the required compression value and adjacent areas or areas in a given travel route have not yet reached this value.
- This surface smoothing "Reset” the machine compaction data can on the one hand be driven faster, on the other hand, a "shaking" an already compacted area is avoided.
- the compacting device according to the invention is a "compacting machine".
- the operator of the compaction device is then proposed by the computation unit, which processes the location-related compaction actual values from the storage unit, a guideway.
- the proposal of a guideway can be displayed on a display unit arranged in the driver's cab.
- the travel path can also be mirrored onto the so-called windshield or displayed directly on the ground areas with a light beam, in particular by means of a laser beam (for example a red helium neon laser beam).
- a laser beam for example a red helium neon laser beam.
- each compaction device knows its specific compaction characteristics and can set accordingly from the predetermined compaction setpoints with an adjustment unit unbalance moment and imbalance frequency.
- the timer knows the machine-typical setting time and thus knows at a given speed of movement (usually traversing speed), in which period of time must be started with the adjustment so that the determined unbalance and the determined imbalance frequency come into play when reaching the area concerned.
- it is no longer sufficient to store the predetermined area-specific compaction setpoint, to determine the location allocation with a triangulation system or GPS and to store the ascertained actual density values (area-specifically) so that they can be considered in a new compaction process.
- each compacting device has a system for exact location determination.
- the area-specific compaction setpoint values can then be transmitted to the compaction devices from this center.
- the compaction devices in turn then communicate the area-related compaction actual values.
- the center may once act as an intermediary of "intelligence," but it may also serve to store the area-related compression totals for logging purposes and to be used for site management.
- compaction values soil stiffness
- other values such as the surface temperature and the soil attenuation can also be determined.
- a time-variable excitation force is generated on the vibration unit as a periodic first force with a maximum, against the bottom surface vertically directed, first vibration value.
- the frequency of the excitation force or its period is adjusted or adjusted until a vibration system, formed from the vibration unit and a to be compressed or measured floor area, with the vibration unit is in continuous surface contact, comes into resonance.
- the resonance frequency f is recorded or stored.
- a phase angle ⁇ between the occurrence of a maximum oscillation value of the excitation force and a maximum oscillation value of an oscillation response of the above-mentioned oscillation system is determined.
- k B (2 - ⁇ - f) 2 - (m d + ⁇ M d - cos ⁇ / A) ⁇ A ⁇
- the form factor can be obtained by a continuum mechanical view of a body in contact with an elastic semi-infinite space according to "Research in the field of engineering", Vol. 10, Sept./Oct. 1939, No. 5, Berlin, S. 201 - 21 1, G. Lundberg, "Elastic contact between two half-spaces".
- the excitation force is increased until jumping of the vibration unit occurs. Also, one will no longer let the exciter force act perpendicular to the ground surface, but such that the device with the vibration unit on a ground surface moves independently (applies in particular to the vibrating plate) and must be performed by a vibrating plate guide only in the desired direction.
- the measuring means of the device are in this case designed such that only a free quency analysis of the vibration response is performed on the vibrating plate. It is determined by filter circuits to the exciter frequency deepest subharmonic vibration. The deeper the deepest subharmonic vibration, the greater the soil compaction achieved.
- the measurement can be further refined by determining amplitude values in the vibration response for all subharmonic vibrations and a first harmonic to the exciting frequency. These amplitude values are set using weight functions in relation to the amplitude of the exciter frequency according to the following equation:
- X 0 , x 2 , X 4 and x 8 are weighting factors whose determination is described below.
- a f is the maximum vibration value of the exciting force acting on the vibration unit.
- a 2f is the maximum vibration value of a first harmonic to the exciting vibration.
- a f / 2 is a maximum vibration value of a first subharmonic with half the frequency of the exciting vibration.
- a f / 4 and A f / 8 are maximum vibration values of a second or third subharmonic having a quarter frequency and an eighth frequency of the exciting vibration, respectively.
- a 2f , A f / 2 , A f / 4 and A f / 8 are determined from the vibrational response.
- the relative measurement is followed by an absolute measurement, whereby the acquisition of absolute values is always bound to one and the same soil composition (loam, sand, gravel, loam soil with a given gravel / sand content, ...) ,
- ground stiffness values k B1 , k B2 , k B3 and k B4 are now determined on four different ground subregions of the ground area, each with an absolute measurement, different Soil stiffness should result in the same soil composition.
- the maximum vibration values A f , A 2f , A f / 2 , A f / 4 and A f / 8 are determined on the same four ground subregions.
- the obtained values are substituted into the equation (B) using the soil rigidity values k B1 , k B2 , k B3 and k B4 for s.
- the ascertained soil compaction values are preferably stored together with the respective location coordinates of a region which is measured out or directly to a control center such as e.g. transmit a construction office, so that from there this data is transmitted via a transmitting and receiving unit to the respective compaction devices.
- a control center such as e.g. transmit a construction office
- the data can also be stored for further processing in the compaction device.
- a compacting device can be preferably take a vibrating plate, since this is a low-priced product. But it can also be used other machines, such as trench roller and compactor. However, the vibration plate has the advantage that the contact surface is defined with the soil surface.
- the mutual position of the two imbalances must be mutually adjustable, so that once the excitation force perpendicular to the ground surface (for a calibration and an absolute measurement) and once counter to the direction of movement is obliquely backward direction.
- the frequency of the excitation force (here, for example, the number of revolutions of the imbalances) must be adjustable in order to be able to resonate. Searching the resonant frequency can be done manually; but it will be made advantageously by an automatic "scan" process, which settles on the resonance frequency.
- the static imbalance torque is formed automatically adjustable by means of a setting unit, for example, by a radial adjustment of the imbalance mass or mass is vorappelbar.
- the frequency of action on the ground contact unit can also be adjusted with the adjusting unit.
- a resonance of the vibration system consisting of ground contact unit and the ground area to be compacted or compressed, can be determined.
- a sensor In order to be able to determine this phase angle, in addition to a sensor for the subharmonic (as well as for the resonant frequency and harmonics ⁇ harmonics ⁇ ), a sensor will be mounted on the ground contact unit which measures the temporal deflection in the direction of soil compaction.
- the temporal deflection of the excitation force application to the ground contact unit
- the temporal position of the maximum amplitudes will be determined with a comparator.
- the excitation is preferably adjusted such that the maximum amplitude of the excitation by 90 ° to 180 °, preferably by 95 ° to 130 ° ahead of the maximum amplitude of the ground contact unit.
- the values determined in this case can, as explained below, also be used to determine absolute compression values for a variable exciter frequency.
- An adjustment of the exciting force may be avoided when using e.g. be achieved by two imbalances, which rotate at the same rotational speed and the angular distance is changeable.
- the imbalances can be moved in the same direction or in opposite directions.
- FIG. 2 is a schematic vibration plate for compaction of a bottom area and measurement of achieved actual compression values
- FIG. 6 shows a block diagram of an embodiment variant of the inventive device for compaction
- 7 shows a schematic representation of a device arrangement with a plurality of compacting devices
- FIG. 8 is a schematic representation analogous to FIG. 7 of a device arrangement with a plurality of compacting devices and a control center for data transmission and data evaluation;
- FIG. 9 shows a schematic representation of a processing sequence which can be realized with the system according to the invention.
- Fig. 10 is a schematic representation of the system control.
- an absolute compaction value is measured as a calibration value E 1 (x 1, y 1) with a calibration device EV at a time t 1 at the location with the location coordinates x 1, y 1.
- the data are transmitted by the calibration device EV by radio to the arithmetic unit R and stored there.
- a compaction roller W1 which is guided by the system control to the partial area TB 1, first measures the relative location x1, y1
- Compression value V (W1, TB1, x1, y1) and transmits this to the arithmetic unit R.
- the arithmetic unit R correlates the relative compaction value of the compaction roller W1 with the calibration value E 1 (x 1, y1) and transmits the result, e.g. in the form of a correction factor
- K (W1, TB1) corr. [E1 (x1, y1) ⁇ V (W1; TB1; x1, y1)] to the compaction roller W1.
- Compaction values are, preferably area-wide (i.e., within a given range)
- the calibration device EV transmits the measured absolute compression values E2 (x2, y2) together with the location coordinates x2, y2 to the arithmetic unit R. Since it knows the measured values determined by the second compaction roller W2 in the partial area TB2, it can again perform and check a correlation how well the second compaction roller W2 (due to the measurement at location x1, y1) is calibrated. It transmits the correction factor immediately to the compaction roller W2, which may already be processing the floor area TB4 at this time. Finally, the calibration device is brought to the third measuring position x3, y3 in the third subregion TB3. Here, in the same way, the absolute soil compaction can be determined, as described with reference to the subregions TB 1 and TB 2.
- the system can calibrate the various compaction devices, whereby the location of the machines and the respective working state can be taken into account very flexibly. It is thus no longer necessary for a calibration measurement to have several devices and machine operators at the same time at the same location. The paths traveled by the machines can be minimized. Time shifts that arise due to work not originally planned or changes in capacity (because more or fewer machine hours are available) can be planned in the system.
- the arithmetic unit can thus also carry out later evaluations and e.g. track the quality of measurements of the various devices.
- FIG. 10 schematically shows the system control.
- Each compaction roller W1, W2, the calibration device EV and the arithmetic unit R have a control unit CPU 1,.
- CPU 4 These control units CPU 1, ..., CPU4 communicate with each other and perform a programmed procedure. In this way, e.g. Determines which machine records and transmits data and at what time this should be done. Furthermore, it is possible to specify or control where the machines are to move, which machine the processing unit transmits which data and more.
- Values are always of great advantage when the soil composition changes over a soil area to be measured or compressed.
- it can be sandy, loamy, stony (gravel or gravel) soil in the be present in different floor areas; Also, for example, a different water content may be present. All of these different soil compositions give different relative soil compaction values.
- FIG. 1 shows a terrain area 14 with a plurality of floor areas 3 of different densification running in tracks.
- a box pattern indicates an achieved compaction, which already corresponds to the compaction setpoint.
- Aim of the here desired compression, as z. B. is required in road construction, is the achievement of a predetermined compression, which must not be exceeded or not fallen below.
- a uniform compression is possible with reasonable effort only according to the invention.
- a different hatching has been selected here; Preferably, however, one will choose a representation with different colors.
- the compaction values of this terrain area are e.g. stored in the arithmetic unit. (They can also be stored in each compression device, so that the compression device can work independently, even if the radio connection to the central processing unit should be temporarily interrupted.)
- the geometry layer thickness, number of applied layers
- material properties gravel, Mixture, origin etc.
- a vibrating plate 1 As a compacting device, for example, a vibrating plate 1 is used.
- the vibrating plate 1 thus serves as a compaction and as a measuring device. It generally has a ground contact unit (undercarriage 5 with bottom plate 4) with two counter-rotating imbalances 13a and 13b ( Figure 2) with a total mass m d , which also includes an unbalance exciter. m d symbolizes the entire stimulating swinging Dimensions.
- a static Auflasta the superstructure 7 is based with a mass m f (static weight) via damping elements 6 (stiffness k G , damping c G ).
- the static weight m f together with the damping elements 6, produces a point-point-excited vibration system which is tuned low (low natural frequency).
- the superstructure 7 acts in vibration mode against the vibrations of the undercarriage 5 as a low-pass second order. This minimizes the vibration energy transmitted to the superstructure 7.
- the bottom of the floor area 3 to be measured, compacted or compacted is a building material for which, depending on the properties investigated, different models exist.
- simple spring-damper models (stiffness k B , damping c B ) are used.
- the spring properties take into account the contact zone between the soil compaction unit (undercarriage 5) and the elastic half-space (bottom area).
- the ground stiffness k B is a static, frequency-independent Great. This property could be demonstrated in the present application in the field trial for homogeneous and layered soils.
- equation system (1) describes the associated motion differential equations for the degrees of freedom x d of the undercarriage 5 and x f of the superstructure 7.
- a ground reaction force F B between the undercarriage 5 and the bottom area 3 to be measured, compacted or to be compacted controls the non-linearity of the one-sided binding.
- the analytic solution of the differential equations (1) has the following general form:
- ⁇ is a phase angle between the occurrence of a maximum vibration value of the exciting force and a maximum vibration value of a vibration response of the above-mentioned vibration system.
- a numerical simulation allows the calculation of the solutions of equations (1).
- the use of numerical solution algorithms is essential.
- analytical calculation methods such as the averaging method, very good approximate solutions and statements of a fundamental nature can be made for a bifurcation of the fundamental vibrations for linear and nonlinear oscillations.
- the averaging theory is described in Heatgg Roland (1998), “Nonlinear Vibrations in Dynamic Soil Compressors", Progress VDI, Series 4, VDI Verlag Dusseldorf. This allows a good overall view of the solutions occurring.
- analytical methods are associated with a disproportionately high outlay.
- ⁇ 0 is the circular resonance frequency of the vibration system "machine-ground” [s "1 ].
- the coordinate system of equations (1) and (3) includes a static depression of the dead weight (static load weight m f , swinging mass m d ).
- the static sinking has to be subtracted for comparison purposes in the simulation result.
- the initial conditions for the simulation are all set to "0". The results are given for the case of the steady state.
- the solution solver chosen is "ode 45" (Dormand-Price) with a variable integration step size (maximum step size 0.1 s) in the time range from 0 s to 270 s.
- phase space representation with ⁇ ⁇ t) - ⁇ 2 ⁇ t), or x (t) -x (t) is derived.
- phase curves also referred to as orbitals
- orbitals are closed circles or ellipses in the case of linear, stationary and monofrequent oscillations.
- additional harmonics occur (periodic lifting of the bandage from the ground)
- the harmonics can be recognized as modulated periodicities. Only at period doublings, ie subharmonic oscillations such as "jumping", does the original circle mutate into closed curves that have intersections in the phase space representation.
- a measurement can be triggered in practice by the pulse of a Hall probe, which detects the zero crossing of the vibro wave. This can also generate Poincare images. If the periodically recorded amplitude values are plotted as a function of the varied system parameter, in our case the ground stiffness k B , then the bifurcation or so-called fig tree diagram arises (FIG. 5). In this diagram, on the one hand, one recognizes the property of the amplitudes suddenly increasing as the rigidity increases in the region of the branch, and the tangent to the associated curve (s) runs vertically at the branching point. Therefore, in practice, no additional energy supply for the jumping of the roller is required.
- the diagram further shows that with increasing stiffness (compression) further branches follow, and in ever shorter intervals relative to the continuously increasing stiffness k B.
- the branches produce a cascade of new vibrational components with each half the frequency of the previous lowest frequency of the spectrum. Since the first branching off from the fundamental oscillation with the frequency f, or period T, splits off, the frequency cascade f, f / 2, f / 4, f / 8, etc. is generated. Analogous to the fundamental, the subharmonic harmonics also generate it creates a frequency continuum in the low-frequency range of the signal spectrum. This is also a specific property of the chaotic system, in this case the vibrating vibrating plate.
- the system of the compactor is in a deterministic rather than a stochastic chaotic state. Since the parameters that cause the chaotic state are not all measurable (not fully observable), the operating state of the subharmonic vibrations can not be predicted for practical compaction.
- the operating behavior in practice is also characterized by many imponderables, the machine can slip away due to the strong contact loss to the ground, the load of the machine by the low-frequency vibrations is very high. Ongoing further bifurcations of the machine behavior (unexpected) can occur, which immediately result in heavy additional loads. High stresses also occur between the bandage and the floor; this leads to grata loosening of near-surface layers and "pulls grain destruction.
- the correlation basically changes with the occurrence of the jump, only within the respective branching state of the movement does a linear relationship of the measured value exist the soil stiffness.
- the sensor for receiving the waveform of the vibration system is arranged according to the above description on the undercarriage 5 or on the superstructure 7.
- vibration influences due to the damping elements, as outlined above, must be taken into account.
- the apparatus 1 which is movable to compress at least one base region 3 over its bottom surface 2 here has, for example, an imbalance unit 40, an adjustment unit 41, a timer 43, a comparator unit 45, a measuring unit 47, a memory unit 49, a location determination unit 51 and a transmitting and receiving unit 53. These functional blocks are shown schematically in FIG.
- the imbalance unit 40 has an adjustable imbalance torque and an adjustable unbalance frequency.
- the adjustment or setting is made by means of a mechanically connected to the imbalance unit 40 setting unit 41.
- the location determination unit 51 is signal-wise connected to the memory unit 49.
- the location determining unit determines the position of the ground area 3 currently in the compaction process.
- the position ie the location coordinates can be determined trigonometrically by bearing or by GPS.
- the measuring unit 47 is here arranged, for example, on the base plate 4 and connected in terms of signal to the comparator unit 45 and the memory unit 49.
- the measuring unit 47 determined according to the above statements automatically the Verdichtungsistwert the bottom portion 3 during compaction.
- This soil compaction value is stored in the storage unit 49 together with the location coordinates determined by the location determination unit 51 as a range-specific compaction actual value.
- the comparator unit 45 is used to compare the respective area-specific compression actual value with an assigned area-specific compression setpoint value in order to correct area-specific imbalance and imbalance frequency values corrected by the setting unit 41 for one to get the subsequent compression crossing.
- the comparator unit 45 is signal-wise connected to the measuring unit 47, the memory unit 49 and the timer 43.
- the arithmetic unit 50 includes the timer 43, the comparator unit 45, the memory unit 49, and a "central processing unit" 52.
- the arithmetic unit 50 is also connected to the transmitting and receiving unit 53 and the location determining unit 51.
- the arithmetic unit 50 performs all the calculations to set the appropriate machine data from stored and transmitted data for optimum compaction, and also to provide the data for transmission to a central office or other compaction device.
- the timer 43 serves to provide the adjustment unit 41 with the values for an adjustment of the unbalance torque and the unbalance frequency at the correct time. In particular, masses must be adjusted, accelerated or decelerated here. This takes time. The timer must thus predictively determine the set values from the direction of movement and the speed of movement.
- the data reception and transmission unit 53 serves to receive area-specific compaction setpoint values, in particular to receive area-specific compaction actual values of a preceding compaction process. Furthermore, the data reception and transmission unit 53 serves to transmit the position of areas and their compression actual values determined during the compression.
- the data reception and transmission unit 53 is signal-wise connected to the memory unit 49, from which then a signal-moderate connection with the comparator unit 45, the measuring unit 47 and via the timer 43 with the setting unit 41 is given.
- FIG. 7 shows, analogously to the terrain report 14, a terrain section 60 to be compacted, which is to be compacted with two rollers 61 a and 61 b and a vibration plate 63 shown schematically.
- the rollers 61a and 61b and the vibrating plate 63 each have a position determining unit 65a to 65c.
- the communication between these three devices 61 a, 61 b and 63 for data transmission of the respective area-specific Verdichtungsistute takes place from each device to each device, schematically indicated by the double arrows 67 a, 67 b and 67 c.
- the terrain portion 60 includes a defect 69 as a non-compressible region.
- One of the three devices 61a, 61b and 63 will attempt to compact this defect 69 and then determine a region specific compression actual value that is below the region specific compression setpoint. This actual compression value is transmitted to the other two devices with the corresponding positional position and stored in the device which is being compressed.
- this defect 69 is now excluded as being non-compressible, ie it is no longer run over. If it should not be possible to exclude overtraveling as otherwise adjacent areas can not be passed over in a compacting manner, this defect 69 is run over with an increased traversing speed and recessed compaction performance (merely smoothing the surface). The procedure is analogous to areas that have already reached the specified area-specific actual compression value.
- a center 70 is present, with all the compression devices, here also, for example, the vibrating plate 63 and the two rollers 61a and 61b, via the data reception and transmission unit 71st communicate with each other.
- the compression devices here also, for example, the vibrating plate 63 and the two rollers 61a and 61b, via the data reception and transmission unit 71st communicate with each other.
- Central 70 will usually be the so-called building office, where all information converges.
- the compaction devices 61a, 61b and 63 then transmit the area-specific compaction actual values to this control center 60, which are collected and evaluated accordingly in a data memory 73.
- the center 60 arises then, analogously to FIG. 1 (but with significantly more uniform compaction values), a terrain area from which then the achieved compaction values can be recognized.
- the defect 69 would stand out well in such a representation.
- the center 60 would then take measures such as material exchange of the soil material.
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Architecture (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Paleontology (AREA)
- Soil Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Agronomy & Crop Science (AREA)
- Road Paving Machines (AREA)
- Investigation Of Foundation Soil And Reinforcement Of Foundation Soil By Compacting Or Drainage (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PL06705412T PL1861546T3 (en) | 2005-03-23 | 2006-03-23 | System for co-ordinated soil cultivation |
EP06705412.2A EP1861546B1 (en) | 2005-03-23 | 2006-03-23 | System for co-ordinated soil cultivation |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP05405266A EP1705293A1 (en) | 2005-03-23 | 2005-03-23 | Method and device for compacting an area of ground |
PCT/CH2006/000172 WO2006099772A1 (en) | 2005-03-23 | 2006-03-23 | System for co-ordinated soil cultivation |
EP06705412.2A EP1861546B1 (en) | 2005-03-23 | 2006-03-23 | System for co-ordinated soil cultivation |
Publications (2)
Publication Number | Publication Date |
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EP1861546A1 true EP1861546A1 (en) | 2007-12-05 |
EP1861546B1 EP1861546B1 (en) | 2014-09-03 |
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Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP05405266A Withdrawn EP1705293A1 (en) | 2005-03-23 | 2005-03-23 | Method and device for compacting an area of ground |
EP06705412.2A Active EP1861546B1 (en) | 2005-03-23 | 2006-03-23 | System for co-ordinated soil cultivation |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
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EP05405266A Withdrawn EP1705293A1 (en) | 2005-03-23 | 2005-03-23 | Method and device for compacting an area of ground |
Country Status (8)
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US (1) | US7908084B2 (en) |
EP (2) | EP1705293A1 (en) |
JP (1) | JP2008534830A (en) |
CN (1) | CN101180438B (en) |
AU (1) | AU2006227084B2 (en) |
CA (1) | CA2602492C (en) |
PL (1) | PL1861546T3 (en) |
WO (1) | WO2006099772A1 (en) |
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US20070150147A1 (en) * | 2005-12-23 | 2007-06-28 | Rasmussen Terry L | Compactor using compaction value targets |
DE202006020680U1 (en) * | 2006-10-25 | 2009-09-03 | Wacker Neuson Se | Soil compaction system with position-related documentation of machine and compaction data |
DE102007018743A1 (en) * | 2007-04-22 | 2008-10-23 | Bomag Gmbh | Method and system for controlling compaction machines |
DE102007019419A1 (en) | 2007-04-23 | 2008-10-30 | Hamm Ag | Method for determining a degree of compaction of asphalts and system for determining a degree of compaction |
WO2010027978A1 (en) | 2008-09-02 | 2010-03-11 | The Board Of Regents Of The University Of Oklahoma | Method and apparatus for compaction of roadway materials |
JP5342900B2 (en) * | 2009-03-06 | 2013-11-13 | 株式会社小松製作所 | Construction machine, construction machine control method, and program for causing computer to execute the method |
US8635903B2 (en) | 2009-12-22 | 2014-01-28 | Caterpillar Paving Products Inc. | Method and system for compaction measurement |
EP2558649B1 (en) * | 2010-04-16 | 2014-11-19 | Ammann Schweiz AG | Arrangement for providing a pulsing compressive force |
DE102012208554A1 (en) * | 2012-05-22 | 2013-11-28 | Hamm Ag | Method for planning and carrying out soil compaction operations, in particular for asphalt compaction |
JP6309715B2 (en) * | 2013-07-04 | 2018-04-11 | 前田建設工業株式会社 | Automatic soil volume calculation system for upright construction |
US9139965B1 (en) * | 2014-08-18 | 2015-09-22 | Caterpillar Paving Products Inc. | Compaction on-site calibration |
US20160237630A1 (en) * | 2015-02-18 | 2016-08-18 | Caterpillar Paving Products Inc. | System and Method for Determining a State of Compaction |
CN104713769B (en) * | 2015-04-01 | 2017-04-26 | 哈尔滨工业大学 | Active shock excitation detection system for road condition assessment |
US9903077B2 (en) | 2016-04-04 | 2018-02-27 | Caterpillar Paving Products Inc. | System and method for performing a compaction operation |
US9926677B1 (en) | 2016-09-26 | 2018-03-27 | Caterpillar Inc. | Constant down force vibratory compactor |
US9945081B1 (en) | 2016-10-19 | 2018-04-17 | Caterpillar Inc. | Automatic shut-off for a vibratory plate compactor |
US11131614B2 (en) * | 2018-07-18 | 2021-09-28 | Caterpillar Paving Products Inc. | Autonomous compaction testing systems and methods |
WO2020038567A1 (en) * | 2018-08-21 | 2020-02-27 | Moba Mobile Automation Ag | System for measuring compaction |
SE543161C2 (en) * | 2018-09-28 | 2020-10-13 | Dynapac Compaction Equipment Ab | Method of controlling operation of a vibratory roller |
US11460385B2 (en) * | 2019-02-11 | 2022-10-04 | Ingios Geotechnics, Inc. | Compaction control system for and methods of accurately determining properties of compacted and/or existing ground materials |
US10844557B2 (en) * | 2019-03-27 | 2020-11-24 | Caterpillar Paving Products Inc. | Tool depth setting |
US11711994B2 (en) | 2019-03-29 | 2023-08-01 | Cnh Industrial Canada, Ltd. | System and method for monitoring the condition of a lateral swath of a seedbed with a seedbed floor detection assembly |
CN111749084B (en) * | 2020-06-28 | 2022-01-28 | 三一汽车制造有限公司 | Control method of road roller and road roller |
US11453983B2 (en) * | 2020-07-24 | 2022-09-27 | Caterpillar Paving Products Inc. | Vibration control system, apparatus, and method for compactor |
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SE502079C2 (en) * | 1993-10-14 | 1995-08-07 | Thurner Geodynamik Ab | Control of a packing machine measuring the properties of the substrate |
ZA952853B (en) * | 1994-04-18 | 1995-12-21 | Caterpillar Inc | Method and apparatus for real time monitoring and co-ordination of multiple geography altering machines on a work site |
CN2227671Y (en) * | 1995-08-26 | 1996-05-22 | 洛阳市工程机械设计所 | Road roller |
US5719338A (en) * | 1995-10-24 | 1998-02-17 | Ingersoll-Rand Company | Method and apparatus for providing an indication of compaction in a vibration compaction vehicle |
US6122601A (en) * | 1996-03-29 | 2000-09-19 | The Penn State Research Foundation | Compacted material density measurement and compaction tracking system |
WO1998017865A1 (en) * | 1996-10-21 | 1998-04-30 | Ammann Verdichtung Ag | Method of measuring mechanical data of a soil, and of compacting the soil, and measuring or soil-compaction device |
DE19956943B4 (en) | 1999-11-26 | 2020-03-19 | Bomag Gmbh | Device for controlling the compaction in vibration compaction devices |
JP4131433B2 (en) * | 2000-11-29 | 2008-08-13 | ハム アーゲー | Tamping machine |
DE10317160A1 (en) * | 2003-04-14 | 2004-11-18 | Wacker Construction Equipment Ag | System and method for automated soil compaction |
EP1516961B1 (en) | 2003-09-19 | 2013-12-25 | Ammann Aufbereitung AG | Method for determining soil rigidity and soil compaction device |
US6973821B2 (en) * | 2004-02-19 | 2005-12-13 | Caterpillar Inc. | Compaction quality assurance based upon quantifying compactor interaction with base material |
US20070150147A1 (en) * | 2005-12-23 | 2007-06-28 | Rasmussen Terry L | Compactor using compaction value targets |
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2005
- 2005-03-23 EP EP05405266A patent/EP1705293A1/en not_active Withdrawn
-
2006
- 2006-03-23 WO PCT/CH2006/000172 patent/WO2006099772A1/en active Application Filing
- 2006-03-23 US US11/886,728 patent/US7908084B2/en active Active
- 2006-03-23 AU AU2006227084A patent/AU2006227084B2/en not_active Ceased
- 2006-03-23 EP EP06705412.2A patent/EP1861546B1/en active Active
- 2006-03-23 CN CN2006800181602A patent/CN101180438B/en not_active Expired - Fee Related
- 2006-03-23 JP JP2008506898A patent/JP2008534830A/en active Pending
- 2006-03-23 CA CA2602492A patent/CA2602492C/en active Active
- 2006-03-23 PL PL06705412T patent/PL1861546T3/en unknown
Non-Patent Citations (1)
Title |
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See references of WO2006099772A1 * |
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PL1861546T3 (en) | 2015-02-27 |
US7908084B2 (en) | 2011-03-15 |
US20090126953A1 (en) | 2009-05-21 |
WO2006099772A1 (en) | 2006-09-28 |
AU2006227084B2 (en) | 2011-03-17 |
EP1861546B1 (en) | 2014-09-03 |
JP2008534830A (en) | 2008-08-28 |
EP1705293A1 (en) | 2006-09-27 |
CA2602492C (en) | 2013-08-13 |
AU2006227084A1 (en) | 2006-09-28 |
CN101180438A (en) | 2008-05-14 |
CN101180438B (en) | 2012-05-23 |
CA2602492A1 (en) | 2006-09-28 |
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