EP1985760B1 - Method and system for controlling compacting machines - Google Patents

Method and system for controlling compacting machines Download PDF

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Publication number
EP1985760B1
EP1985760B1 EP08002643A EP08002643A EP1985760B1 EP 1985760 B1 EP1985760 B1 EP 1985760B1 EP 08002643 A EP08002643 A EP 08002643A EP 08002643 A EP08002643 A EP 08002643A EP 1985760 B1 EP1985760 B1 EP 1985760B1
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Prior art keywords
compaction
processing unit
data
machine
sensor
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German (de)
French (fr)
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EP1985760A1 (en
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Robert Laux
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Bomag GmbH and Co OHG
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Bomag GmbH and Co OHG
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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/22—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
    • 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
    • E02D3/026—Improving by compacting by rolling with rollers usable only for or specially adapted for soil compaction, e.g. sheepsfoot rollers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/08—Construction

Definitions

  • the invention relates to a method for controlling a compaction machine for the purpose of automatically adjusting compaction parameters of this compaction machine, and more particularly relates to a corresponding system for controlling such a compaction machine.
  • Compacting machines or devices of the type in question are used to compact soil, underground, traffic routes, dams u. like m. used.
  • Such compaction machines are known in various embodiments from the prior art. This may, for example, but not exclusively, be self-propelled rollers or towed rollers.
  • the invention is distinguished from devices (such as rams or bears) for driving in ground anchors and the like. In the underground.
  • a vibration superimposition or oscillation excitation of the compaction tools is known, which is representative of the DE 33 08 476 A1 is referenced.
  • the compacting machine in question is then provided, for example with a vibrating plate or roller, as in the WO 02/25015 A1 described.
  • the object of the invention is to provide a method for controlling a compacting machine and a corresponding system, with which it can be operated with high efficiency with respect to the compression effect or the degree of compaction and with the same time adjacent structures are not more than permissible loaded by vibrations.
  • the method according to the invention provides that the oscillations originating from the compacting machine and propagating in the subsurface are detected at least one relevant measuring location by means of at least one sensor and the oscillation measured values detected by the sensor are transmitted to at least one data processing unit (9) with a permissible vibration limit value for the respective measuring location. If the permissible limit value for the relevant measuring location is exceeded, it is provided that at least one compaction parameter is automatically set, i. in a control loop, with the aim of setting the vibration measurement values measured at the measurement location to a value less than or equal to the vibration limit value, or influencing the compression parameter in such a way that the maximum detected vibration measurement value is less than or equal to the vibration measurement value. Limit is.
  • compression parameters are understood to be a physically detectable variable which has an influence on the compaction effect or the degree of compaction.
  • the compression parameter is preferably taken from a group which comprises the oscillation amplitude of the compaction tool, the effective direction of this amplitude, the different directional components of this oscillation, the frequency of the oscillation or else the traversing speed or the mass of the compaction machine.
  • a significant advantage of the method according to the invention is the fact that the measurement takes place directly at the relevant or interesting measuring location, that is usually directly on a building. Local and instantaneous soil properties thus have no influence on the vibration measurement values recorded on the structure. An inaccurate determination of the load based on Any back or extrapolations with unspecified soil parameters (such as vibration propagation speed and damping) are thus unnecessary.
  • the system according to the invention comprises at least one sensor for detecting an oscillation caused or emitted by the compaction machine and at least one data processing unit which compares the oscillation measurement values transmitted by the at least one sensor with an admissible oscillation limit value. If the limit value is exceeded, the data processing unit initiates the change of at least one compression parameter of the compacting machine.
  • the at least one sensor is arranged in the area of a building in the underground or on this structure itself, in order to detect directly the vibrations occurring at the measuring location.
  • each compacting machine is detected absolutely or at least relatively with respect to the position of the sensors. Furthermore, each individual compaction machine is assigned a data processing unit which analyzes the oscillation measurement data of all sensors and now calculates, based on the known position of the compaction machine, which sensors or which measurement locations are relevant for the respective compaction machine and which are not. In the event that a vibration measurement value exceeds the permissible limit value at a measuring location relevant to the compaction machine, the data processing unit initiates a corresponding change of at least one compaction parameter with the compaction machine in question.
  • all compaction machines are controlled by only one central data processing unit, each machine itself being equipped with a data processing unit, in particular when the position data received from a navigation system such as GPS is evaluated.
  • the embodiment of Figure 1 comprises a compacting machine 20, which is designed here as a rolling machine.
  • the use is preferred in earthworks and asphalt construction for compaction of the subsurface. Of course, it may also be a plate compactor or another type.
  • the compacting machine 20 is controlled by a data processing unit 9.
  • a data processing unit 9 In the field of construction site several sensors or structural sensors are arranged to detect vibrations or vibrations in buildings.
  • Sensor 10 is arranged at a residential building 1 and sensor 11 at a factory building 2. Both sensors 10 and 11 transmit the detected vibration measurement values to the data processing unit 9, which is simultaneously designed here as a data acquisition unit. The data transmission takes place via cable connection.
  • a sensor 12 at a factory building 3 and a sensor 13 in the region of a railway tunnel 4 is arranged.
  • the railway tunnel is also exemplary for comparable structures such as road tunnels, pipe shafts, sewers, etc.
  • a sensor at a bridge, a tower, a monument o. The like. M. be arranged.
  • the data transmission from the sensors 12 and 13 takes place via a radio link, for which purpose the data acquisition and processing unit 9 is equipped with a radio cell 14.
  • One-directional data transmission from the sensors 10 to 13 to the data acquisition and processing unit 9 is sufficient.
  • the number of sensors shown here is of course only exemplary. According to the invention, it is provided that the number of sensors is unlimited. Also, several sensors, eg. Different types of measurement, possible at a location.
  • the sensors 10 to 13 are arranged in the underground. Of course, a direct arrangement of the objects in question (buildings o. The like.) Possible.
  • the sensors may be acceleration sensors or seismographic sensors.
  • the vibration measured values transmitted by the sensors 10 to 13 to the data processing and detection unit 9 are compared there with the permissible limit values for the relevant object at the respective measuring location.
  • Permissible limit values are included, for example, in the DIN 4150 standard, or are previously determined by a structural engineer, for example. When comparing basically the following states are distinguished:
  • Measured value is equal to the limit value
  • Measured value is greater than the limit value.
  • the data acquisition and processing unit 9 calculates and calculates a new, modified value for at least one compaction parameter for the compaction machine 20 (for example oscillation amplitude, oscillation effective direction, effective direction components of the amplitude, frequency, traversing speed etc.) transmitted to this.
  • the transmission takes place by radio, for which purpose the data acquisition and processing unit 9 is equipped here with a second radio cell 15 and the compacting machine with a corresponding radio cell 16.
  • the use of two independent radio technologies at the data acquisition and processing unit 9 is not necessarily necessary.
  • the adaptation or modification of the at least one compression parameter takes place in a control loop with the aim of not burdening the object in question more than permissible by vibrations and at the same time the compacting machine with high efficiency with respect.
  • the vibration measurement values of the sensors 10 to 13 For documentation and as a measure of quality assurance, but also for warranty reasons, it is intended to record the vibration measurement values of the sensors 10 to 13. As a recording method, electronic as well as conventional writing systems (paper printout) are possible. It is also provided to document the compression parameters of the compacting machine 20 and their change by the controller. Thus, it can also be documented that the compacting machine has reacted to the recorded vibration measured values.
  • the data transmission between the compacting machine 20 and the data acquisition and processing unit 9 is bidirectional. The data can be stored, for example, in the data acquisition and processing unit 9.
  • the data acquisition and processing unit 9, which controls the compacting machine 20, is on-site, i. stationarily arranged or constructed in the area of the construction site.
  • a decentralized arrangement derselbigen possible, for example, at the headquarters of the construction company or the manufacturer of the compaction machine 20 (or a service provider for the controller).
  • the data transmission between the sensors and the unit 9, and between the compacting machine 20 and the unit 9 then takes place via radio.
  • the data acquisition and processing unit 9 directly on the compacting machine 20. This is shown in FIG. 2.
  • the essential advantage here is the elimination of the radio link between the unit 9 and the compacting machine 20.
  • the system or system is also suitable for the construction site since the stationary construction of the unit 9 on site is omitted. With this principle, an exclusive radio transmission between the sensors 10 to 13 and the unit 9 (with its radio cell 14) is advantageous. That It is also crucial to use only those sensors that have a corresponding wireless technology.
  • FIG. 3 proves to be particularly advantageous.
  • the sensors 10 to 13 and the compacting machine or machines 20 which constantly change their position due to their movement
  • the technical ability to determine their current position which is done here by way of example GPS receiver technology.
  • the normally stationary sensors would also be able to determine their position once and input it into the data acquisition and processing unit 9.
  • each of the compaction machines 20 is equipped with a data acquisition and processing unit 9.
  • the units 9 now receive the oscillation measured values of the sensors 10 to 13 and at the same time the position at which these measured values are detected. Now can be determined or calculated by the known own position of the compacting machine 20, which critical oscillation measured values are relevant for the respective compaction machine, to react accordingly with changing at least one compression parameter. Any number of compaction machines can be used on the construction site.
  • only one data acquisition and processing unit 9 which controls all the compaction machines. This can be arranged locally or on site at the construction site. Also, their arrangement on a compaction machine is possible, which then acts as a master machine for the other compaction machines (which can be of the other design, by the way).

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Abstract

The method involves measuring oscillations dispersed in underground by a compression machine (20) at a relevant measuring point by sensors (10-13). Oscillation measured values detected by the sensors are determined at a data processing unit (9). The measured values are compared with a permissible oscillation limit value for the respective measuring point, and a compression parameter is changed when a limit value is exceeded to automatically adjust the oscillation measured values measured at the measuring point on a value smaller or equal to the oscillation limit value with a target. An independent claim is also included for a system for a System for controlling a compression machine.

Description

Die Erfindung bezieht sich auf ein Verfahren zur Steuerung einer Verdichtungsmaschine zum Zwecke der automatischen Anpassung von Verdichtungsparametern dieser Verdichtungsmaschine und betrifft insbesondere ein entsprechendes System zur Steuerung einer solchen Verdichtungsmaschine.The invention relates to a method for controlling a compaction machine for the purpose of automatically adjusting compaction parameters of this compaction machine, and more particularly relates to a corresponding system for controlling such a compaction machine.

Verdichtungsmaschinen bzw. -geräte der betreffenden Art werden zur Verdichtung von Böden, Untergrund, Verkehrswegen, Dämmen u. dgl. m. eingesetzt. Solche Verdichtungsmaschinen sind in verschiedenen Ausführungsformen aus dem Stand der Technik bekannt. Hierbei kann es sich beispielsweise, aber nicht ausschließlich, um selbstfahrende Walzen oder Anhängewalzen handeln. Die Erfindung ist zu unterscheiden von Vorrichtungen (wie Rammen oder Bären) zum Eintreiben von Erdankern und dgl. in den Untergrund.Compacting machines or devices of the type in question are used to compact soil, underground, traffic routes, dams u. like m. used. Such compaction machines are known in various embodiments from the prior art. This may, for example, but not exclusively, be self-propelled rollers or towed rollers. The invention is distinguished from devices (such as rams or bears) for driving in ground anchors and the like. In the underground.

Zur Verbesserung der Verdichtungswirkung bzw. zur Erhöhung des Verdichtungsgrades ist eine Vibrationsüberlagerung bzw. Schwingungserregung der Verdichtungswerkzeuge bekannt, wozu stellvertretend auf die DE 33 08 476 A1 verwiesen wird. Die betreffende Verdichtungsmaschine ist dann z.B. mit einer Vibrationsplatte oder -walze versehen, wie in der WO 02/25015 A1 beschrieben.To improve the compaction effect or to increase the degree of compaction, a vibration superimposition or oscillation excitation of the compaction tools is known, which is representative of the DE 33 08 476 A1 is referenced. The compacting machine in question is then provided, for example with a vibrating plate or roller, as in the WO 02/25015 A1 described.

Ein wesentliches Problem hierbei ist jedoch, dass die Verdichtungsmaschine selbst als auch umliegende Bauwerke durch die Schwingungen beschädigt werden können. Dies ist insbesondere dann problematisch, wenn die Frequenz der Schwingungsanregung im Bereich der lokalen Eigenfrequenz der Maschine oder des Untergrundes liegt, oder wenn große Schwingamplituden gefahren werden. Es ist daher aus dem Stand der Technik bekannt, die Schwingungen zu erfassen und ggf. über einen Regelkreis zu korrigieren, um bspw. auch ein unerwünschtes "Springen" der Maschine zu verhindern. Eine solche Regelung ist in der EP 1 705 293 A1 , EP 0 688 379 B1 und der bereits o.g. WO 02/25015 A1 beschrieben. Zur Erfassung der Schwingungen sind hier die Verdichtungsmaschine oder das Verdichtungswerkzeug mit Sensoren ausgestattet. Die Schwingungen im Untergrund selbst oder an den umliegenden Bauwerken bleiben dabei jedoch unberücksichtigt.However, a significant problem here is that the compacting machine itself as well as surrounding structures can be damaged by the vibrations. This is particularly problematic if the frequency of the vibration excitation is in the range of the local natural frequency of the machine or the ground, or if large vibration amplitudes are driven. It is therefore known from the prior art to detect the vibrations and if necessary to correct them via a control loop in order to prevent, for example, an undesired "jumping" of the machine. Such a regulation is in the EP 1 705 293 A1 . EP 0 688 379 B1 and already og WO 02/25015 A1 described. To detect the oscillations, here the compacting machine or the compaction tool are equipped with sensors. However, the vibrations in the subsoil itself or on the surrounding structures remain unconsidered.

Aufgabe der Erfindung ist es, ein Verfahren zur Steuerung einer Verdichtungsmaschine und ein entsprechendes System bereitzustellen, mit dem diese mit hoher Effizienz bzgl. der Verdichtungswirkung bzw. des Verdichtungsgrades betrieben werden kann und mit dem gleichzeitig benachbarte Bauwerke nicht mehr als zulässig durch Vibrationen belastet werden.The object of the invention is to provide a method for controlling a compacting machine and a corresponding system, with which it can be operated with high efficiency with respect to the compression effect or the degree of compaction and with the same time adjacent structures are not more than permissible loaded by vibrations.

Diese Aufgabe wird gelöst durch ein Verfahren gemäß dem Anspruch 1 und durch ein System gemäß dem nebengeordneten Anspruch. Vorteilhafte Weiterbildungen sind Gegenstand der jeweils abhängigen Ansprüche.This object is achieved by a method according to claim 1 and by a system according to the independent claim. Advantageous developments are the subject of the respective dependent claims.

Das erfindungsgemäße Verfahren sieht vor, dass die sich von der Verdichtungsmaschine ausgehenden und im Untergrund ausbreitenden Schwingungen an wenigstens einem relevanten Messort mittels wenigstens einem Sensor erfasst werden und die von dem Sensor erfassten Schwingungs-Messwerte an wenigstens eine Datenverarbeitungseinheit (9) übermittelt werden, welche diese mit einem zulässigen Schwingungs-Grenzwert für den jeweiligen Messort vergleicht. Bei Überschreitung des zulässigen Grenzwertes für den betreffenden Messort ist vorgesehen, wenigstens einen Verdichtungsparameter automatisch, d.h. in einem Regelkreis, zu verändern, mit dem Ziel die am Messort gemessenen Schwingungs-Messwerte auf einen Wert kleiner oder gleich dem Schwingungs-Grenzwert einzustellen, bzw. den Verdichtungsparameter derart zu beeinflussen, dass der maximale erfasste Schwingungs-Messwert kleiner oder gleich dem Schwingungs-Grenzwert ist.The method according to the invention provides that the oscillations originating from the compacting machine and propagating in the subsurface are detected at least one relevant measuring location by means of at least one sensor and the oscillation measured values detected by the sensor are transmitted to at least one data processing unit (9) with a permissible vibration limit value for the respective measuring location. If the permissible limit value for the relevant measuring location is exceeded, it is provided that at least one compaction parameter is automatically set, i. in a control loop, with the aim of setting the vibration measurement values measured at the measurement location to a value less than or equal to the vibration limit value, or influencing the compression parameter in such a way that the maximum detected vibration measurement value is less than or equal to the vibration measurement value. Limit is.

Unter Verdichtungsparameter wird im Sinne der Patentanmeldung eine physikalisch erfassbare Größe verstanden, die Einfluss auf die Verdichtungswirkung bzw. den Verdichtungsgrad hat. Der Verdichtungsparameter ist bevorzugt einer Gruppe entnommen, welche die Schwingungs-Amplitude des Verdichtungswerkzeuges, die Wirkrichtung dieser Amplitude, die unterschiedlichen Richtungsanteile dieser Schwingung, die Frequenz der Schwingung oder aber auch die Verfahrgeschwindigkeit oder die Masse der Verdichtungsmaschine umfasst.For the purposes of the patent application, compression parameters are understood to be a physically detectable variable which has an influence on the compaction effect or the degree of compaction. The compression parameter is preferably taken from a group which comprises the oscillation amplitude of the compaction tool, the effective direction of this amplitude, the different directional components of this oscillation, the frequency of the oscillation or else the traversing speed or the mass of the compaction machine.

Ein wesentlicher Vorteil des erfindungsgemäßen Verfahrens ist darin zu sehen, dass die Messung direkt an dem relevanten bzw. interessierenden Messort erfolgt, also in der Regel direkt an einem Bauwerk. Lokale und momentane Bodeneigenschaften sind damit ohne Einfluss auf die am Bauwerk erfassten Schwingungs-Messwerte. Eine ungenaue Belastungsermittlung auf Basis etwaiger Rück- oder Hochrechnungen mit nicht näher spezifizierbaren Bodenparametern (wie Schwingungsausbreitungsgeschwindigkeit und Dämpfung) erübrigt sich damit.A significant advantage of the method according to the invention is the fact that the measurement takes place directly at the relevant or interesting measuring location, that is usually directly on a building. Local and instantaneous soil properties thus have no influence on the vibration measurement values recorded on the structure. An inaccurate determination of the load based on Any back or extrapolations with unspecified soil parameters (such as vibration propagation speed and damping) are thus unnecessary.

Dies bedeutet, dass die Verdichtungsmaschine mit sehr hoher Effizienz hinsichtlich Verdichtungswirkung und Verdichtungsgrad betrieben werden kann, wobei gleichzeitig die umliegenden Bauwerke und hierbei insbesondere die Schwingungsanfälligen bestmöglichst vor Vibrationen geschützt werden, indem diese nicht mehr als zulässig mit Schwingungen belastet sind.This means that the compacting machine can be operated with very high efficiency in terms of compaction effect and degree of compaction, at the same time the surrounding structures and in particular those susceptible to vibration are best protected against vibrations by being burdened with vibrations no more than permissible.

Das erfindungsgemäße System umfasst wenigstens einen Sensor zur Erfassung einer von der Verdichtungsmaschine verursachten oder ausgehenden Schwingung und wenigstens eine Datenverarbeitungseinheit welche die von dem wenigstens einem Sensor übermittelten Schwingungs-Messwerte mit einem zulässigen Schwingungs-Grenzwert vergleicht. Bei Überschreitung des Grenzwertes leitet die Datenverarbeitungseinheit die Veränderung wenigstens eines Verdichtungsparameter der Verdichtungsmaschine ein. Der wenigstens eine Sensor ist im Bereich eines Bauwerks im Untergrund oder an diesem Bauwerk selbst angeordnet, um die am Messort auftretenden Schwingungen direkt zu erfassen.The system according to the invention comprises at least one sensor for detecting an oscillation caused or emitted by the compaction machine and at least one data processing unit which compares the oscillation measurement values transmitted by the at least one sensor with an admissible oscillation limit value. If the limit value is exceeded, the data processing unit initiates the change of at least one compression parameter of the compacting machine. The at least one sensor is arranged in the area of a building in the underground or on this structure itself, in order to detect directly the vibrations occurring at the measuring location.

Zu den Vorteilen eines solchen Systems soll im Wesentlichen auf obige Ausführungen zum Steuerverfahren verwiesen werden.With regard to the advantages of such a system, reference should essentially be made to the above explanations regarding the control method.

In einer besonders bevorzugten Weiterbildung der Erfindung, für die ggf. gesondert Schutz beantragt wird, ist vorgesehen, dass mehrere Verdichtungsmaschinen auf einer Baustelle betrieben werden. Die Position jeder einzelnen Verdichtungsmaschine wird absolut oder zumindest relativ in Bezug auf die Lage der Sensoren erfasst. Im Weiteren ist jeder einzelnen Verdichtungsmaschine eine Datenverarbeitungseinheit zugeordnet, welche die Schwingungs-Messdaten sämtlicher Sensoren analysiert und nun aufgrund der bekannten Position der Verdichtungsmaschine errechnet, welche Sensoren bzw. welche Messorte für die jeweilige Verdichtungsmaschine relevant sind und welche nicht. Für den Fall, dass an einem für die Verdichtungsmaschine relevanten Messort ein Schwingungs-Messwert den zulässigen Grenzwert übersteigt, veranlasst die Datenverarbeitungseinheit eine entsprechende Veränderung wenigstens eines Verdichtungsparameters mit dem betreffende Verdichtungsmaschine betrieben wird. Eine besonders vorteilhafte Weiterbildung sieht vor, dass sämtliche Verdichtungsmaschinen durch nur eine zentrale Datenverarbeitungseinheit gesteuert werden, wobei jede Maschine selbst mit einer Datenverarbeitungseinheit ausgerüstet ist, insbesondere wenn die von einem Navigationssystem wie GPS empfangenen Positionsdaten ausgewertet werden.In a particularly preferred development of the invention, for which protection may be requested separately, it is provided that several compaction machines are operated on a construction site. The position of each compacting machine is detected absolutely or at least relatively with respect to the position of the sensors. Furthermore, each individual compaction machine is assigned a data processing unit which analyzes the oscillation measurement data of all sensors and now calculates, based on the known position of the compaction machine, which sensors or which measurement locations are relevant for the respective compaction machine and which are not. In the event that a vibration measurement value exceeds the permissible limit value at a measuring location relevant to the compaction machine, the data processing unit initiates a corresponding change of at least one compaction parameter with the compaction machine in question. A particularly advantageous further development provides that all compaction machines are controlled by only one central data processing unit, each machine itself being equipped with a data processing unit, in particular when the position data received from a navigation system such as GPS is evaluated.

Nachfolgend werden anhand der Bilder mehrere Ausführungsbeispiele der Erfindung und deren Vorteile beschrieben. Merkmale die nur im Zusammenhang mit einem Ausführungsbeispiel gezeigt sind, gelten im Rahmen des technisch Möglichen auch als allgemeine Merkmale der Erfindung.

Bild 1
zeigt eine Ausführungsform des erfindungsgemäßen Systems in einer schematischen Ansicht.
Bild 2
zeigt eine Abwandlung des Systems nach Bild 1, bei dem die Datenverarbeitungseinheit direkt an einer Verdichtungsmaschine angeordnet ist.
Bild 3
zeigt eine Abwandlung des Systems nach Bild 2, bei dem die Sensoren und die Verdichtungsmaschinen mit GPS-Empfängern ausgerüstet sind.
Hereinafter, several embodiments of the invention and their advantages will be described with reference to the pictures. Features that are shown only in connection with an embodiment, in the context of the technically possible also apply as general features of the invention.
Image 1
shows an embodiment of the system according to the invention in a schematic view.
picture 2
shows a modification of the system according to Figure 1, in which the data processing unit is arranged directly on a compacting machine.
picture 3
shows a modification of the system according to Figure 2, in which the sensors and the compaction machines are equipped with GPS receivers.

Die Ausführungsform nach Bild 1 umfasst eine Verdichtungsmaschine 20, die hier als Walzmaschine ausgeführt ist. Der Einsatz ist bevorzugt im Erdbau und Asphaltbau zur Verdichtung des Untergrunds. Selbstverständlich kann es sich aber auch um einen Plattenverdichter oder eine andere Bauart handeln. Die Verdichtungsmaschine 20 wird von einer Datenverarbeitungseinheit 9 gesteuert. Im Bereich der Baustelle sind zur Erfassung von Schwingungen bzw. Vibrationen an Bauwerken mehrere Sensoren bzw. Bauwerkssensoren angeordnet. Sensor 10 ist bei einem Wohnhaus 1 und Sensor 11 bei einem Werksgebäude 2 angeordnet. Beide Sensoren 10 und 11 übermitteln die erfassten Schwingungs-Messwerte an die Datenverarbeitungseinheit 9, die hier gleichzeitig als Datenerfassungseinheit ausgelegt ist. Die Datenübertragung vollzieht sich über Kabelverbindung. Weiterhin ist ein Sensor 12 bei einem Fabrikgebäude 3 und eine Sensor 13 im Bereich eines Bahntunnels 4 angeordnet. Der Bahntunnel steht exemplarisch auch für vergleichbare Bauwerke wie Straßentunnels, Leitungsschächte, Abwasserkanäle etc. Auch kann ein Sensor bei einer Brücke, einem Turm, einem Denkmal o. dgl. m. angeordnet sein. Die Datenübertragung von den Sensoren 12 und 13 vollzieht sich über eine Funkverbindung, wozu die Datenerfassungs- und -verarbeitungseinheit 9 mit einer Funkzelle 14 ausgestattet ist. Eine eindirektionale Datenübertragung von den Sensoren 10 bis 13 zu der Datenerfassungs- und -verarbeitungseinheit 9 ist ausreichend. Die Anzahl der hier gezeigten Sensoren ist selbstverständlich nur beispielhaft. Erfindungsgemäß ist vorgesehen, dass die Anzahl der Sensoren unbegrenzt ist. Auch sind mehrere Sensoren, bspw. auch unterschiedlicher Messart, an einem Messort möglich.The embodiment of Figure 1 comprises a compacting machine 20, which is designed here as a rolling machine. The use is preferred in earthworks and asphalt construction for compaction of the subsurface. Of course, it may also be a plate compactor or another type. The compacting machine 20 is controlled by a data processing unit 9. In the field of construction site several sensors or structural sensors are arranged to detect vibrations or vibrations in buildings. Sensor 10 is arranged at a residential building 1 and sensor 11 at a factory building 2. Both sensors 10 and 11 transmit the detected vibration measurement values to the data processing unit 9, which is simultaneously designed here as a data acquisition unit. The data transmission takes place via cable connection. Furthermore, a sensor 12 at a factory building 3 and a sensor 13 in the region of a railway tunnel 4 is arranged. The railway tunnel is also exemplary for comparable structures such as road tunnels, pipe shafts, sewers, etc. Also, a sensor at a bridge, a tower, a monument o. The like. M. be arranged. The data transmission from the sensors 12 and 13 takes place via a radio link, for which purpose the data acquisition and processing unit 9 is equipped with a radio cell 14. One-directional data transmission from the sensors 10 to 13 to the data acquisition and processing unit 9 is sufficient. The number of sensors shown here is of course only exemplary. According to the invention, it is provided that the number of sensors is unlimited. Also, several sensors, eg. Different types of measurement, possible at a location.

Die Sensoren 10 bis 13 werden im Untergrund angeordnet. Selbstverständlich ist auch eine direkte Anordnung an den betreffenden Objekten (Gebäuden o. dgl.) möglich. Die Sensoren können Beschleunigungssensoren oder seismographische Sensoren sein.The sensors 10 to 13 are arranged in the underground. Of course, a direct arrangement of the objects in question (buildings o. The like.) Possible. The sensors may be acceleration sensors or seismographic sensors.

Die von den Sensoren 10 bis 13 an die Datenverarbeitungs- und -erfassungseinheit 9 übermittelten Schwingungs-Messwerte werden dort mit den zulässigen Grenzwerten für das betreffende Objekt am jeweiligen Messort verglichen. Zulässige Grenzwerte sind bspw. in der Norm DIN 4150 enthalten, oder werden zuvor bspw. durch einen Statiker bestimmt. Beim Vergleichen werden grundsätzlich folgende Zustände unterschieden:The vibration measured values transmitted by the sensors 10 to 13 to the data processing and detection unit 9 are compared there with the permissible limit values for the relevant object at the respective measuring location. Permissible limit values are included, for example, in the DIN 4150 standard, or are previously determined by a structural engineer, for example. When comparing basically the following states are distinguished:

Messwert ist kleiner als der Grenzwert,Measured value is less than the limit,

Messwert ist gleich dem Grenzwert,Measured value is equal to the limit value,

Messwert ist größer als der Grenzwert.Measured value is greater than the limit value.

Grundsätzlich ist es nicht erforderlich, dass ein neuer, veränderter Wert von der Datenverarbeitungseinheit 9 berechnet wird. Es ist vielmehr die Auswertung und der Vergleich der Messwerte mit dem Grenzwert ausreichend. Es wird dann als Ergebnis übermittelt, ob die Messwerte über oder unter dem Grenzwert liegen oder gleich dem Grenzwert sind. In Abhängigkeit davon wird die Steuereinheit der Maschine die Verdichtungsparameter entsprechend verkleinern oder vergrößern bzw. konstant halten.In principle, it is not necessary for a new, modified value to be calculated by the data processing unit 9. Rather, the evaluation and comparison of the measured values with the limit value is sufficient. It is then transmitted as a result of whether the measured values are above or below the limit value or equal to the limit value. Depending on this, the control unit of the machine will correspondingly reduce or increase the compression parameters or keep them constant.

In dem hier beschriebenen Beispiel wird von der Datenerfassungs- und Verarbeitungseinheit 9 ein neuer, veränderter Wert für wenigstens eines Verdichtungsparameters für die Verdichtungsmaschine 20 (bspw. Schwingamplitude, Schwing-Wirkrichtung, Wirkrichtungsanteile der Amplitude, Frequenz, Verfahrgeschwindigkeit etc.) bestimmt bzw. errechnet und an diese übermittelt. Die Übermittlung geschieht per Funk, wozu die Datenerfassungs- und -verarbeitungseinheit 9 hier mit einer zweiten Funkzelle 15 und die Verdichtungsmaschine mit einer korrespondierenden Funkzelle 16 ausgestattet ist. Der Einsatz von zwei unabhängigen Funktechniken an der Dateneifassungs- und -verarbeitungseinheit 9 ist aber nicht zwangläufig notwendig. Die Anpassung bzw. Veränderung des wenigstens einen Verdichtungsparameters vollzieht sich in einem Regelkreis mit dem Ziel, das betreffende Objekt nicht mehr als zulässig durch Schwingungen zu belasten und gleichzeitig die Verdichtungsmaschine mit hoher Effizienz bzgl. Kompression des Untergrundes und Tiefenwirkung (Verdichtungswirkung bzw. Verdichtungsgrades) zu betreiben. Es erfolgt also eine Regelung auf ein örtlich mögliches Maximum hin. Je nach Regelkreisabstimmung kann hierbei nur ein Verdichtungsparameter oder es können mehrere Verdichtungsparameter zeitgleich oder nacheinander verändert werden.In the example described here, the data acquisition and processing unit 9 calculates and calculates a new, modified value for at least one compaction parameter for the compaction machine 20 (for example oscillation amplitude, oscillation effective direction, effective direction components of the amplitude, frequency, traversing speed etc.) transmitted to this. The transmission takes place by radio, for which purpose the data acquisition and processing unit 9 is equipped here with a second radio cell 15 and the compacting machine with a corresponding radio cell 16. However, the use of two independent radio technologies at the data acquisition and processing unit 9 is not necessarily necessary. The adaptation or modification of the at least one compression parameter takes place in a control loop with the aim of not burdening the object in question more than permissible by vibrations and at the same time the compacting machine with high efficiency with respect. Compression of the substrate and depth effect (compaction effect or degree of compaction) operate. Thus, there is a regulation to a local maximum possible. Depending on the control loop adjustment in this case, only one compression parameter or several compression parameters can be changed at the same time or in succession.

Zur Dokumentation und als Maßnahme der Qualitätssicherung, aber auch aus Gewährleistungsgründen, ist vorgesehen, die Schwingungs-Messwerte der Sensoren 10 bis 13 festzuhalten. Als Aufzeichnungsverfahren sind elektronische sowie auch konventionelle schreibende Systeme (Papierausdruck) möglich. Auch ist vorgesehen, die Verdichtungsparameter der Verdichtungsmaschine 20 und deren Veränderung durch die Steuerung zu dokumentieren. Somit kann auch dokumentiert werden, dass die Verdichtungsmaschine auf die erfassten Schwingungs-Messwerte reagiert hat. Hierzu ist die Datenübertragung zwischen der Verdichtungsmaschine 20 und Datenerfassungs- und -verarbeitungseinheit 9 bidirektionaler Art. Die Speicherung der Daten kann bspw. in der Datenerfassungs- und -verarbeitungseinheit 9 erfolgen.For documentation and as a measure of quality assurance, but also for warranty reasons, it is intended to record the vibration measurement values of the sensors 10 to 13. As a recording method, electronic as well as conventional writing systems (paper printout) are possible. It is also provided to document the compression parameters of the compacting machine 20 and their change by the controller. Thus, it can also be documented that the compacting machine has reacted to the recorded vibration measured values. For this purpose, the data transmission between the compacting machine 20 and the data acquisition and processing unit 9 is bidirectional. The data can be stored, for example, in the data acquisition and processing unit 9.

Die Datenerfassungs- und -verarbeitungseinheit 9, die die Verdichtungsmaschine 20 steuert, ist vor Ort d.h. im Bereich der Baustelle stationär angeordnet bzw. aufgebaut. Natürlich ist auch eine dezentrale Anordnung derselbigen möglich, bspw. am Hauptsitz der Baufirma oder des Herstellers der Verdichtungsmaschine 20 (bzw. einem Dienstleistungsanbieter für die Steuerung). Die Datenübertragung zwischen den Sensoren und der Einheit 9, sowie zwischen Verdichtungsmaschine 20 und der Einheit 9 vollzieht sich dann über Funk.The data acquisition and processing unit 9, which controls the compacting machine 20, is on-site, i. stationarily arranged or constructed in the area of the construction site. Of course, a decentralized arrangement derselbigen possible, for example, at the headquarters of the construction company or the manufacturer of the compaction machine 20 (or a service provider for the controller). The data transmission between the sensors and the unit 9, and between the compacting machine 20 and the unit 9 then takes place via radio.

Weiterhin ist es möglich, die Datenerfassungs- und -verarbeitungseinheit 9 direkt auf der Verdichtungsmaschine 20 anzuordnen. Dies zeigt Bild 2. Als wesentlicher Vorteil ergibt sich hier der Entfall der Funkverbindung zwischen der Einheit 9 und der Verdichtungsmaschine 20. Auch wird das System bzw. die Anlage baustellengerechter, da der stationäre Aufbau der Einheit 9 vor Ort entfällt. Bei diesem Prinzip ist eine ausschließliche Funkübertragung zwischen den Sensoren 10 bis 13 und der Einheit 9 (mit ihrer Funkzelle 14) von Vorteil. D.h. es werden maßgeblich auch nur solche Sensoren eingesetzt, die über eine entsprechende Funktechnik verfügen.Furthermore, it is possible to arrange the data acquisition and processing unit 9 directly on the compacting machine 20. This is shown in FIG. 2. The essential advantage here is the elimination of the radio link between the unit 9 and the compacting machine 20. The system or system is also suitable for the construction site since the stationary construction of the unit 9 on site is omitted. With this principle, an exclusive radio transmission between the sensors 10 to 13 and the unit 9 (with its radio cell 14) is advantageous. That It is also crucial to use only those sensors that have a corresponding wireless technology.

Sollen auf einer Baustelle mehrere Verdichtungsmaschinen 20 eingesetzt werden, so erweist sich das Ausführungsbeispiel gemäß dem Bild 3 als besonders vorteilhaft. Im Vergleich zu Bild 2 sind hier alle Sensoren 10 bis 13 und die Verdichtungsmaschine bzw. -maschinen 20 (die aufgrund ihrer Bewegung ständig ihre Position verändern) mit der technischen Möglichkeit ausgerüstet ihre momentane Position festzustellen, was hier beispielhaft mittels GPS-Empfängertechnik erfolgt. Bzgl. der in der Regel ortsfesten Sensoren wäre es alternativ auch möglich, deren Position einmalig zu bestimmen und in die Datenerfassungs- und -verarbeitungseinheit 9 einzugeben.If a plurality of compaction machines 20 are to be used on a construction site, the embodiment according to FIG. 3 proves to be particularly advantageous. Compared to Figure 2, here are all the sensors 10 to 13 and the compacting machine or machines 20 (which constantly change their position due to their movement) equipped with the technical ability to determine their current position, which is done here by way of example GPS receiver technology. Concerning. As a rule, the normally stationary sensors would also be able to determine their position once and input it into the data acquisition and processing unit 9.

Erfindungsgemäß ist vorgesehen, dass jede der Verdichtungsmaschinen 20 mit einer Datenerfassungs- und -verarbeitungseinheit 9 ausgerüstet ist. Die Einheiten 9 erhalten jetzt also die Schwingungs-Messwerte der Sensoren 10 bis 13 und gleichzeitig die Position, an der diese Messwerte erfasst werden. Nun kann durch die bekannte eigene Position der Verdichtungsmaschine 20 ermittelt bzw. errechnet werden, welche kritischen Schwingungs-Messwerte für die jeweilige Verdichtungsmaschine relevant sind, um hierauf entsprechend mit Veränderung wenigstens eines Verdichtungsparameters zu reagieren. Damit können beliebig viele Verdichtungsmaschinen auf der Baustelle eingesetzt werden.According to the invention, each of the compaction machines 20 is equipped with a data acquisition and processing unit 9. The units 9 now receive the oscillation measured values of the sensors 10 to 13 and at the same time the position at which these measured values are detected. Now can be determined or calculated by the known own position of the compacting machine 20, which critical oscillation measured values are relevant for the respective compaction machine, to react accordingly with changing at least one compression parameter. Any number of compaction machines can be used on the construction site.

In einer alternativen Ausführungsform ist nur eine Datenerfassungs- und -verarbeitungseinheit 9 vorgesehen, welche sämtliche Verdichtungsmaschinen steuert. Diese kann dezentral oder vor Ort auf der Baustelle angeordnet sein. Auch ist deren Anordnung auf einer Verdichtungsmaschine möglich, die dann als Mastermaschine für die anderen Verdichtungsmaschinen (die im Übrigen auch anderer Bauart sein können) fungiert.In an alternative embodiment, only one data acquisition and processing unit 9 is provided which controls all the compaction machines. This can be arranged locally or on site at the construction site. Also, their arrangement on a compaction machine is possible, which then acts as a master machine for the other compaction machines (which can be of the other design, by the way).

Claims (17)

  1. A method for controlling at least one compaction machine (20) for the ground, in particular in earthworks and asphalt construction, in which at least one compaction parameter is changeable by a control loop circuit during the compaction process, characterized in that the oscillations propagating from the compaction machine (20) in the ground are detected at least one relevant measuring location which is situated in the area of a structure (1, 2, 3, 4) by at least one sensor (10, 11, 12, 13) which is arranged in the area of said structure in the ground or on the structure itself, and the measured oscillation values detected by the sensor (10, 11, 12, 13) are sent to at least one data-processing unit (9) which compares the same with a permissible oscillation limit value for the respective measuring location, and which, in cases where the limit value is exceeded, changes at least one compaction parameter with the goal of automatically setting the measured oscillation values measured at the measuring location to a value smaller than or equal to the oscillation limit value.
  2. A method according to claim 1, characterized in that several sensors (10, 11, 12, 13) are arranged at different measuring locations and/or several sensors are arranged at one measuring location.
  3. A method according to one of the preceding claims, characterized in that the measured oscillation values detected by the at least one sensor (10, 11, 12, 13) are stored for documentation purposes.
  4. A method according to one of the preceding claims, characterized in that the compaction parameters of the at least one compaction machine (20), in particular the compaction parameters changed by the control loop circuit, are stored for documentation purposes.
  5. A method according to one of the preceding claims, in particular according to claim 4, characterized in that the at least one changeable compaction parameter is taken from a group which comprises amplitude, direction of action of the amplitude, vertical share of the amplitude, frequency of the oscillation or speed of displacement of the compaction machine.
  6. A method according to one of the preceding claims, characterized in that at least the data transmission between sensor (10, 11, 12, 13) and data-processing unit (9) or between data-processing unit (9) and compaction machine (20) occurs by means of radio signals.
  7. A method according to one of the preceding claims, characterized in that several compaction machines (20) are used which are each controlled by means of a data-processing unit (9) or of which several are controlled by a common data-processing unit.
  8. A method according to one of the preceding claims, in particular according to claim 7, characterized in that at least one compaction machine (20) detects its current position and sends the same to its associated data-processing unit (9), which then determines which measured sensor values are relevant for the respective compaction machine in order to optionally change at least one compaction parameter of said compaction machine (20).
  9. A method according to claim 7 or 8, characterized in that the compaction machines (20) detect their position with GPS receivers and that preferably the at least one sensor (10, 11, 12, 13) also detects its position with GPS receivers.
  10. A system for controlling at least one compaction machine (20) for the ground and the like, comprising at least one changeable compaction parameter, in particular for controlling with a method according to one of the preceding claims, comprising at least one sensor (10, 11, 12, 13) for detecting an oscillation caused or emitted by the compaction machine, and at least one data-processing unit (9) which compares the measured oscillation values sent by the sensor (10, 11, 12, 13) with a permissible oscillation limit value and optionally changes the at least one compaction parameter of the compaction machine (20), characterized in that the at least one sensor (10, 11, 12, 13) is arranged in the area of a structure (1, 2, 3, 4) in the ground or on the structure itself in order to directly detect the oscillations occurring at the measuring location.
  11. A system according to claim 10, characterized in that several sensors (10, 11, 12, 13) are arranged at a measuring location and/or at different measuring locations.
  12. A system according to claim 10 or 11, characterized in that several compaction machines (20) are comprised which are each controlled by a data-processing unit (9) or by a common data-processing unit.
  13. A system according to one of claims 10 to 12, characterized in that the data transmission between the data-processing unit (9) and the compaction machine (20) is of a bi-directional nature.
  14. A system according to one of claims 10 to 13, characterized in that the at least one data-processing unit (9) is arranged directly on the compaction machine (20).
  15. A system according to one of claims 10 to 14, characterized in that the at least one sensor (10, 11, 12, 13) and the at least one compaction machine (20) are equipped with the technical possibility of determining their current position and with the possibility of sending the same to the at least one data-processing unit (9).
  16. A system according to claim 15, characterized in that the sensor (10, 11, 12, 13) and the compaction machine (20) comprise GPS receivers.
  17. A system according to one of claims 10 to 16, characterized in that the compaction machine (20) concerns a roller machine or a plate compaction machine.
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DE102005022627A1 (en) * 2005-05-11 2006-11-16 Ammann Verdichtung Gmbh Soil Compactor
DE102005029434A1 (en) * 2005-06-24 2006-12-28 Wacker Construction Equipment Ag Vibrating plate with individually adjustable vibration generators comprising individual exciters each with unbalanced shaft whose rotational speed and/or phase position can be individually controlled
DE102005030860A1 (en) * 2005-07-01 2007-01-25 Wacker Construction Equipment Ag Vibrating plate system
US20070239338A1 (en) * 2006-04-06 2007-10-11 Dean Potts Worksite preparation method using compaction response and mapping information

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DE502008000051D1 (en) 2009-08-20
CN101289831B (en) 2012-08-29
JP2008267133A (en) 2008-11-06
CN101289831A (en) 2008-10-22
US8332105B2 (en) 2012-12-11
US20080286044A1 (en) 2008-11-20
EP1985760A1 (en) 2008-10-29
DE102007018743A1 (en) 2008-10-23
JP5182666B2 (en) 2013-04-17
ATE435944T1 (en) 2009-07-15

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