EP1990472A1 - Correction device for lateral drift - Google Patents
Correction device for lateral drift Download PDFInfo
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- EP1990472A1 EP1990472A1 EP07107972A EP07107972A EP1990472A1 EP 1990472 A1 EP1990472 A1 EP 1990472A1 EP 07107972 A EP07107972 A EP 07107972A EP 07107972 A EP07107972 A EP 07107972A EP 1990472 A1 EP1990472 A1 EP 1990472A1
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- European Patent Office
- Prior art keywords
- sensor component
- component
- machine
- drift
- sideward
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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
- E01C19/48—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ
- E01C19/4886—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ for forming in a continuous operation kerbs, gutters, berms, safety kerbs, median barriers or like structures in situ, e.g. by slip-forming, by extrusion
- E01C19/4893—Apparatus designed for railless operation
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/004—Devices for guiding or controlling the machines along a predetermined path
Definitions
- the invention relates to a Seit simplifieddriftkorrigier adopted for a mobile manufacturing machine, which has an application of material and a tool for processing the discharged material, according to the preamble of claim 1.
- manufacturing machines with sliding formwork which can also drive tight radii, have three or four track drives, all of which can be steered. To prevent the manufacturing tool from moving sideways when the front drives are deflected, it is necessary to counter-steer the rear drive.
- Previously known devices for detecting and preventing sideways drift of mobile manufacturing machines include the steering angle measurement of the machine crawler tracks to calculate the machine's orientation and trajectory and steering corrections therefrom.
- the machine does not push sideways over the crawler tracks.
- Such pushing means sideways movement of the machine tooling, and thus inaccurate manufacture of the structure to be fabricated.
- the sole measurement of the steering angle of the crawler tracks leaves such a sideways drift unnoticed.
- the invention has for its object to improve a mobile manufacturing machine and thus to enable a more precise production of a structure.
- Another object of the invention is to provide a device which better detects and optionally corrects sideways movement of the manufacturing tool of the mobile manufacturing machine.
- Another object is the direct determination of the direction of movement of a reference point of the production machine relative to the ground.
- the sideways drift correction device consists of a sensor component and an evaluation component.
- the sideways drift correction device moves the direction of movement of a datum point on the machine determined relative to the ground and derived therefrom steering correction information.
- one or more reference points of the production machine and a part of the substrate surface to which the production machine moves relatively detected and transmitted the information to the evaluation component based on the sensor component.
- the evaluation component evaluates the information of the sensor component and determines therefrom the direction of movement of the production machine relative to the ground.
- the time-varying surface information is tracked relative to a reference point, and based on the relative changes in the background surface, the direction of movement of the reference point relative to the ground is determined.
- the reference point may be, for example, the sensor component itself, as long as it is attached to the machine, or a defined point on the machine or on the manufacturing tool.
- the evaluation component now continuously checks whether the production machine or the manufacturing tool moves drift-free and thereby derives steering correction information, wherein the steering correction information can also be zero.
- the sensor component is for example attached to the mobile manufacturing machine, e.g. on an arm of the manufacturing tool or under the machine floor, and thus accomplishes the same relative movement to the ground as the production machine or the manufacturing tool itself.
- the orientation of the longitudinal axis of the production machine to the sensor component is known and is additionally checked by the evaluation component continuously, if the sensor component only in the direction of the longitudinal axis the manufacturing machine moves, it can be ensured by appropriately derived correction information of the evaluation that the machine and thus attached to the machine, manufacturing tool moves only in the direction of the longitudinal axis of the production machine.
- the reference point is selected as close as possible to the tool or the sensor component is mounted as close as possible to the tool.
- the completed movement of the finished tool which determines the structure to be produced of the material to be produced, represented by the determined movement of the reference point to the ground.
- the sensor component is a camera mounted on the production machine which repeatedly detects a specific part of the surface of the substrate.
- the repeated detection is advantageously carried out at short time intervals, such as 10ms.
- the evaluation component now uses image recognition to track the shifting of the camera from one recording to the next. In this case, the displacement of a recognized feature in two successive shots represents the completed movement of the camera relative to the ground. This movement is also carried out by the production machine, since the camera is mounted directly on the production machine. Thus, the direction of movement of the production machine is continuously determined and controlled. If the machine does not move without drift, the evaluation component derives steering correction information.
- an attachment of the camera to, for example, a car traveling beside the machine, e.g. on a material feeding carriage, with the camera detecting a datum point on the manufacturing machine and a portion of the ground to which the machine is relatively moving.
- the evaluation component determines from the image information of the camera the direction of movement of the reference point relative to the ground.
- the reference point can be, for example, an edge or a corner of the production machine.
- an illumination or lightening of the surface to be detected surface is possible.
- This illumination can take place in different ways, for example with radiation in a specific spectral range or with a beam pattern projected onto the substructure to be detected.
- An improvement in the detection of the background is effected, for example, by a shadowing of background unevenness by a corresponding, e.g. grazing incidence lighting.
- the background may be detected by means of its radiation characteristic of the reflected radiation, e.g. by means of the colors of the background surface.
- FIG. 1 For illustration, various positions of cornering of a prior art mobile manufacturing machine 1 are shown along the predetermined project line 7a of the structure to be manufactured.
- the machine longitudinal axis 13 should be in any position parallel to the tangent 6 to the project line 7a at the point at which the tool 5 touches the project line 7a.
- countersteering of the rear crawler 4 is necessary when the front crawlers 2 and 3 of the machine turn in.
- FIG. 2 shows a lateral drift correction device according to the invention with a sensor component 8 and an evaluation component 9, which are mounted under the bottom of the slipforming machine 1a in the vicinity of the manufacturing tool 5a.
- the sensor component 8 determines the surface conditions of a part 11 of the substrate passed over by the production machine and forwards the information to the evaluation component 9.
- the evaluation component 9 determines based on the changes in the transmitted background surface information while moving the machine, the direction of movement of the sensor component 8. Further, the evaluation component 9 checks whether the sensor component 8 moves drift-free and derives therefrom from steering corrections, which forwards it to the steering system of the machine.
- FIG. 3 shows a trained as a camera sensor component 8, which is the background structure of the part 11 of the swept background 10 with, for example, a refresh rate of 100Hz optically recorded and forwards the information to the evaluation component 9.
- the evaluation component 8 determines from this, as based on FIG. 4 shown, the direction of movement, where appropriate, the speed and / or the distance traveled by the sensor component 8 relative to the ground and stores this information.
- FIG. 4 shows two successively taken by means of the sensor component not shown, cutouts 11a and 11b of the subsurface structure, which has moved through the movement of the machine, the attached thereto sensor component between shots.
- the evaluation component determines the direction of movement 12 of the sensor component relative to the background.
- an image recognition as part of the evaluation component follows a structural feature occurring at different positions in the images, wherein the displacement of the structural feature is shown as arrow 12, and determines the relative direction of movement of the camera relative to the background.
- the evaluation component checks whether the sensor component only moves in the direction of an axis and derives therefrom steering correction information which is forwarded to the control system of the machine.
- the production machine 1 is shown in a curve along the project line 7b.
- the sensor component 8 is mounted in a known orientation to the production machine axis on the arm of the manufacturing tool 5.
- the evaluation component 9 checks from the detected background surface of the sensor component 8 as to whether the sensor component 8 only moves in the direction of the production machine axis. From this, the evaluation component 9 derives steering correction information in such a way that the tool 5 of the defined project line 7b follows through the steering of the front crawler tracks 2 and 3 and the sensor component 8 and thus also the tool 5 do not move sideways to the machine axis due to the steering of the rear crawler track 4 ,
- FIG. 6 shows the Seitschriftkorrigier adopted with a lighting component 14 for brightening 15 of the detected by the sensor component 8 background structure 11.
- the illumination of the background structure allows, for example, grazing incidence of the light a shadow of surface irregularities and thereby improved detection of features of the substrate surface.
- different colors of the surface of the substrate can be better distinguished by the lighting.
- FIG. 7 1 shows the sideways drift correcting device with a lighting component 14a for the defined projection of a cross 16 as a brightening structure onto a part of the background surface 11 detected on the basis of the sensor component 8.
- An axis of the cross 16 is in the direction the, not shown, manufacturing machine axis aligned.
- the evaluation component 9 continuously checks whether the production machine moves only in the direction of one axis of the cross and thus in the direction of the machine axis and, if appropriate, derives steering correction information therefrom.
- FIG. 8 shows an embodiment of the Seitschdriftkorrigier wisdom, in which a camera 8 is mounted as a sensor component to a moving machine 17 next to the car.
- the camera 8 detects a corner of the production machine as a reference point and a part of the ground surface to which the production machine 1a relatively moves.
- the evaluation component determines the direction of movement of the corner relative to the ground and, if appropriate, derives steering correction information therefrom.
Abstract
Description
Die Erfindung betrifft eine Seitwärtsdriftkorrigiereinrichtung für eine mobile Fertigungsmaschine, welche eine Ausbringung von Material und ein Werkzeug zur Bearbeitung des ausgebrachten Materials aufweist, nach dem Oberbegriff des Anspruch 1.The invention relates to a Seitwärtsdriftkorrigiereinrichtung for a mobile manufacturing machine, which has an application of material and a tool for processing the discharged material, according to the preamble of
Mobile Maschinen zur Fertigung von Randsteinen oder Fussgängerwegen sind schon lange bekannt. Die gleitende Fertigung geschieht üblicherweise in drei Schritten: Ausbringung von Material wie beispielsweise Beton, grobe Schalung des Materials und feine Schalung des Materials. Alle drei Schritte werden während der Fahrt einer solchen Maschine beispielsweise durch entsprechende Gleitschalwerkzeuge ausgeführt. Die Fahrtgeschwindigkeit der Maschine bei der Fertigung kann etwa 20 Meter pro Minute betragen. Jede Abweichung des für die Fertigung vorgegebenen Kurses der mobilen Maschine kann dabei einen Fehler in der durch das Werkzeug zu fertigenden Struktur verursachen. Deshalb ist eine Seitwärtsdrift vor allem bei Maschinen mit einer gleitenden Schalung, wie z.B. einer Curb & Gutter Maschine, bei Kurvenfahrten nachteilig.Mobile machines for the production of curbs or pedestrian paths have been known for a long time. Sliding production usually takes place in three steps: application of material such as concrete, rough formwork of the material and fine formwork of the material. All three steps are performed while driving such a machine, for example, by appropriate Gleitschalwerkzeuge. The speed of the machine during production can be about 20 meters per minute. Any deviation of the given course of the mobile machine can cause an error in the structure to be produced by the tool. Therefore, sideways drift is particularly prevalent in machines with sliding formwork such as, for example, a Curb & Gutter machine, disadvantageous when cornering.
Im Allgemeinen weisen Fertigungsmaschinen mit einer gleitenden Schalung, welche auch enge Radien fahren können, drei oder vier Kettenlaufwerke auf, wobei diese alle gelenkt werden können. Damit bei einem Einlenken der vorderen Laufwerke das fertigende Werkzeug keine Seitwärtsbewegung erfährt, ist ein Gegenlenken des hinteren Laufwerks notwendig.In general, manufacturing machines with sliding formwork, which can also drive tight radii, have three or four track drives, all of which can be steered. To prevent the manufacturing tool from moving sideways when the front drives are deflected, it is necessary to counter-steer the rear drive.
Bisher bekannte Einrichtungen zur Erkennung und Verhinderung einer Seitwärtsdrift von mobilen Fertigungsmaschinen beinhalten die Lenkwinkelmessung der Kettenlaufwerke der Maschine, um die Orientierung und die zurückgelegte Spur der Maschine und daraus Lenkkorrekturen zu berechnen. Allerdings kann im Allgemeinen nicht davon ausgegangen werden, dass die Maschine nicht doch seitwärts über die Kettenlaufwerke schiebt. Ein solches Schieben bedeutet für das an der Maschine angebrachte, fertigende Werkzeug eine Seitwärtsbewegung und somit eine ungenaue Fertigung der zu fertigenden Struktur. Durch die alleinige Messung der Lenkwinkel der Kettenlaufwerke bleibt eine solche Seitwärtsdrift unbemerkt.Previously known devices for detecting and preventing sideways drift of mobile manufacturing machines include the steering angle measurement of the machine crawler tracks to calculate the machine's orientation and trajectory and steering corrections therefrom. However, in general, it can not be assumed that the machine does not push sideways over the crawler tracks. Such pushing means sideways movement of the machine tooling, and thus inaccurate manufacture of the structure to be fabricated. The sole measurement of the steering angle of the crawler tracks leaves such a sideways drift unnoticed.
Der Erfindung liegt die Aufgabe zugrunde, eine mobile Fertigungsmaschine zu verbessern und somit eine präzisere Fertigung einer Struktur zu ermöglichen.The invention has for its object to improve a mobile manufacturing machine and thus to enable a more precise production of a structure.
Eine weitere Aufgabe der Erfindung liegt in der Bereitstellung einer Einrichtung, welche eine Seitwärtsbewegung des fertigenden Werkzeugs der mobilen Fertigungsmaschine besser erkennt und gegebenenfalls korrigiert.Another object of the invention is to provide a device which better detects and optionally corrects sideways movement of the manufacturing tool of the mobile manufacturing machine.
Eine weitere Aufgabe ist das direkte Ermitteln der Bewegungsrichtung eines Bezugspunktes der Fertigungsmaschine relativ zum Untergrund.Another object is the direct determination of the direction of movement of a reference point of the production machine relative to the ground.
Die erfindungsgemässe Seitwärtsdriftkorrigiereinrichtung besteht aus einer Sensorkomponente und einer Auswertekomponente. Bei Fortbewegung der Fertigungsmaschine werden durch die Seitwärtsdriftkorrigiereinrichtung die Bewegungsrichtung eines Bezugspunktes an der Maschine relativ zum Untergrund ermittelt und daraus Lenkkorrekturinformationen abgeleitet. Dazu werden anhand der Sensorkomponente ein oder mehrere Bezugspunkte der Fertigungsmaschine und ein Teil der Untergrundoberfläche, zu der sich die Fertigungsmaschine relativ bewegt, erfasst und die Informationen an die Auswertekomponente übermittelt. Die Auswertekomponente wertet die Information der Sensorkomponente aus und ermittelt daraus die Bewegungsrichtung der Fertigungsmaschine relativ zum Untergrund. Dazu werden die sich zeitlich ändernden Oberflächeninformationen relativ zu einem Bezugspunkt verfolgt und anhand der relativen Änderungen der Untergrundoberfläche die Bewegungsrichtung des Bezugspunktes gegenüber dem Untergrund ermittelt. Der Bezugspunkt kann beispielsweise die Sensorkomponente selbst sein, sofern sie an der Maschine angebracht ist, oder ein definierter Punkt an der Maschine oder am fertigenden Werkzeug. Die Auswertekomponente prüft nun fortlaufend, ob sich die Fertigungsmaschine bzw. das fertigende Werkzeug driftfrei bewegt und leitet dabei Lenkkorrekturinformationen ab, wobei die Lenkkorrekturinformation auch gleich Null sein kann.The sideways drift correction device according to the invention consists of a sensor component and an evaluation component. As the manufacturing machine moves, the sideways drift correction device moves the direction of movement of a datum point on the machine determined relative to the ground and derived therefrom steering correction information. For this purpose, one or more reference points of the production machine and a part of the substrate surface to which the production machine moves relatively, detected and transmitted the information to the evaluation component based on the sensor component. The evaluation component evaluates the information of the sensor component and determines therefrom the direction of movement of the production machine relative to the ground. For this purpose, the time-varying surface information is tracked relative to a reference point, and based on the relative changes in the background surface, the direction of movement of the reference point relative to the ground is determined. The reference point may be, for example, the sensor component itself, as long as it is attached to the machine, or a defined point on the machine or on the manufacturing tool. The evaluation component now continuously checks whether the production machine or the manufacturing tool moves drift-free and thereby derives steering correction information, wherein the steering correction information can also be zero.
Die Sensorkomponente ist beispielsweise an der mobilen Fertigungsmaschine, z.B. an einem Arm des fertigenden Werkzeugs oder unter dem Maschinenboden, angebracht und vollzieht somit dieselbe Relativbewegung zum Untergrund wie die Fertigungsmaschine bzw. das fertigende Werkzeug selbst.The sensor component is for example attached to the mobile manufacturing machine, e.g. on an arm of the manufacturing tool or under the machine floor, and thus accomplishes the same relative movement to the ground as the production machine or the manufacturing tool itself.
Ist die Orientierung der Längsachse der Fertigungsmaschine zur Sensorkomponente bekannt und wird durch die Auswertekomponente zusätzlich kontinuierlich geprüft, ob sich die Sensorkomponente nur in Richtung der Längsachse der Fertigungsmaschine bewegt, so kann durch entsprechend abgeleitete Korrekturinformation der Auswertekomponente sichergestellt werden, dass sich die Maschine und somit das an der Maschine angebrachte, fertigende Werkzeug nur in Richtung der Längsachse der Fertigungsmaschine bewegt.If the orientation of the longitudinal axis of the production machine to the sensor component is known and is additionally checked by the evaluation component continuously, if the sensor component only in the direction of the longitudinal axis the manufacturing machine moves, it can be ensured by appropriately derived correction information of the evaluation that the machine and thus attached to the machine, manufacturing tool moves only in the direction of the longitudinal axis of the production machine.
Vorteilhaft wird der Bezugspunkt möglichst nah dem Werkzeug gewählt bzw. die Sensorkomponente möglichst nah am Werkzeug angebracht. Dadurch wird möglichst genau die vollführte Bewegung des fertigenden Werkzeugs, welches die zu fertigende Struktur des zu fertigenden Materials bestimmt, durch die ermittelte Bewegung des Bezugspunktes zum Untergrund repräsentiert.Advantageously, the reference point is selected as close as possible to the tool or the sensor component is mounted as close as possible to the tool. As a result, as accurately as possible the completed movement of the finished tool, which determines the structure to be produced of the material to be produced, represented by the determined movement of the reference point to the ground.
Eine mögliche Ausführungsform der Sensorkomponente ist eine an der Fertigungsmaschine angebrachte Kamera, welche einen bestimmten Teil der Oberfläche des Untergrundes wiederholt erfasst. Das wiederholte Erfassen erfolgt dabei vorteilhaft in kurzen zeitlichen Abständen, wie z.B. 10ms. Durch die Auswertekomponente werden nun anhand einer Bilderkennung sich durch die Fortbewegung der Kamera von Aufnahme zu Aufnahme verschiebende Oberflächenmerkmale verfolgt. Dabei repräsentiert die Verschiebung eines erkannten Merkmals bei zwei aufeinander folgenden Aufnahmen die vollzogene Bewegung der Kamera gegenüber dem Untergrund. Diese Bewegung wird auch von der Fertigungsmaschine ausgeführt, da die Kamera direkt an der Fertigungsmaschine angebracht ist. So wird fortlaufend die Bewegungsrichtung der Fertigungsmaschine bestimmt und kontrolliert. Bewegt sich die Maschine nicht driftfrei, so werden durch die Auswertekomponente Lenkkorrekturinformationen abgeleitet.One possible embodiment of the sensor component is a camera mounted on the production machine which repeatedly detects a specific part of the surface of the substrate. The repeated detection is advantageously carried out at short time intervals, such as 10ms. The evaluation component now uses image recognition to track the shifting of the camera from one recording to the next. In this case, the displacement of a recognized feature in two successive shots represents the completed movement of the camera relative to the ground. This movement is also carried out by the production machine, since the camera is mounted directly on the production machine. Thus, the direction of movement of the production machine is continuously determined and controlled. If the machine does not move without drift, the evaluation component derives steering correction information.
Alternativ ist eine Anbringung der Kamera beispielsweise an einem neben der Maschine fahrenden Wagen, wie z.B. an einem materialzuführenden Wagen, möglich, wobei die Kamera einen Bezugspunkt an der Fertigungsmaschine und einen Teil des Untergrundes, zu dem sich die Maschine relativ bewegt, erfasst. Anschliessend ermittelt die Auswertekomponente aus den Bildinformationen der Kamera die Bewegungsrichtung des Bezugspunktes relativ zum Untergrund. Der Bezugspunkt kann dabei beispielsweise eine Kante oder eine Ecke der Fertigungsmaschine sein.Alternatively, an attachment of the camera to, for example, a car traveling beside the machine, e.g. on a material feeding carriage, with the camera detecting a datum point on the manufacturing machine and a portion of the ground to which the machine is relatively moving. Subsequently, the evaluation component determines from the image information of the camera the direction of movement of the reference point relative to the ground. The reference point can be, for example, an edge or a corner of the production machine.
Um die Erkennung und Zuordnung von Oberflächenmerkmalen des Untergrundes bei den einzelnen Aufnahmen zu verbessern und dadurch die Bewegungsrichtung relativ zum Untergrund präziser zu ermitteln, ist ein Anleuchten bzw. Aufhellen der zu erfassenden Untergrundoberfläche möglich. Dieses Anleuchten kann in unterschiedlicher Art und Weise erfolgen, beispielsweise mit Strahlung in einem speziellen Spektralbereich oder mit einem auf die zu erfassende Untergrundstruktur projizierten Strahlmuster. Eine Verbesserung der Erfassung des Untergrundes erfolgt beispielsweise durch einen Schattenwurf von Untergrundunebenheiten durch eine entsprechende, z.B. streifend einfallende Beleuchtung. Ebenso kann der Untergrund mittels dessen Abstrahlcharakteristik der reflektierten Strahlung, z.B. mittels der Farben der Untergrundoberfläche, erfasst werden.In order to improve the detection and assignment of surface features of the substrate in the individual shots and thereby determine the direction of movement relative to the ground more precisely, an illumination or lightening of the surface to be detected surface is possible. This illumination can take place in different ways, for example with radiation in a specific spectral range or with a beam pattern projected onto the substructure to be detected. An improvement in the detection of the background is effected, for example, by a shadowing of background unevenness by a corresponding, e.g. grazing incidence lighting. Likewise, the background may be detected by means of its radiation characteristic of the reflected radiation, e.g. by means of the colors of the background surface.
Eine erfindungsgemässe Seitwärtsdriftkorrigiereinrichtung für eine mobile Fertigungsmaschine wird nachfolgend anhand von in der Zeichnung schematisch dargestellten Ausführungsbeispielen rein beispielhaft näher beschrieben. Im Einzelnen zeigen
- Fig.1
- verschiedene Positionen einer Kurvenfahrt einer mobilen Fertigungsmaschine des Standes der Technik entlang einer vorgegebenen Projektlinie;
- Fig.2
- eine erfindungsgemässe Seitwärtsdriftkorrigiereinrichtung, angebracht an einer Gleitschalungsmaschine;
- Fig.3
- die Sensor- und die Auswertekomponente der Seitwärtsdriftkorrigiereinrichtung und den optisch von der Sensorkomponente erfassten Teil der Untergrundstruktur;
- Fig.4
- zwei nacheinander von der Kamera als Sensorkomponente aufgezeichnete Untergrundstrukturausschnitte;
- Fig.5
- die Seitwärtsdriftkorrigiereinrichtung, angebracht an einer Fertigungsmaschine, welche sich in einer Kurvenfahrt befindet;
- Fig.6
- die Seitwärtsdriftkorrigiereinrichtung mit einer Beleuchtungskomponente;
- Fig.7
- die Seitwärtsdriftkorrigiereinrichtung mit einer Beleuchtungskomponente, welche ein definiertes Strahlmuster erzeugt; und
- Fig.8
- eine Ausführungsform der erfindungsgemässen Seitwärtsdriftkorrigiereinrichtung.
- Fig.1
- various positions of a cornering of a mobile manufacturing machine of the prior art along a given project line;
- Fig.2
- a sideways drift correction device according to the invention, mounted on a sliding formwork machine;
- Figure 3
- the sensor and the evaluation component of the sideways drift correction device and the part of the background structure optically detected by the sensor component;
- Figure 4
- two subsurface structure cutouts sequentially recorded by the camera as a sensor component;
- Figure 5
- the sideways drift correcting device mounted on a production machine which is cornering;
- Figure 6
- the sideward drift correcting device with a lighting component;
- Figure 7
- the sideways drift corrector having a lighting component that generates a defined beam pattern; and
- Figure 8
- an embodiment of the inventive Seitwärtsdriftkorrigiereinrichtung.
In
Um die Geschwindigkeit der Untergrundstrukturerfassung zu erhöhen, besteht beispielsweise die Möglichkeit, ein oder mehrere Strukturmerkmale anhand der Bilderkennung zu identifizieren und alleinig die relative Positionsveränderung dieser identifizierten Merkmale zu verfolgen. Eine weitere Möglichkeit besteht beispielsweise in der Verwendung des Template-Matching-Verfahrens.In order to increase the speed of the background structure detection, it is possible, for example, to identify one or more structural features on the basis of the image recognition and only to approve the relative positional change of these identified features follow. Another possibility is, for example, the use of the template matching method.
In
Es versteht sich, dass diese dargestellten Figuren nur Beispiele möglicher Ausführungsformen darstellen.It is understood that these illustrated figures represent only examples of possible embodiments.
Claims (10)
dadurch gekennzeichnet, dass
die Sensorkomponente (8) zur optischen Erfassung der Untergrundoberfläche (10) ausgebildet ist,
insbesondere als Kamera.Sideways drift correcting device according to claim 1,
characterized in that
the sensor component (8) is designed for optical detection of the substrate surface (10),
especially as a camera.
dadurch gekennzeichnet, dass
die Sensorkomponente (8) zur fortlaufenden Erfassung der Untergrundoberfläche (10) ausgebildet ist, insbesondere mit einer Wiederholrate von mindestens 100Hz.Sideways drift correcting device according to claim 1 or 2,
characterized in that
the sensor component (8) is designed to continuously detect the background surface (10), in particular with a repetition rate of at least 100Hz.
dadurch gekennzeichnet, dass
die Sensorkomponente (8) zur Erfassung der Untergrundoberfläche (10), die durch die Fortbewegung der Fertigungsmaschine überstrichen wird, ausgebildet ist.Sideward drift correcting device according to one of the preceding claims,
characterized in that
the sensor component (8) for detecting the substrate surface (10), which is swept by the movement of the manufacturing machine, is formed.
dadurch gekennzeichnet, dass
die Sensorkomponente (8) zur Anbringung in oder unter einem Fertigungsmaschinenboden und/oder an einem Werkzeugarm der Fertigungsmaschine ausgebildet ist.Sideward drift correcting device according to one of the preceding claims,
characterized in that
the sensor component (8) is designed for mounting in or under a production machine floor and / or on a tool arm of the production machine.
dadurch gekennzeichnet, dass
die Sensorkomponente (8) in definierter Orientierung zur Fertigungsmaschinenachse anbringbar ist und vermittels der Auswertekomponente (9) fortlaufend prüfbar ist, ob sich die Sensorkomponente (8) nur in Richtung der Längsachse (13) der Fertigungsmaschine bewegt.Sideward drift correcting device according to one of the preceding claims,
characterized in that
the sensor component (8) can be attached in a defined orientation to the production machine axis and by means of the evaluation component (9) is continuously testable, whether the sensor component (8) moves only in the direction of the longitudinal axis (13) of the production machine.
dadurch gekennzeichnet, dass
die Auswertekomponente (9) aus den Informationen der Sensorkomponente (8) die Bewegungsgeschwindigkeit und den zurückgelegten Weg des fertigenden Werkzeugs relativ zum Untergrund (10) ermittelt und Informationen über die Bewegungsrichtung und/oder die Bewegungsgeschwindigkeit und/oder den zurückgelegten Weg speichert.Sideward drift correcting device according to one of the preceding claims,
characterized in that
the evaluation component (9) from the information of the sensor component (8) the movement speed and determines the distance traveled by the manufacturing tool relative to the ground (10) and stores information about the direction of movement and / or the speed of movement and / or the distance traveled.
gekennzeichnet durch
eine Beleuchtungskomponente (14) zur Beleuchtung mindestens eines Teiles (15) der durch die Sensorkomponente (8) erfassten
Untergrundoberfläche (10) oder zur gezielten Projektion einer Beleuchtungsstruktur, insbesondere eines Gitters oder eines Kreuzes (16), auf mindestens einen Teil der durch die Sensorkomponente erfassbaren Untergrundoberfläche.Sideward drift correcting device according to one of the preceding claims,
marked by
a lighting component (14) for illuminating at least a part (15) of the detected by the sensor component (8)
Subsurface (10) or for targeted projection of a lighting structure, in particular a grid or a cross (16), on at least a portion of the detectable by the sensor component surface.
dadurch gekennzeichnet, dass
das Erfassen der Untergrundoberfläche (10) optisch und fortlaufend, insbesondere mit einer Wiederholrate von 100Hz, erfolgt.Sideward drift correction method according to claim 10,
characterized in that
the detection of the substrate surface (10) is carried out optically and continuously, in particular with a repetition rate of 100 Hz.
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP07107972A EP1990472A1 (en) | 2007-05-10 | 2007-05-10 | Correction device for lateral drift |
AU2008250605A AU2008250605B2 (en) | 2007-05-10 | 2008-05-08 | Sideways drift correction device |
PCT/EP2008/003700 WO2008138542A1 (en) | 2007-05-10 | 2008-05-08 | Sideways drift correction device |
EP08749394.6A EP2142707B1 (en) | 2007-05-10 | 2008-05-08 | Correction device for lateral drift |
CN200880015388.5A CN101680198B (en) | 2007-05-10 | 2008-05-08 | Sideways drift correction device |
US12/599,482 US8294884B2 (en) | 2007-05-10 | 2008-05-08 | Sideways drift correction device |
CA2686443A CA2686443C (en) | 2007-05-10 | 2008-05-08 | Sideways drift correction device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP07107972A EP1990472A1 (en) | 2007-05-10 | 2007-05-10 | Correction device for lateral drift |
Publications (1)
Publication Number | Publication Date |
---|---|
EP1990472A1 true EP1990472A1 (en) | 2008-11-12 |
Family
ID=38461951
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP07107972A Withdrawn EP1990472A1 (en) | 2007-05-10 | 2007-05-10 | Correction device for lateral drift |
EP08749394.6A Active EP2142707B1 (en) | 2007-05-10 | 2008-05-08 | Correction device for lateral drift |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP08749394.6A Active EP2142707B1 (en) | 2007-05-10 | 2008-05-08 | Correction device for lateral drift |
Country Status (6)
Country | Link |
---|---|
US (1) | US8294884B2 (en) |
EP (2) | EP1990472A1 (en) |
CN (1) | CN101680198B (en) |
AU (1) | AU2008250605B2 (en) |
CA (1) | CA2686443C (en) |
WO (1) | WO2008138542A1 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2415934A1 (en) * | 2010-08-06 | 2012-02-08 | Joseph Vögele AG | Sensor assembly for a construction machine |
EP3106562A1 (en) * | 2015-06-19 | 2016-12-21 | TF-Technologies A/S | Correction unit |
WO2017121717A1 (en) * | 2016-01-12 | 2017-07-20 | Joseph Vögele AG | Paving machine with projector as navigation aid |
EP3401442A1 (en) * | 2017-05-11 | 2018-11-14 | Joseph Vögele AG | Road finisher with steering compensation and control method |
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US9970180B2 (en) * | 2011-03-14 | 2018-05-15 | Caterpillar Trimble Control Technologies Llc | System for machine control |
DE102012001289A1 (en) * | 2012-01-25 | 2013-07-25 | Wirtgen Gmbh | Self-propelled construction machine and method for controlling a self-propelled construction machine |
US11008714B2 (en) * | 2018-04-09 | 2021-05-18 | Howard Cooper | Slip forming structures using multiple molds |
DE102019118059A1 (en) | 2019-07-04 | 2021-01-07 | Wirtgen Gmbh | Self-propelled construction machine and method for controlling a self-propelled construction machine |
US20230330894A1 (en) * | 2020-09-24 | 2023-10-19 | Husqvarna Ab | Floor sawing equipment with controllable supporting wheels |
CN113430975B (en) * | 2021-07-12 | 2022-09-09 | 包头市公路工程股份有限公司 | Self-compacting concrete wall type guardrail slip form construction method |
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US5988936A (en) * | 1997-12-11 | 1999-11-23 | Miller Formless Co., Inc. | Slip form control system for tight radius turns |
US20040221790A1 (en) * | 2003-05-02 | 2004-11-11 | Sinclair Kenneth H. | Method and apparatus for optical odometry |
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US20010027892A1 (en) * | 2000-02-02 | 2001-10-11 | Nathan Masters | Traction kinking system for applying power to a trailing section of an articulated vehicle |
DE102004040135B3 (en) * | 2004-08-19 | 2005-12-15 | Abg Allgemeine Baumaschinen-Gesellschaft Mbh | Self-propelled device for milling traffic areas |
DE102005022266A1 (en) * | 2005-05-10 | 2006-11-16 | Abg Allgemeine Baumaschinen-Gesellschaft Mbh | Paver for floor-level installation of layers for roads or the like. |
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2007
- 2007-05-10 EP EP07107972A patent/EP1990472A1/en not_active Withdrawn
-
2008
- 2008-05-08 CN CN200880015388.5A patent/CN101680198B/en active Active
- 2008-05-08 WO PCT/EP2008/003700 patent/WO2008138542A1/en active Application Filing
- 2008-05-08 AU AU2008250605A patent/AU2008250605B2/en active Active
- 2008-05-08 EP EP08749394.6A patent/EP2142707B1/en active Active
- 2008-05-08 US US12/599,482 patent/US8294884B2/en active Active
- 2008-05-08 CA CA2686443A patent/CA2686443C/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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EP0620319A1 (en) * | 1993-04-09 | 1994-10-19 | Niigata Engineering Co., Ltd. | Control device for asphalt finisher |
US5988936A (en) * | 1997-12-11 | 1999-11-23 | Miller Formless Co., Inc. | Slip form control system for tight radius turns |
US20040221790A1 (en) * | 2003-05-02 | 2004-11-11 | Sinclair Kenneth H. | Method and apparatus for optical odometry |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2415934A1 (en) * | 2010-08-06 | 2012-02-08 | Joseph Vögele AG | Sensor assembly for a construction machine |
JP2012067583A (en) * | 2010-08-06 | 2012-04-05 | Joseph Voegele Ag | Sensor assembly for construction machine |
EP3106562A1 (en) * | 2015-06-19 | 2016-12-21 | TF-Technologies A/S | Correction unit |
WO2016203037A1 (en) * | 2015-06-19 | 2016-12-22 | Tf-Technologies A/S | Correction unit |
US10633803B2 (en) | 2015-06-19 | 2020-04-28 | Tf-Technologies A/S | Correction unit |
WO2017121717A1 (en) * | 2016-01-12 | 2017-07-20 | Joseph Vögele AG | Paving machine with projector as navigation aid |
US10745867B2 (en) | 2016-01-12 | 2020-08-18 | Joseph Voegele Ag | Paving machine with projector as navigation aid |
EP3401442A1 (en) * | 2017-05-11 | 2018-11-14 | Joseph Vögele AG | Road finisher with steering compensation and control method |
US10435066B2 (en) | 2017-05-11 | 2019-10-08 | Joseph Voegele Ag | Road paver with steering compensation and control method |
Also Published As
Publication number | Publication date |
---|---|
US8294884B2 (en) | 2012-10-23 |
EP2142707A1 (en) | 2010-01-13 |
CN101680198B (en) | 2011-07-27 |
CA2686443C (en) | 2012-11-13 |
EP2142707B1 (en) | 2014-12-24 |
WO2008138542A1 (en) | 2008-11-20 |
CA2686443A1 (en) | 2008-11-20 |
AU2008250605B2 (en) | 2011-01-20 |
WO2008138542A9 (en) | 2010-06-17 |
AU2008250605A1 (en) | 2008-11-20 |
CN101680198A (en) | 2010-03-24 |
US20100201994A1 (en) | 2010-08-12 |
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