EP1990472A1 - Dispositif de correction de la déviation latérale - Google Patents

Dispositif de correction de la déviation latérale Download PDF

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Publication number
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
Authority
EP
European Patent Office
Prior art keywords
sensor component
component
machine
drift
sideward
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP07107972A
Other languages
German (de)
English (en)
Inventor
Andreas BÜHLMANN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Leica Geosystems AG
Original Assignee
Leica Geosystems AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Leica Geosystems AG filed Critical Leica Geosystems AG
Priority to EP07107972A priority Critical patent/EP1990472A1/fr
Priority to EP08749394.6A priority patent/EP2142707B1/fr
Priority to US12/599,482 priority patent/US8294884B2/en
Priority to CN200880015388.5A priority patent/CN101680198B/zh
Priority to CA2686443A priority patent/CA2686443C/fr
Priority to PCT/EP2008/003700 priority patent/WO2008138542A1/fr
Priority to AU2008250605A priority patent/AU2008250605B2/en
Publication of EP1990472A1 publication Critical patent/EP1990472A1/fr
Withdrawn legal-status Critical Current

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    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01CCONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/48Machines, 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
    • E01C19/4886Machines, 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
    • E01C19/4893Apparatus designed for railless operation
    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01CCONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/004Devices 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Operation Control Of Excavators (AREA)
  • Consolidation Of Soil By Introduction Of Solidifying Substances Into Soil (AREA)
EP07107972A 2007-05-10 2007-05-10 Dispositif de correction de la déviation latérale Withdrawn EP1990472A1 (fr)

Priority Applications (7)

Application Number Priority Date Filing Date Title
EP07107972A EP1990472A1 (fr) 2007-05-10 2007-05-10 Dispositif de correction de la déviation latérale
EP08749394.6A EP2142707B1 (fr) 2007-05-10 2008-05-08 Dispositif de correction de la déviation latérale
US12/599,482 US8294884B2 (en) 2007-05-10 2008-05-08 Sideways drift correction device
CN200880015388.5A CN101680198B (zh) 2007-05-10 2008-05-08 横向漂移修正装置
CA2686443A CA2686443C (fr) 2007-05-10 2008-05-08 Dispositif de correction de deviation laterale
PCT/EP2008/003700 WO2008138542A1 (fr) 2007-05-10 2008-05-08 Dispositif de correction de déviation latérale
AU2008250605A AU2008250605B2 (en) 2007-05-10 2008-05-08 Sideways drift correction device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP07107972A EP1990472A1 (fr) 2007-05-10 2007-05-10 Dispositif de correction de la déviation latérale

Publications (1)

Publication Number Publication Date
EP1990472A1 true EP1990472A1 (fr) 2008-11-12

Family

ID=38461951

Family Applications (2)

Application Number Title Priority Date Filing Date
EP07107972A Withdrawn EP1990472A1 (fr) 2007-05-10 2007-05-10 Dispositif de correction de la déviation latérale
EP08749394.6A Active EP2142707B1 (fr) 2007-05-10 2008-05-08 Dispositif de correction de la déviation latérale

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP08749394.6A Active EP2142707B1 (fr) 2007-05-10 2008-05-08 Dispositif de correction de la déviation latérale

Country Status (6)

Country Link
US (1) US8294884B2 (fr)
EP (2) EP1990472A1 (fr)
CN (1) CN101680198B (fr)
AU (1) AU2008250605B2 (fr)
CA (1) CA2686443C (fr)
WO (1) WO2008138542A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2415934A1 (fr) * 2010-08-06 2012-02-08 Joseph Vögele AG Dispositif capteur pour une machine de construction
EP3106562A1 (fr) * 2015-06-19 2016-12-21 TF-Technologies A/S Unité de correction
WO2017121717A1 (fr) * 2016-01-12 2017-07-20 Joseph Vögele AG Finisseur doté d'un projecteur en tant qu'aide à la navigation
EP3401442A1 (fr) * 2017-05-11 2018-11-14 Joseph Vögele AG Finisseuse de route ayant une compensation de braquage et procédé de commande

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9970180B2 (en) * 2011-03-14 2018-05-15 Caterpillar Trimble Control Technologies Llc System for machine control
DE102012001289A1 (de) 2012-01-25 2013-07-25 Wirtgen Gmbh Selbstfahrende Baumaschine und Verfahren zum Steuern einer selbstfahrenden Baumaschine
US11008714B2 (en) 2018-04-09 2021-05-18 Howard Cooper Slip forming structures using multiple molds
JP7317946B2 (ja) * 2019-03-25 2023-07-31 住友建機株式会社 アスファルトフィニッシャ
DE102019118059A1 (de) * 2019-07-04 2021-01-07 Wirtgen Gmbh Selbstfahrende Baumaschine und Verfahren zum Steuern einer selbstfahrenden Baumaschine
AU2021346650A1 (en) * 2020-09-24 2023-06-08 Husqvarna Ab Floor sawing equipment with controllable supporting wheels
CN113430975B (zh) * 2021-07-12 2022-09-09 包头市公路工程股份有限公司 自密实混凝土墙式护栏滑模施工工法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0620319A1 (fr) * 1993-04-09 1994-10-19 Niigata Engineering Co., Ltd. Dispositif de contrôle pour un finisseur
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

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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 (de) * 2004-08-19 2005-12-15 Abg Allgemeine Baumaschinen-Gesellschaft Mbh Selbstfahrendes Gerät zum Abfräsen von Verkehrsflächen
DE102005022266A1 (de) * 2005-05-10 2006-11-16 Abg Allgemeine Baumaschinen-Gesellschaft Mbh Fertiger zum bodenseitigen Einbau von Schichten für Straßen oder dgl.

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0620319A1 (fr) * 1993-04-09 1994-10-19 Niigata Engineering Co., Ltd. Dispositif de contrôle pour un finisseur
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)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2415934A1 (fr) * 2010-08-06 2012-02-08 Joseph Vögele AG Dispositif capteur pour une machine de construction
JP2012067583A (ja) * 2010-08-06 2012-04-05 Joseph Voegele Ag 建設機械用センサ装置
EP3106562A1 (fr) * 2015-06-19 2016-12-21 TF-Technologies A/S Unité de correction
WO2016203037A1 (fr) * 2015-06-19 2016-12-22 Tf-Technologies A/S Unité de correction
US10633803B2 (en) 2015-06-19 2020-04-28 Tf-Technologies A/S Correction unit
WO2017121717A1 (fr) * 2016-01-12 2017-07-20 Joseph Vögele AG Finisseur doté d'un projecteur en tant qu'aide à la navigation
US10745867B2 (en) 2016-01-12 2020-08-18 Joseph Voegele Ag Paving machine with projector as navigation aid
EP3401442A1 (fr) * 2017-05-11 2018-11-14 Joseph Vögele AG Finisseuse de route ayant une compensation de braquage et procédé de commande
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
AU2008250605A1 (en) 2008-11-20
EP2142707B1 (fr) 2014-12-24
CA2686443C (fr) 2012-11-13
AU2008250605B2 (en) 2011-01-20
CN101680198A (zh) 2010-03-24
EP2142707A1 (fr) 2010-01-13
CN101680198B (zh) 2011-07-27
CA2686443A1 (fr) 2008-11-20
US20100201994A1 (en) 2010-08-12
US8294884B2 (en) 2012-10-23
WO2008138542A1 (fr) 2008-11-20
WO2008138542A9 (fr) 2010-06-17

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