EP2010714B1 - NIVELLIEREINRICHTUNG FÜR EINE STRAßENBAUMASCHINE SOWIE VERFAHREN ZUM REGELN DER FRÄSTIEFE ODER FRÄSNEIGUNG BEI EINER STRAßENBAUMASCHINE - Google Patents

NIVELLIEREINRICHTUNG FÜR EINE STRAßENBAUMASCHINE SOWIE VERFAHREN ZUM REGELN DER FRÄSTIEFE ODER FRÄSNEIGUNG BEI EINER STRAßENBAUMASCHINE Download PDF

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Publication number
EP2010714B1
EP2010714B1 EP20070728057 EP07728057A EP2010714B1 EP 2010714 B1 EP2010714 B1 EP 2010714B1 EP 20070728057 EP20070728057 EP 20070728057 EP 07728057 A EP07728057 A EP 07728057A EP 2010714 B1 EP2010714 B1 EP 2010714B1
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EP
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Prior art keywords
sensor
milling
slope
previously
setting
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EP20070728057
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German (de)
English (en)
French (fr)
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EP2010714A1 (de
Inventor
Jaroslav Jurasz
Günter HÄHN
Günter TEWES
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Wirtgen GmbH
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Wirtgen GmbH
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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
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
    • E01C23/12—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor
    • E01C23/122—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor with power-driven tools, e.g. oscillated hammer apparatus
    • E01C23/127—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor with power-driven tools, e.g. oscillated hammer apparatus rotary, e.g. rotary hammers
    • 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
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
    • E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
    • E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
    • E01C23/088—Rotary tools, e.g. milling drums

Definitions

  • the invention relates to a leveling device according to the preamble of claim 1 and a method according to the preamble of claim 10.
  • the milling depth control system is designed so that different sensors can be connected. For example, u.a. Draw wire sensors, ultrasonic sensors and tilt sensors are used.
  • a draw wire sensor is attached to the side plates (edge protection) next to the milling drum and thus scans the reference surface, here the road surface, very accurately.
  • the ultrasonic sensor works without contact and is therefore not subject to any mechanical wear. It can be used in a variety of ways as it can be attached to the machine at various positions.
  • a defined bank angle is to be generated, it is also possible to use a tilt sensor which is integrated in the road milling machine.
  • the known milling depth control system can have two independent control circuits.
  • a controller is provided, to which the sensors can be connected via plug connections.
  • the sensors can be connected via plug connections.
  • plug connections For example, either two height sensors or a height sensor are provided in combination with a tilt sensor.
  • the document EP1154075 discloses a leveling device according to the preamble of claim 1 and a method according to the preamble of claim 10.
  • the invention is therefore based on the object to provide a leveling device and a method for controlling the cutting depth and / or the Fräsneist, in which a change of the sensors without interrupting the milling operation is possible.
  • the invention advantageously provides that the display and adjustment device of the leveling device, in addition to a display and setting unit provided for the at least one currently used sensor, has an additional Display and adjustment unit for a against the currently used sensor to be replaced and selectable sensor.
  • the provision of a further display and adjustment unit has the advantage that, during operation, the new sensor to be exchanged for a currently used sensor can be prepared for its actual and setpoint values for the changeover time. At the time of switching, therefore, the sensor can be changed without the currently valid manipulated variable being changed.
  • the leveling device has a device for switching sensors, which without interrupting the milling operation when triggering a Umschalbeletss switching the leveling of the at least one current sensor on at least one preselected other sensor without sudden change of the current control value for the adjustment of the milling depth and / or for adjusting the inclination of the milling drum.
  • the switching device allows with the display and adjustment a pre-selection of the other sensor and the pre-adjustment of operating parameters (setpoints and actual values) of the other pre-selected sensor.
  • the leveling device has a display and setting device which can display and change the data of the current sensor and the data of the pre-selected sensor. With the help of the switching device can be switched without affecting the work result in the milling operation of the current sensor to the pre-selected sensor.
  • the setpoint value for the milling depth and / or for the inclination of the milling drum can be set at the latest at the time of switching to the currently measured actual value of the milling depth of the at least one pre-selected sensor.
  • the setting value for setting the milling depth and / or setting the inclination can be changed with a presettable transition function.
  • this change follows a presettable transition function starting from a control value 0. This ensures that the change in the control value does not occur abruptly, so that the flatness of the milled road surface is not affected and the adaptation to the resulting due to the switching control value over a longer distance, for. over 10m or more.
  • the leveling device has two regulators whose sensors are arranged parallel to the axis of rotation of the milling drum with a lateral distance from each other, and preferably independently of one another on the left and right sides of the machine to control the milling depth.
  • the method for controlling the cutting depth or the milling tendency of the milling drum of a road construction machine by detecting the current actual value of the milling depth and / or the inclination of the milling drum in relation to a reference surface with at least one interchangeable or switchable sensor, wherein a milling depth control and / or a tilt control for the milling drum is executed as a function of predetermined setpoint values and currently measured actual values in milling operation by output of a control value for achieving or maintaining the setpoint, it is provided that when changing a currently used sensor against a pre-selected other sensor, the control of the milling depth and / or the inclination is performed without interrupting the milling operation by the set and actual values of the sensor before switching over using an additional display and adjustment unit are set such that the current control value for the adjustment of the milling iefe and / or is not changed abruptly for the adjustment of the inclination of the milling drum.
  • the control is executed without interrupting the milling operation and without sudden change of the current control value for setting the milling depth and / or for adjusting the inclination of the milling drum.
  • the road surface or a defined horizontal plane for example given by a laser, or any other freely definable preselected surface can be used, which may have a different slope or slope (positive or negative) in the course of the road surface.
  • Fig. 1 shows a road machine 1 for processing road surfaces with a height-adjustable milling depth with respect to the milling drum 3.
  • the front suspension is based for example on the road surface 12, which can serve as a reference surface for a Fries depth or inclination control.
  • the road machine 1 has a leveling device 4, with at least one controller 6a, 6c, which receives setpoint values for the milling depth and / or the inclination of the milling drum 2.
  • Interchangeable sensors A, B, C can be connected to the regulators 6a, 6c of the leveling device 4.
  • the sensors A, B, C are used for detecting the current actual value of the milling depth and / or the inclination of the milling drum 3 in relation to a reference surface, from the road surface 12, a predetermined horizontal plane or from a freely definable, eg mathematically predetermined plane or area can exist.
  • the at least one controller 6a, 6c carries out a milling depth control and / or a tilt control for the milling drum 3 as a function of predetermined setpoint values and the currently measured actual values of the at least one sensor A, B, C, wherein a control value for achieving or maintaining the setpoint value in Milling operation is issued.
  • the leveling device 4, as shown Fig. 2 shows, a display and adjustment, which is divided into three nearly identical display and adjustment units 2a, 2b, 2c.
  • the display and setting device 2 is used to set operating parameters for the sensors A, B, C. Set and actual values of the sensors A, B, C can be set in each display and setting unit 2a, 2b, 2c.
  • the display and adjustment unit 2a and 2c right and left are each connected to a controller 6a, 6c, which can be activated with an automatic button for each automatic control. During switching, the controllers remain in automatic mode.
  • the resulting from the difference of the setpoint and actual value control value of the controller 6a, 6c is displayed qualitatively with arrows 14, wherein the display of the vertical travel speed of the machine proportionally, so can also display quantitatively.
  • the predefined setpoint and actual values of the middle display and adjustment unit 2b which is coupled to a sensor B which is to be exchanged and selectable against the currently used sensor A or C, can be compared with the desired and actual values of the sensor A or with a changeover device 10a or 10b C to be exchanged for a selectable other sensor B.
  • the embodiment shows a version in which in each case a controller 6a, 6c is provided for one side of the road construction machine 1. It is understood that the display and adjustment device 2 may also have only two display and adjustment units, if only one controller is present, with one sensor being exchanged for another selectable sensor.
  • Fig. 2 shows the connection of the sensors A, B, C to the leveling device 4 with two regulators 6a, 6c, the leveling device having a display and adjustment device 2 with three display and adjustment units 2a, 2b, 2c,
  • Fig. 3 shows an embodiment of the display and adjustment device 2, wherein for each display and adjustment unit 2a, 2b, 2c adjustment buttons 16 (up and down) for setting setpoints, as well as adjustment buttons 18 (up and down) for the adjustment of measured actual values available are.
  • the currently set desired values and the currently measured actual values of the sensors A, B, C are displayed.
  • the direction of a possibly set inclination of the milling drum can be displayed.
  • units are e.g. in inches or cm or percentages in% referring to the displayed value.
  • a selection of sensors is displayed at the lower end 22 of the display 20 so that a vehicle driver can determine from the current display which type of sensor is currently displayed on the display and setting unit 2a, 2b, 2c.
  • the symbols represent from left to right a cable pull sensor, a tilt sensor, an ultrasonic sensor, a multiplex sensor, a total station and a laser for specifying the reference surface.
  • buttons M1, M2 are provided below the display 20 for storing setpoint values on the middle display and adjustment unit 2b.
  • the predetermined setpoint is adapted to the currently measured actual value of the preselected sensor B, so that no change in the control value occurs in this case.
  • the manipulated variable is also transferred to the manipulated variable resulting from the differences of the actual values with the aid of a transition function. Consequently, there is a time transition, whereby no sudden change of the control value can occur.
  • FIGS. 6a and 6b show a changeover in the regulated state.
  • Fig. 6a shows the initial situation in which the display and setting unit 2c associated with the controller 6c is to be switched over from the operating mode milling depth (setpoint 10.0 cm) to the milling tilt (setpoint 2%) operating mode.
  • the changeover takes place in the regulated state. This means that the respective actual value on both sides of the machine corresponds to the setpoint and therefore the control value is 0 on both sides.
  • the adjusted state is indicated by the display and setting means 14a, 14c by a horizontal bar.
  • the shift key 10b of the switching device 10 will be like Fig. 6b can be seen, the preselected setpoint and actual values of the display and adjustment unit 2b on the display unit 2c exchanged and used in the continued automatic operation of a mixed milling depth and Fräsneistsregelung based.
  • FIGS. 7a to 7c show the changeover with setpoint adjustment.
  • the setting values on both sides of the machine are not equal to 0.
  • the display and setting unit 2c of the controller 6c is switched over from milling depth control to milling tilt control.
  • the target value of the inclination is manually in Fig. 7b adjusted by pressing the keys 16, so that no sudden change in the control value takes place.
  • the example assumes that the manipulated variable is proportional to the control difference (P controller) and that the proportionality factor for milling depth and milling inclination is numerically the same.
  • the control difference is 0.3 cm for the milling depth (display and setting unit 2c in Fig. 7a ) for the milling inclination 0.6% (display and adjustment unit 2b in Fig. 7a ), so that the manipulated variable would double in value after switching.
  • the target value of the inclination is reduced to 2.0, which gives a numerically equal control difference.
  • This can be done manually via the button 16 “decrease setpoint” or automatically, eg via the key combination 16, 18 "Increase actual value and reduce setpoint value” ( Fig. 7b ).
  • an automatic setpoint adjustment can be provided.
  • the setpoint change from the aforementioned embodiment of the FIGS. 7a to 7c automatically executed when the shift key 10b (or 10a) is operated in the automatic mode.
  • the first step of manually changing the values in the middle display and adjustment unit 2b can then be omitted because this is done automatically.
  • Another variant, not shown, is to change the manipulated variable with a deviation of the actual values with the aid of a preset transition function, starting from the current position value.
  • FIGS. 8a and 8d show an embodiment with actual value and setpoint adjustment.
  • a milling depth sensor C eg an edge protection cable pull sensor
  • the middle display and adjustment unit 2b indicates the values of a milling depth sensor B, eg an ultrasonic sensor with scanning point in front of the milling drum.
  • the milling depth sensor C is to be replaced by the milling depth sensor B, wherein the setpoint and actual values of the two sensors B, C do not match.
  • the current control value is equal to 0, as can be seen from the display device 14a, 14c.
  • the sensor B Since the sensor B is adjusted differently, its actual value does not match the actual value of the sensor C. It can be adjusted manually or automatically with the actual value setting keys 18, e.g. be held by the holding of the two actual value setting keys 18 to the actual value of the sensor A equated.
  • FIGS. 8c and 8d show the setpoint adjustment. Since the setpoint of the two sensors B, C refers to the depth of cut to the right, the setpoint of the sensor B should be adjusted to the setpoint of the sensor C. This can be done with setpoint adjustment buttons or automatically eg by holding the two setpoint adjustment buttons for longer.
  • All exemplary embodiments indicate the setpoints and actual values of the preselected sensor B to be exchanged for a previously used sensor C in the display and adjustment unit 2b. This makes it possible to pre-set all setting values (setpoints and actual values) of the pre-selected sensor B before the input of a switching command via the shift keys 10a or 10b and to adapt them to the previously used sensors A, C or their nominal or actual values , When the switching key 10a of the switching device 10 is actuated, the preselected sensor is exchanged with the sensor A. currently being used on the left side of the road construction machine 1.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Road Repair (AREA)
  • Road Paving Machines (AREA)
EP20070728057 2006-04-27 2007-04-12 NIVELLIEREINRICHTUNG FÜR EINE STRAßENBAUMASCHINE SOWIE VERFAHREN ZUM REGELN DER FRÄSTIEFE ODER FRÄSNEIGUNG BEI EINER STRAßENBAUMASCHINE Active EP2010714B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200610020293 DE102006020293B4 (de) 2006-04-27 2006-04-27 Straßenbaumaschine, Nivelliereinrichtung sowie Verfahren zum Regeln der Frästiefe oder Fräsneigung bei einer Straßenbaumaschine
PCT/EP2007/053590 WO2007125017A1 (de) 2006-04-27 2007-04-12 STRAßENBAUMASCHINE, NIVELLIEREINRICHTUNG SOWIE VERFAHREN ZUM REGELN DER FRÄSTIEFE ODER FRÄSNEIGUNG BEI EINER STRAßENBAUMASCHINE

Publications (2)

Publication Number Publication Date
EP2010714A1 EP2010714A1 (de) 2009-01-07
EP2010714B1 true EP2010714B1 (de) 2013-07-31

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EP20070728057 Active EP2010714B1 (de) 2006-04-27 2007-04-12 NIVELLIEREINRICHTUNG FÜR EINE STRAßENBAUMASCHINE SOWIE VERFAHREN ZUM REGELN DER FRÄSTIEFE ODER FRÄSNEIGUNG BEI EINER STRAßENBAUMASCHINE

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US (4) US7946788B2 (enExample)
EP (1) EP2010714B1 (enExample)
JP (1) JP5057528B2 (enExample)
CN (1) CN101310077B (enExample)
AU (1) AU2007245786B2 (enExample)
BR (1) BRPI0710872B1 (enExample)
DE (1) DE102006020293B4 (enExample)
RU (1) RU2394122C1 (enExample)
TW (1) TW200804650A (enExample)
WO (1) WO2007125017A1 (enExample)

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TW200804650A (en) 2008-01-16
US7946788B2 (en) 2011-05-24
AU2007245786B2 (en) 2011-03-10
US8690474B2 (en) 2014-04-08
JP5057528B2 (ja) 2012-10-24
RU2394122C1 (ru) 2010-07-10
BRPI0710872A2 (pt) 2012-01-10
US8511932B2 (en) 2013-08-20
TWI337214B (enExample) 2011-02-11
RU2008146753A (ru) 2010-06-10
DE102006020293B4 (de) 2013-07-11
CN101310077B (zh) 2011-10-12
EP2010714A1 (de) 2009-01-07
DE102006020293A1 (de) 2007-11-08
WO2007125017A1 (de) 2007-11-08
US20110206456A1 (en) 2011-08-25
US8308395B2 (en) 2012-11-13
US20130294830A1 (en) 2013-11-07
AU2007245786A1 (en) 2007-11-08
BRPI0710872B1 (pt) 2018-01-30
JP2009534566A (ja) 2009-09-24
US20090311045A1 (en) 2009-12-17
US20130099551A1 (en) 2013-04-25

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