EP2142707A1 - Seitwärtsdriftkorrigiereinrichtung - Google Patents
SeitwärtsdriftkorrigiereinrichtungInfo
- Publication number
- EP2142707A1 EP2142707A1 EP08749394A EP08749394A EP2142707A1 EP 2142707 A1 EP2142707 A1 EP 2142707A1 EP 08749394 A EP08749394 A EP 08749394A EP 08749394 A EP08749394 A EP 08749394A EP 2142707 A1 EP2142707 A1 EP 2142707A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- relative
- sensor component
- machine
- component
- movement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/48—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- device 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.
- BESTATIGUNGSKOPIE 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.
- 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, finished tool moves only in the direction of the longitudinal axis of the machine and thus drift free.
- 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 executed movement of the finished tool which determines the structure to be produced of the material to be produced, is represented as accurately as possible 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.
- the camera mounts the camera, for example, on a carriage running beside the machine, such as on a material-feeding carriage, the camera detecting a reference point on the production machine and a part 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.
- 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.
- a sideways drift correction device for a mobile production machine will now be described purely by way of example with reference to exemplary embodiments shown schematically in the drawing. Show in detail Fig.l different positions of a cornering of a mobile manufacturing machine of the prior art along a given project line;
- FIG. 2 shows a sideways drift correcting device according to the invention, mounted on a slipforming machine
- FIG. 4 two substructure cutouts recorded successively by the camera as a sensor component
- Figure 5 shows the sideways drift correcting device mounted on a manufacturing machine which is cornering
- Lighting component which has a defined
- FIG. 8 shows an embodiment of the inventive sideways drift correction device.
- Figure 1 by way of 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 fabricated.
- 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 sideways 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 1 a in the vicinity of the manufacturing tool 5 a.
- 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. Furthermore, the evaluation component 9 checks whether the sensor component 8 moves drift-free and derives therefrom from steering corrections, which forwards them to the steering system of the machine.
- FIG. 3 shows a sensor component 8 in the form of a camera, which optically displays the background structure of the part 11 of the painted substrate 10 with, for example, an image refresh rate of 100 Hz recorded and forwards the information to the evaluation component 9.
- the evaluation component 8 determines therefrom, as shown with reference to FIG. 4, the direction of movement, if appropriate also the speed and / or the traveled path of the sensor component 8 relative to the background and stores this information.
- FIG. 4 shows two cutouts IIa and IIb of the background surface structure taken in succession by means of the sensor component (not shown here), the sensor component attached thereto having moved further between the receptacles as a result of the locomotion of the machine.
- the evaluation component determines the direction of movement 12 of the sensor component relative to the ground.
- 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 track drives 2 and 3 and the sensor component 8 and thus also the tool 5 do not move sideways to the machine axis by the steering of the rear track drive 4 ,
- FIG. 6 shows the sideways drift correction device with a lighting component 14 for brightening 15 the background structure 11 detected by the sensor component 8
- Illumination of the background structure allows e.g. with grazing incidence of the light a shadow of the
- FIG. 7 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 sideways drift correcting device in which a camera 8 as a sensor component is mounted on a carriage 17 traveling next to the machine.
- 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 Ia 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)
- Operation Control Of Excavators (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Consolidation Of Soil By Introduction Of Solidifying Substances Into Soil (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP08749394.6A EP2142707B1 (de) | 2007-05-10 | 2008-05-08 | Seitwärtsdriftkorrigiereinrichtung |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP07107972A EP1990472A1 (de) | 2007-05-10 | 2007-05-10 | Seitwärtsdriftkorrigiereinrichtung |
PCT/EP2008/003700 WO2008138542A1 (de) | 2007-05-10 | 2008-05-08 | Seitwärtsdriftkorrigiereinrichtung |
EP08749394.6A EP2142707B1 (de) | 2007-05-10 | 2008-05-08 | Seitwärtsdriftkorrigiereinrichtung |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2142707A1 true EP2142707A1 (de) | 2010-01-13 |
EP2142707B1 EP2142707B1 (de) | 2014-12-24 |
Family
ID=38461951
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP07107972A Withdrawn EP1990472A1 (de) | 2007-05-10 | 2007-05-10 | Seitwärtsdriftkorrigiereinrichtung |
EP08749394.6A Active EP2142707B1 (de) | 2007-05-10 | 2008-05-08 | Seitwärtsdriftkorrigiereinrichtung |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP07107972A Withdrawn EP1990472A1 (de) | 2007-05-10 | 2007-05-10 | Seitwärtsdriftkorrigiereinrichtung |
Country Status (6)
Country | Link |
---|---|
US (1) | US8294884B2 (de) |
EP (2) | EP1990472A1 (de) |
CN (1) | CN101680198B (de) |
AU (1) | AU2008250605B2 (de) |
CA (1) | CA2686443C (de) |
WO (1) | WO2008138542A1 (de) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2415934B1 (de) * | 2010-08-06 | 2015-10-07 | Joseph Vögele AG | Sensoranordnung für eine Baumaschine |
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 |
EP3106562A1 (de) * | 2015-06-19 | 2016-12-21 | TF-Technologies A/S | Korrektureinheit |
DE202016100093U1 (de) * | 2016-01-12 | 2017-04-20 | Joseph Vögele AG | Straßenfertiger mit Projektor als Navigationshilfe |
PL3401442T3 (pl) * | 2017-05-11 | 2020-07-13 | Joseph Vögele AG | Wykańczarka z kompensacją kierowania i sposób sterowania |
US11008714B2 (en) * | 2018-04-09 | 2021-05-18 | Howard Cooper | Slip forming structures using multiple molds |
DE102019118059A1 (de) | 2019-07-04 | 2021-01-07 | Wirtgen Gmbh | Selbstfahrende Baumaschine und Verfahren zum Steuern einer selbstfahrenden Baumaschine |
EP4217167A1 (de) * | 2020-09-24 | 2023-08-02 | Husqvarna Ab | Bodensägeausrüstung mit steuerbaren stützrädern |
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 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5484227A (en) * | 1993-04-09 | 1996-01-16 | 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 |
US20010027892A1 (en) * | 2000-02-02 | 2001-10-11 | Nathan Masters | Traction kinking system for applying power to a trailing section of an articulated vehicle |
US20040221790A1 (en) * | 2003-05-02 | 2004-11-11 | Sinclair Kenneth H. | Method and apparatus for optical odometry |
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. |
-
2007
- 2007-05-10 EP EP07107972A patent/EP1990472A1/de not_active Withdrawn
-
2008
- 2008-05-08 CA CA2686443A patent/CA2686443C/en active Active
- 2008-05-08 AU AU2008250605A patent/AU2008250605B2/en active Active
- 2008-05-08 CN CN200880015388.5A patent/CN101680198B/zh active Active
- 2008-05-08 WO PCT/EP2008/003700 patent/WO2008138542A1/de active Application Filing
- 2008-05-08 US US12/599,482 patent/US8294884B2/en active Active
- 2008-05-08 EP EP08749394.6A patent/EP2142707B1/de active Active
Non-Patent Citations (1)
Title |
---|
See references of WO2008138542A1 * |
Also Published As
Publication number | Publication date |
---|---|
WO2008138542A1 (de) | 2008-11-20 |
US20100201994A1 (en) | 2010-08-12 |
AU2008250605A1 (en) | 2008-11-20 |
CN101680198A (zh) | 2010-03-24 |
CN101680198B (zh) | 2011-07-27 |
CA2686443C (en) | 2012-11-13 |
US8294884B2 (en) | 2012-10-23 |
AU2008250605B2 (en) | 2011-01-20 |
EP2142707B1 (de) | 2014-12-24 |
EP1990472A1 (de) | 2008-11-12 |
CA2686443A1 (en) | 2008-11-20 |
WO2008138542A9 (de) | 2010-06-17 |
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