EP2142707B1 - Dispositif de correction de la déviation latérale - Google Patents

Dispositif de correction de la déviation latérale Download PDF

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Publication number
EP2142707B1
EP2142707B1 EP08749394.6A EP08749394A EP2142707B1 EP 2142707 B1 EP2142707 B1 EP 2142707B1 EP 08749394 A EP08749394 A EP 08749394A EP 2142707 B1 EP2142707 B1 EP 2142707B1
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EP
European Patent Office
Prior art keywords
lateral drift
underlying surface
fabrication machine
sensor component
machine
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.)
Active
Application number
EP08749394.6A
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German (de)
English (en)
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EP2142707A1 (fr
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
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Leica Geosystems AG
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Filing date
Publication date
Application filed by Leica Geosystems AG filed Critical Leica Geosystems AG
Priority to EP08749394.6A priority Critical patent/EP2142707B1/fr
Publication of EP2142707A1 publication Critical patent/EP2142707A1/fr
Application granted granted Critical
Publication of EP2142707B1 publication Critical patent/EP2142707B1/fr
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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 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.
  • the European patent application EP-A1-0 620 319 discloses an automatic control device for a road construction manufacturing machine with a plurality of screed plates, which is designed to control the Abziehbohlenposition and to control the direction of travel.
  • the device described has for this purpose a detection unit for determining the position of the Abziehbohlen relative to a reference line on the ground.
  • the detection unit consists inter alia of a camera, by means of which the background is recorded with the reference line, and an evaluation unit with image processing for determining displacements of the plank position relative to the reference line from the recorded images. From the dislocations thus determined, commands are derived for correcting the screed position and the direction of travel of the paver.
  • the patent US-A-5,988,936 discloses a sensor arrangement for determining control instructions for a road construction machine. It is described in particular that the road construction machine can be guided along narrow radii by the sensor arrangement.
  • the sensor arrangement has for this purpose three sensors, which are designed to determine the direction of a reference line, for example a tensioned guide wire, depending on the position of the road construction machine relative to the reference line.
  • Previously known devices for detecting and preventing sideways drift of mobile manufacturing machines include the steering angle measurement of the crawler tracks of the machine, the orientation and the trajectory of the machine, and steering corrections therefrom to calculate.
  • 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 continuously recorded using the sensor component, being moved between generated recordings of the substrate surface, the production machine, and transmits the information to the evaluation component.
  • the evaluation component evaluates the information of the sensor component, compares the images to detect a displacement of a selected structural feature of the recorded surface of the substrate 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 production machine, for example on an arm of the manufacturing tool or under the machine floor, and thus performs 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 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 the direction of movement of the sensor component 8 on the basis of the changes in the transmitted background surface information as the machine moves on.
  • the evaluation component 9 also checks whether the sensor component 8 moves without drift and, if appropriate, derives steering corrections, which forward 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 from this 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.

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  • 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)

Claims (12)

  1. Dispositif de correction de la déviation latérale pour une machine de fabrication mobile (1) qui présente un épandage de matériau et un outil de fabrication (5) pour le traitement du matériau épandu, avec
    - un composant de capteur (8) et
    - un composant d'évaluation (9)
    caractérisé en ce que
    - le composant de capteur (8) est configuré pour la détection continue d'au moins une partie (11) de la surface du sol (10) par rapport à laquelle la machine de fabrication se déplace relativement à celle-ci, cependant que la machine de fabrication (1) continue à se déplacer entre des enregistrements ainsi produits de la surface du sol (10) et
    - le composant d'évaluation (9) est configuré
    • par comparaison des enregistrements pour la reconnaissance d'un déplacement d'une caractéristique de structure sélectionnée de la surface du sol enregistrée (10) et à partir de ceux-ci pour la détermination de la direction du mouvement relatif d'un point de référence de la machine de fabrication par rapport au sol ainsi que
    • pour la dérivation d'informations de correction de direction.
  2. Dispositif de correction de la déviation latérale selon la revendication 1, caractérisé en ce que le composant d'évaluation (9) est configuré pour la détection d'une déviation latérale de la machine de fabrication (1) à l'aide de la direction du mouvement relatif du point de référence par rapport au sol qui a été déterminée ainsi que pour la dérivation des informations de correction de direction de telle manière que la déviation latérale soit corrigée.
  3. Dispositif de correction de la déviation latérale selon la revendication 1 ou 2, caractérisé en ce que le composant de capteur (8) est configuré pour la détection optique de la surface du sol (10), en particulier en tant que caméra.
  4. Dispositif de correction de la déviation latérale selon l'une des revendications précédentes, caractérisé en ce que le composant de capteur (8) est configuré pour la détection de la surface du sol (10) avec un taux de répétition d'au moins 100 Hz.
  5. Dispositif de correction de la déviation latérale selon l'une des revendications précédentes, caractérisé en ce que le composant de capteur (8) est configuré pour la détection de la surface du sol (10) qui est balayée par le déplacement de la machine de fabrication.
  6. Dispositif de correction de la déviation latérale selon l'une des revendications précédentes, caractérisé en ce que le composant de capteur (8) est configuré pour le montage dans ou sous le fond d'une machine de fabrication et/ou sur un bras d'outil de la machine de fabrication.
  7. Dispositif de correction de la déviation latérale selon l'une des revendications précédentes, caractérisé en ce que le composant de capteur (8) peut être monté dans une orientation définie par rapport à l'axe de la machine de fabrication et qu'il peut être contrôlé en continu au moyen du composant d'évaluation (9) si le composant de capteur (8) se déplace seulement dans le sens de l'axe longitudinal (13) de la machine de fabrication.
  8. Dispositif de correction de la déviation latérale selon l'une des revendications précédentes, caractérisé en ce que le composant d'évaluation détermine, à partir des informations du composant de capteur (8), la vitesse de déplacement et le trajet parcouru par l'outil de fabrication relativement par rapport au sol (10) et mémorise des informations sur la direction du mouvement et/ou la vitesse de déplacement et/ou le trajet parcouru.
  9. Dispositif de correction de la déviation latérale selon l'une des revendications précédentes, caractérisé par un composant d'éclairage (14) pour l'éclairage d'au moins une partie (15) de la surface du sol (10) détectée par le composant de capteur (8) ou pour la projection ciblée d'une structure d'éclairage, en particulier d'une grille ou d'une croix (16), sur au moins une partie de la surface du sol qui peut être détectée par le composant de capteur.
  10. Procédé de correction de la déviation latérale pour corriger la déviation latérale d'une machine de fabrication mobile (1), à l'aide d'un point de référence de la machine de fabrication mobile (1), avec les étapes :
    - détection optique et continue d'une partie (11) de la surface du sol (10) par rapport à laquelle la machine de fabrication se déplace relativement à celle-ci, cependant que la machine de fabrication (1) continue à se déplacer entre des enregistrements ainsi produits de la surface du sol (10),
    - reconnaissance d'un déplacement d'une caractéristique de structure sélectionnée de la surface du sol enregistrée (10) par comparaison des enregistrements,
    - détermination de la direction du mouvement relatif du point de référence par rapport au sol à partir du déplacement et à partir de celle-ci
    - dérivation d'informations de correction de direction.
  11. Procédé de correction de la déviation latérale selon la revendication 10, caractérisé en ce que la détection de la surface du sol (10) se fait avec un taux de répétition d'au moins 100 Hz.
  12. Procédé de correction de la déviation latérale selon la revendication 10, caractérisé en ce qu'une déviation latérale de la machine de fabrication (1) est détectée à l'aide de la direction du mouvement du point de référence par rapport au sol qui a été déterminée et qu'il s'ensuit la dérivation d'informations de correction de direction pour corriger la déviation latérale.
EP08749394.6A 2007-05-10 2008-05-08 Dispositif de correction de la déviation latérale Active EP2142707B1 (fr)

Priority Applications (1)

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

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP07107972A EP1990472A1 (fr) 2007-05-10 2007-05-10 Dispositif de correction de la déviation latérale
PCT/EP2008/003700 WO2008138542A1 (fr) 2007-05-10 2008-05-08 Dispositif de correction de déviation latérale
EP08749394.6A EP2142707B1 (fr) 2007-05-10 2008-05-08 Dispositif de correction de la déviation latérale

Publications (2)

Publication Number Publication Date
EP2142707A1 EP2142707A1 (fr) 2010-01-13
EP2142707B1 true EP2142707B1 (fr) 2014-12-24

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 Before (1)

Application Number Title Priority Date Filing Date
EP07107972A Withdrawn EP1990472A1 (fr) 2007-05-10 2007-05-10 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)

Families Citing this family (10)

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Publication number Priority date Publication date Assignee Title
EP2415934B1 (fr) * 2010-08-06 2015-10-07 Joseph Vögele AG Dispositif capteur pour une machine de construction
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 (fr) 2015-06-19 2016-12-21 TF-Technologies A/S Unité de correction
DE202016100093U1 (de) * 2016-01-12 2017-04-20 Joseph Vögele AG Straßenfertiger mit Projektor als Navigationshilfe
EP3401442B1 (fr) 2017-05-11 2019-12-18 Joseph Vögele AG Finisseuse de route ayant une compensation de braquage et procédé de commande
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
EP4217166A1 (fr) * 2020-09-24 2023-08-02 Husqvarna AB Équipement de sciage sur pied doté de roues de support réglables
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

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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.

Also Published As

Publication number Publication date
CA2686443A1 (fr) 2008-11-20
US20100201994A1 (en) 2010-08-12
WO2008138542A1 (fr) 2008-11-20
CN101680198B (zh) 2011-07-27
AU2008250605A1 (en) 2008-11-20
CA2686443C (fr) 2012-11-13
AU2008250605B2 (en) 2011-01-20
EP2142707A1 (fr) 2010-01-13
WO2008138542A9 (fr) 2010-06-17
US8294884B2 (en) 2012-10-23
CN101680198A (zh) 2010-03-24
EP1990472A1 (fr) 2008-11-12

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