EP2256246B1 - Paving machines for applying a cover layer of a road surface - Google Patents

Paving machines for applying a cover layer of a road surface Download PDF

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Publication number
EP2256246B1
EP2256246B1 EP09006845.3A EP09006845A EP2256246B1 EP 2256246 B1 EP2256246 B1 EP 2256246B1 EP 09006845 A EP09006845 A EP 09006845A EP 2256246 B1 EP2256246 B1 EP 2256246B1
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EP
European Patent Office
Prior art keywords
pave
sensor
feed conveyor
train according
discharge end
Prior art date
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Active
Application number
EP09006845.3A
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German (de)
French (fr)
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EP2256246A1 (en
Inventor
Martin Dipl.-Ing. Buschmann
Steffen Fickeisen
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Joseph Voegele AG
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Joseph Voegele 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.)
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Publication date
Application filed by Joseph Voegele AG filed Critical Joseph Voegele AG
Priority to PL09006845T priority Critical patent/PL2256246T3/en
Priority to EP09006845.3A priority patent/EP2256246B1/en
Priority to US12/723,766 priority patent/US8337118B2/en
Priority to CN201010141922.6A priority patent/CN101892623B/en
Publication of EP2256246A1 publication Critical patent/EP2256246A1/en
Application granted granted Critical
Publication of EP2256246B1 publication Critical patent/EP2256246B1/en
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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
    • 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
    • E01C2301/00—Machine characteristics, parts or accessories not otherwise provided for
    • E01C2301/02—Feeding devices for pavers
    • E01C2301/04—Independent shuttles

Definitions

  • the invention relates to a road paver with mobile supply unit explained in the preamble of claim 1 Art.
  • Such a paver is from the DE 297 15 467 U1 known.
  • the well-known paver is part of a paving train, the supply of all road pavers of the paving train via a feeder takes place, which is driven independently and leads the road pavers.
  • the feeder is provided with a feed conveyor in the form of a conveyor belt that extends beyond the bunker for the paving material of the trailing paver and fills the bunker of this paver with paving material.
  • the feeder is equipped with a swiveling belt that allows the feeder to move not only directly in front of but also laterally offset from the paver.
  • a number of sensors are provided on the feeder, on the paver and on the infeed conveyor to control the positioning and spacing of the feeder to the paver, using the signals detected by the sensors to control the components of the paver.
  • a sensor pair is arranged for example on the front in the direction of travel of the paver and the rear in the direction of travel of the feeder, in which case the distances between the two units are determined.
  • Another sensor pair is provided at the discharge end of the feeder conveyor and in the bunker of the paver, in which case the filling state of the bunker is to be determined.
  • this handover may cause problems if the operator misses the paver's bin and the paving material falls beside / in front of or on top of the paver. This can lead to considerable disruption of the installation process.
  • the invention has for its object to provide a paver and a mobile supply unit, in which the transfer process is largely automated and feasible in all installation situations.
  • the relative position between the supply unit and the paver both in and transverse to the direction of travel determine, even if the supply unit is offset transversely to the direction of travel to the paver. It is possible in this way to set the bulk material of the paving material independent of the relative position, in particular an orientation transverse to the direction of travel, supply unit and paver at a precise position defined in the bunker of the paver.
  • the position of the discharge end in the z direction i. can be determined in the vertical distance above the cone. In this way, it is possible to keep the distance between the discharge end and the pour cone at each size of the bulk cone substantially constant, so that the entire conveyed material has the same fall path through the open air and thus cools evenly. If the distance is then kept sufficiently small, the cooling of the paving material can be reduced during the transfer. In addition, the segregation of the material during transfer is minimized.
  • Fig. 1 shows in plan view and a highly schematic representation of a paver 1, of which only the bunker 2 for receiving property (road construction material) is shown here.
  • the paver 1 has the usual construction, ie it is provided with the front in the direction of travel F bucket, reservoir or bunker 2, which supplies the installation unit via suitable funding, such as scraper belts.
  • the road paver 1 has a chassis 3 (shown is a crawler track) and a Drive on, with the paver 1 is independently movable.
  • the bunker 2 has a predetermined and known geometry (length, width, height, shape).
  • a supply unit 4 which may for example be a truck or, as shown, is a feeder, which is adapted to the specific purpose.
  • feeder and paver can be used as in the DE 297 15 467 U1 be educated.
  • the supply unit 4 also contains a storage bunker 5 with built-in material and a chassis 6 with its own drive, so that the supply unit 4 can be moved independently of the paver 1.
  • the transfer connection for the installation material between the supply unit 4 and the paver 1 via a feed conveyor 7, which may be formed, for example, as a conveyor belt, as in the above-mentioned DE 297 15 467 U1 is shown and assigned to the mobile supply unit.
  • the feed conveyor 7 is optionally pivotable about a horizontal and / or vertical axis.
  • a sensor device 8 For positioning the supply unit 4 and the road paver 1 relative to one another, a sensor device 8 is provided.
  • the sensor device 8 contains in the illustrated embodiment, a position sensor 9, which cooperates with two reference elements 10.
  • the position sensor 9 is provided at the discharge end 7a of the feed conveyor 7 and directed to reference elements 10a and 10b, which are arranged on the rear in the direction of travel F side of the bunker 2.
  • the reference elements 10 are formed as rods, or mounted there, which has a maximum bulk cone 11 (FIG. Fig.
  • the position sensor 9 protrude into the bunker 2 and thus can be detected by the position sensor 9 at the discharge end 7a, ie the position sensor 9 and at least parts of the reference elements 10 are in each angular position of the discharge end 7a in a horizontal plane.
  • the reference elements 10a, 10b are spaced from each other, to such an extent that they can be detected separately from the sensor 9. According to the invention, the reference elements 10a, 10b are spaced transversely to the direction of travel F, preferably at right angles thereto. A preferred distance is the width of the bunker 2 transverse to the direction of travel.
  • the sensor device 8 further includes a distance sensor 12, which detects the distance between the sensor 12 and the pour cone 11.
  • the sensor 12 is also for this purpose at or in the vicinity of the discharge end 7 a of the feed conveyor. 7 arranged and directed into the bunker 2. With this distance sensor 12, the z-coordinate in the spatial direction, with or without consideration of a parabola, thus determined so that with the embodiment of the invention an orientation of the assignment of supply unit 4 and paver 1, more precisely from the discharge end 7a to the bunker 2, in all three Spatial directions can be done.
  • the signals supplied by the sensors are supplied to the control device and either used to automatically control the supply unit 4 and / or the feed conveyor 7 in the x and y direction and / or displayed, so that a manual correction is possible given deviations.
  • the discharge end 7a of the charge conveyor 7 in the z-direction is also controlled, e.g. by pivoting the loading conveyor 7 about a horizontal axis, that the discharge end 7a always has substantially the same distance from the building up bulk cone 11 in the bunker 2.
  • the Fig. 3 and 4 show a further embodiment of the invention, wherein identical or comparable components are denoted by the same reference numerals and not explained again.
  • the embodiment according to the Fig. 3 and 4 differs from the embodiment according to the Fig. 1 and 2 by a modified sensor device 18.
  • the sensor device 18 in turn includes a position sensor 9, which is directed to reference elements 10, but the position sensor 9 on the rear in the direction of travel F side of the supply unit 4 itself (and therefore not vertically movable) is arranged and reference elements 10th is directed, which are attached to the front in the direction of travel F side of the paver 1, in particular on the bunker 2.
  • the distance and the formation of the reference elements 10a and 10b is the same as described with reference to the preceding embodiment.
  • the position sensor 9 also has the described design and mode of operation. Again, the position sensor 9 and the reference elements 10 are in a common, substantially horizontal plane.
  • the sensor device 18 includes an angle sensor 19 which detects the angular position ⁇ of the feed conveyor 7 about a horizontal axis relative to a reference plane and thus determines the distance of the discharge end 7a to the bulk cone 11 and the feed conveyor 7 raises proportionally with an increase in the bulk cone 11.
  • the angle sensor 19 With the aid of the angle ⁇ measured by the angle sensor 19 and the previously known and predetermined geometry (in particular of the bunker 2 and the loading conveyor 7), the discharge point can be determined in a simple manner. Because of the known geometry bunker 2, the distance between the discharge end 7a and the bunker 2 can be further determined.
  • the feed conveyor 7 is raised, so that the distance between the bulk cone 11 and discharge end 7a remains the same.
  • the discharge 7a lowers until a minimum distance between the bunker 2 and the discharge end 7a has been reached.
  • This minimum distance between the discharge end 7a and the Bunker Stahl example as in the first embodiment, using the overfill sensor 20.
  • an overfill sensor 20 is provided and preferably arranged at the discharge end 7a, which ensures that the bunker 2 is not crowded. Also in this embodiment can thus be made in a simple manner, a position determination of the discharge end 7a in the three spatial directions.
  • sensors preferably laser or ultrasonic sensors with reflectors are used as reference elements; However, a wide variety of measuring systems can be used.
  • a differential distance measurement of the discharge point at the discharge end 7a and the pick-up point on the bulk cone 11 as the difference between two absolute position determinations of discharge point and pickup point possible for example by a laser total station, GPS or the like .
  • Particularly advantageous is the structure of a simple differential GPS each with a GPS antenna on the drop and one at the pickup point.
  • the position determinations are compared with the desired positions in a processing unit, not shown, of the control device and forwarded to the actuators in suitable setting commands.
  • a number of actuators on the supply unit may be used to null the measurement bias, such as the drive speed (Delta in x-direction), the steering or differential speed of the suspension chains chain devices (offset + delta in y-direction), the mass flow of the conveyor, eg by the conveying speed (change the level in the bunker), the pivot drive of the conveyor (delta in y-direction, error in x-direction negligible) or the pitch drive of the conveyor system (delta in z-direction, error in x-direction negligible).
  • the drive speed Delta in x-direction
  • the steering or differential speed of the suspension chains chain devices offset + delta in y-direction
  • the mass flow of the conveyor eg by the conveying speed (change the level in the bunker)
  • the pivot drive of the conveyor delta in y-direction, error in x-direction negligible
  • the pitch drive of the conveyor system delta in z-direction, error in x-direction neglig
  • the invention may also be used for other purposes, such as maintaining the dump position when filling trenches, measuring and controlling fill levels when filling trenches, positioning the dump point at alternative dump positions, e.g. in paving trains with two types of asphalt and two hopper bunkers, to maximize the level in the bunker of the paver by defined distribution of the material in unmanned operation of the supply unit or the paver, with a teach-in function for the relative or absolute position of drop and / or pick-up point or in the defined transverse distribution of concrete in front of a slipform paver.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Road Paving Machines (AREA)

Description

Die Erfindung bezieht sich auf einen Straßenfertiger mit mobiler Versorgungseinheit der im Oberbegriff von Anspruch 1 erläuterten Art.The invention relates to a road paver with mobile supply unit explained in the preamble of claim 1 Art.

Ein derartiger Straßenfertiger ist aus der DE 297 15 467 U1 bekannt. Der bekannte Straßenfertiger ist Teil eines Einbauzuges, wobei die Versorgung aller Straßenfertiger des Einbauzuges über einen Beschicker erfolgt, der selbständig angetrieben wird und den Straßenfertigern voranfährt. Der Beschicker ist mit einem Beschickungsförderer in Form eines Förderbandes versehen, das bis über den Bunker für das Einbaumaterial des nachfahrenden Straßenfertigers reicht und den Bunker dieses Straßenfertigers mit Einbaumaterial auffüllt. Der Beschicker ist mit einem Schwenkband ausgestattet, das es dem Beschicker erlaubt, nicht nur direkt vor, sondern auch seitlich versetzt vor dem Fertiger zu fahren. Es sind eine Reihe von Sensoren vorgesehen, die am Beschicker, am Straßenfertiger und an dem Beschickungsförderer angeordnet sind, um die Positionierung und den Abstand des Beschickers zum Straßenfertiger zu kontrollieren, wobei die von den Sensoren ermittelten Signale zum Steuern der Bestandteile des Einbauzuges herangezogen werden. Ein Sensorpaar ist beispielsweise an der in Fahrtrichtung vorderen Seite des Straßenfertigers und der in Fahrtrichtung rückwärtigen Seite des Beschickers angeordnet, wobei hier die Abstände beider Einheiten bestimmt werden. Ein weiteres Sensorpaar ist am Abwurfende des Beschickerförderers und im Bunker des Straßenfertigers vorgesehen, wobei hier der Befüllzustand des Bunkers festgestellt werden soll. Bei dieser Übergabe kann es jedoch trotz Sensorsteuerung zu Problemen kommen, wenn der Bediener den Behälter des Fertigers verfehlt und das Einbaumaterial neben/vor oder auf den Fertiger fällt. Dies kann zu erheblichen Störungen des Einbauprozesses führen.Such a paver is from the DE 297 15 467 U1 known. The well-known paver is part of a paving train, the supply of all road pavers of the paving train via a feeder takes place, which is driven independently and leads the road pavers. The feeder is provided with a feed conveyor in the form of a conveyor belt that extends beyond the bunker for the paving material of the trailing paver and fills the bunker of this paver with paving material. The feeder is equipped with a swiveling belt that allows the feeder to move not only directly in front of but also laterally offset from the paver. A number of sensors are provided on the feeder, on the paver and on the infeed conveyor to control the positioning and spacing of the feeder to the paver, using the signals detected by the sensors to control the components of the paver. A sensor pair is arranged for example on the front in the direction of travel of the paver and the rear in the direction of travel of the feeder, in which case the distances between the two units are determined. Another sensor pair is provided at the discharge end of the feeder conveyor and in the bunker of the paver, in which case the filling state of the bunker is to be determined. However, in spite of sensor control, this handover may cause problems if the operator misses the paver's bin and the paving material falls beside / in front of or on top of the paver. This can lead to considerable disruption of the installation process.

Der Erfindung liegt die Aufgabe zugrunde, einen Straßenfertiger und eine mobile Versorgungseinheit bereitzustellen, bei denen der Übergabeprozess weitgehend automatisiert und in allen Einbausituationen durchführbar ist.The invention has for its object to provide a paver and a mobile supply unit, in which the transfer process is largely automated and feasible in all installation situations.

Die Erfindung wird durch die im Anspruch 1 angegebenen Merkmale gelöst.The invention is solved by the features specified in claim 1.

Durch die erfindungsgemäße Ausgestaltung ist es möglich, die Relativposition zwischen der Versorgungseinheit und dem Straßenfertiger sowohl in als auch quer zur Fahrtrichtung zu bestimmen, und zwar auch dann, wenn die Versorgungseinheit quer zur Fahrtrichtung gegenüber dem Straßenfertiger versetzt wird. Es ist auf diese Weise möglich, den Schüttkegel des Einbaumaterials unabhängig von der Relativposition, insbesondere einer Ausrichtung quer zur Fahrtrichtung, von Versorgungseinheit und Straßenfertiger an einer genauen definierten Position in den Bunker des Straßenfertigers zu setzen.The inventive design, it is possible, the relative position between the supply unit and the paver both in and transverse to the direction of travel determine, even if the supply unit is offset transversely to the direction of travel to the paver. It is possible in this way to set the bulk material of the paving material independent of the relative position, in particular an orientation transverse to the direction of travel, supply unit and paver at a precise position defined in the bunker of the paver.

Vorteilhafte Weiterbildungen der Erfindung sind den Unteransprüchen zu entnehmen.Advantageous developments of the invention can be found in the dependent claims.

Von besonderer Bedeutung ist es, wenn zusätzlich zur Bestimmung der Position des Abwurfendes in und quer zur Fahrtrichtung (x- und y-Richtung) auch die Position des Abwurfendes in z-Richtung, d.h. im Höhenabstand über dem Schüttkegel festgestellt werden kann. Auf diese Weise ist es möglich, den Abstand zwischen dem Abwurfende und dem Schüttkegel bei jeder Größe des Schüttkegels im Wesentlichen konstant zu halten, so dass das gesamte geförderte Material den gleichen Fallweg durch die freie Luft hat und somit gleichmäßig abkühlt. Wird der Abstand dann ausreichend klein gehalten, so kann die Abkühlung des Einbaumaterials bei der Übergabe verringert werden. Außerdem wird die Entmischung des Materials bei der Übergabe minimiert.It is of particular importance if, in addition to determining the position of the discharge end in and transverse to the direction of travel (x and y direction), the position of the discharge end in the z direction, i. can be determined in the vertical distance above the cone. In this way, it is possible to keep the distance between the discharge end and the pour cone at each size of the bulk cone substantially constant, so that the entire conveyed material has the same fall path through the open air and thus cools evenly. If the distance is then kept sufficiently small, the cooling of the paving material can be reduced during the transfer. In addition, the segregation of the material during transfer is minimized.

Ausführungsbeispiele der Erfindung werden nachfolgend anhand der Zeichnungen näher erläutert. Es zeigen:

Fig. 1
eine stark schematisierte Draufsicht auf ein erstes Ausführungsbeispiel der Erfindung,
Fig. 2
eine stark schematisierte Seitenansicht des Ausführungsbeispiels nach Fig. 1,
Fig. 3
eine stark schematisierte Draufsicht auf ein zweites Ausführungsbeispiel der Erfindung, und
Fig. 4
eine stark schematisierte Seitenansicht des Ausführungsbeispiels nach Fig. 3.
Embodiments of the invention are explained below with reference to the drawings. Show it:
Fig. 1
a highly schematic top view of a first embodiment of the invention,
Fig. 2
a highly schematic side view of the embodiment according to Fig. 1 .
Fig. 3
a highly schematic plan view of a second embodiment of the invention, and
Fig. 4
a highly schematic side view of the embodiment according to Fig. 3 ,

Fig. 1 zeigt in Draufsicht und stark schematisierter Darstellung einen Straßenfertiger 1, von dem hier lediglich der Bunker 2 zum Aufnehmen von Einbaugut (Straßenbaumaterial) gezeigt ist. Der Straßenfertiger 1 weist die übliche Konstruktion auf, d.h. er ist mit dem in Fahrtrichtung F vorn liegenden Kübel, Vorratsbehälter oder Bunker 2 versehen, der über geeignete Fördermittel, wie beispielsweise Kratzerbänder, das Einbauaggregat versorgt. Der Straßenfertiger 1 weist ein Fahrwerk 3 (dargestellt ist ein Raupenfahrwerk) und einen Antrieb auf, mit dem der Straßenfertiger 1 unabhängig verfahrbar ist. Der Bunker 2 weist eine vorbestimmte und bekannte Geometrie (Länge, Breite, Höhe, Form) auf. Fig. 1 shows in plan view and a highly schematic representation of a paver 1, of which only the bunker 2 for receiving property (road construction material) is shown here. The paver 1 has the usual construction, ie it is provided with the front in the direction of travel F bucket, reservoir or bunker 2, which supplies the installation unit via suitable funding, such as scraper belts. The road paver 1 has a chassis 3 (shown is a crawler track) and a Drive on, with the paver 1 is independently movable. The bunker 2 has a predetermined and known geometry (length, width, height, shape).

Vor dem Straßenfertiger 1 fährt eine Versorgungseinheit 4, die beispielsweise ein LKW sein kann oder, wie dargestellt, ein Beschicker ist, der an den speziellen Verwendungszweck angepasst ist. Beschicker und Straßenfertiger können beispielsweise wie in der der DE 297 15 467 U1 ausgebildet sein. Die Versorgungseinheit 4 enthält ebenfalls einen Vorratsbunker 5 mit Einbaumaterial und ein Fahrwerk 6 mit eigenem Antrieb, so dass die Versorgungseinheit 4 unabhängig vom Straßenfertiger 1 verfahrbar ist. Die Übergabeverbindung für das Einbaumaterial zwischen der Versorgungseinheit 4 und dem Straßenfertiger 1 erfolgt über einen Beschickungsförderer 7, der beispielsweise als Förderband ausgebildet sein kann, wie er in der obenerwähnten DE 297 15 467 U1 gezeigt ist und der mobilen Versorgungseinheit zugeordnet ist. Der Beschickungsförderer 7 ist gegebenenfalls um eine horizontale und/oder vertikale Achse schwenkbar.In front of the paver 1 drives a supply unit 4, which may for example be a truck or, as shown, is a feeder, which is adapted to the specific purpose. For example, feeder and paver can be used as in the DE 297 15 467 U1 be educated. The supply unit 4 also contains a storage bunker 5 with built-in material and a chassis 6 with its own drive, so that the supply unit 4 can be moved independently of the paver 1. The transfer connection for the installation material between the supply unit 4 and the paver 1 via a feed conveyor 7, which may be formed, for example, as a conveyor belt, as in the above-mentioned DE 297 15 467 U1 is shown and assigned to the mobile supply unit. The feed conveyor 7 is optionally pivotable about a horizontal and / or vertical axis.

Zur Positionierung der Versorgungseinheit 4 und des Straßenfertigers 1 relativ zueinander ist eine Sensoreinrichtung 8 vorgesehen. Die Sensoreinrichtung 8 enthält im dargestellten Ausführungsbeispiel einen Positionssensor 9, der mit zwei Referenzelementen 10 zusammenwirkt. Im dargestellten Ausführungsbeispiel ist der Positionssensor 9 am Abwurfende 7a des Beschickungsförderers 7 vorgesehen und auf Referenzelemente 10a und 10b gerichtet, die an der in Fahrtrichtung F hinteren Seite des Bunkers 2 angeordnet sind. Im dargestellten Ausführungsbeispiel sind die Referenzelemente 10 als Stangen ausgebildet, oder dort angebracht, die über einen maximalen Schüttkegel 11 (Fig. 2) im Bunker 2 hinausragen und somit vom Positionssensor 9 am Abwurfende 7a erfasst werden können, d.h. der Positionssensor 9 und zumindest jeweils Teile der Referenzelemente 10 befinden sich bei jeder Winkelposition des Abwurfendes 7a in einer horizontalen Ebene. Die Referenzelemente 10a, 10b sind zueinander beabstandet, und zwar so weit, dass sie vom Sensor 9 getrennt erfassbar sind. Erfindungsgemäß sind die Referenzelemente 10a, 10b quer zur Fahrtrichtung F, und zwar bevorzugt rechtwinklig dazu, beabstandet. Ein bevorzugter Abstand ist die Breite des Bunkers 2 quer zur Fahrtrichtung. Mit dem Positionssensor 9 sind somit die x- und die y-Koordinate in Raumrichtung, d.h. die Relativposition von Abwurfende 7a und Bunker 2, mit oder ohne Berücksichtigung einer Fallparabel, feststellbar.For positioning the supply unit 4 and the road paver 1 relative to one another, a sensor device 8 is provided. The sensor device 8 contains in the illustrated embodiment, a position sensor 9, which cooperates with two reference elements 10. In the illustrated embodiment, the position sensor 9 is provided at the discharge end 7a of the feed conveyor 7 and directed to reference elements 10a and 10b, which are arranged on the rear in the direction of travel F side of the bunker 2. In the illustrated embodiment, the reference elements 10 are formed as rods, or mounted there, which has a maximum bulk cone 11 (FIG. Fig. 2 ) protrude into the bunker 2 and thus can be detected by the position sensor 9 at the discharge end 7a, ie the position sensor 9 and at least parts of the reference elements 10 are in each angular position of the discharge end 7a in a horizontal plane. The reference elements 10a, 10b are spaced from each other, to such an extent that they can be detected separately from the sensor 9. According to the invention, the reference elements 10a, 10b are spaced transversely to the direction of travel F, preferably at right angles thereto. A preferred distance is the width of the bunker 2 transverse to the direction of travel. Thus, with the position sensor 9, the x and y coordinates in the spatial direction, ie the relative position of discharge end 7a and bunker 2, can be determined with or without consideration of a case parabola.

Die Sensoreinrichtung 8 enthält weiterhin einen Abstandssensor 12, der den Abstand zwischen dem Sensor 12 und dem Schüttkegel 11 feststellt. Der Sensor 12 ist zu diesem Zweck ebenfalls an oder in der Nähe des Abwurfendes 7a des Beschickungsförderers 7 angeordnet und in den Bunker 2 gerichtet. Mit diesem Abstandssensor 12 wird somit die z-Koordinate in Raumrichtung, mit oder ohne Berücksichtigung einer Fallparabel, festgestellt, so dass mit der erfindungsgemäßen Ausgestaltung eine Orientierung der Zuordnung von Versorgungseinheit 4 und Straßenfertiger 1, genauer vom Abwurfende 7a zum Bunker 2, in allen drei Raumrichtungen erfolgen kann.The sensor device 8 further includes a distance sensor 12, which detects the distance between the sensor 12 and the pour cone 11. The sensor 12 is also for this purpose at or in the vicinity of the discharge end 7 a of the feed conveyor. 7 arranged and directed into the bunker 2. With this distance sensor 12, the z-coordinate in the spatial direction, with or without consideration of a parabola, thus determined so that with the embodiment of the invention an orientation of the assignment of supply unit 4 and paver 1, more precisely from the discharge end 7a to the bunker 2, in all three Spatial directions can be done.

Die von den Sensoren gelieferten Signale werden der Steuereinrichtung zugeführt und entweder zum automatischen Steuern der Versorgungseinheit 4 und/oder des Beschickungsförderers 7 in x- und y-Richtung verwendet und/oder angezeigt, so dass eine manuelle Korrektur bei gegebenen Abweichungen möglich ist. Darüber hinaus wird über den Abstandssensor 12 auch das Abwurfende 7a des Beschickungsförderers 7 in z-Richtung derart gesteuert, z.B. durch Verschwenken des Beschickungsförderers 7 um eine horizontale Achse, dass das Abwurfende 7a immer im Wesentlichen den gleichen Abstand vom sich aufbauenden Schüttkegel 11 im Bunker 2 aufweist.The signals supplied by the sensors are supplied to the control device and either used to automatically control the supply unit 4 and / or the feed conveyor 7 in the x and y direction and / or displayed, so that a manual correction is possible given deviations. In addition, via the distance sensor 12, the discharge end 7a of the charge conveyor 7 in the z-direction is also controlled, e.g. by pivoting the loading conveyor 7 about a horizontal axis, that the discharge end 7a always has substantially the same distance from the building up bulk cone 11 in the bunker 2.

Die Fig. 3 und 4 zeigen ein weiteres Ausführungsbeispiel der Erfindung, wobei gleiche bzw. vergleichbare Bauteile mit den gleichen Bezugszeichen gekennzeichnet und nicht nochmals erläutert sind. Die Ausführungsform gemäß den Fig. 3 und 4 unterscheidet sich von der Ausführungsform gemäß den Fig. 1 und 2 durch eine abgewandelte Sensoreinrichtung 18. Die Sensoreinrichtung 18 enthält wiederum einen Positionssensor 9, der auf Referenzelemente 10 gerichtet ist, wobei jedoch der Positionssensor 9 an der in Fahrtrichtung F rückwärtigen Seite der Versorgungseinheit 4 selbst (und demnach nicht höhenbeweglich) angeordnet ist und auf Referenzelemente 10 gerichtet ist, die an der in Fahrtrichtung F vorderen Seite des Straßenfertigers 1, insbesondere am Bunker 2, befestigt sind. Der Abstand und die Ausbildung der Referenzelemente 10a bzw. 10b ist die gleiche wie anhand des vorangegangenen Ausführungsbeispiels beschrieben. Auch der Positionssensor 9 weist die beschriebene Ausbildung und Wirkungsweise auf. Auch hier liegen der Positionssensor 9 und die Referenzelemente 10 in einer gemeinsamen, im Wesentlichen horizontalen Ebene.The Fig. 3 and 4 show a further embodiment of the invention, wherein identical or comparable components are denoted by the same reference numerals and not explained again. The embodiment according to the Fig. 3 and 4 differs from the embodiment according to the Fig. 1 and 2 by a modified sensor device 18. The sensor device 18 in turn includes a position sensor 9, which is directed to reference elements 10, but the position sensor 9 on the rear in the direction of travel F side of the supply unit 4 itself (and therefore not vertically movable) is arranged and reference elements 10th is directed, which are attached to the front in the direction of travel F side of the paver 1, in particular on the bunker 2. The distance and the formation of the reference elements 10a and 10b is the same as described with reference to the preceding embodiment. The position sensor 9 also has the described design and mode of operation. Again, the position sensor 9 and the reference elements 10 are in a common, substantially horizontal plane.

Zusätzlich enthält die Sensoreinrichtung 18 einen Winkelgeber 19, der die Winkelstellung α des Beschickungsförderers 7 um eine horizontale Achse gegenüber einer Referenzebene feststellt und somit den Abstand des Abwurfendes 7a zum Schüttkegel 11 festlegt und den Beschickungsförderer 7 bei einem Anstieg des Schüttkegels 11 proportional anhebt. Mit Hilfe des vom Winkelgeber 19 gemessenen Winkels α und der vorbekannten und vorbestimmten Geometrie (insbesondere des Bunkers 2 und des Beschickungsförderers 7) kann auf einfache Weise der Abwurfpunkt bestimmt werden. Wegen der bekannten Geometrie des Bunkers 2 kann weiterhin der Abstand zwischen dem Abwurfende 7a und dem Bunker 2 bestimmt werden. Füllt sich der Bunker 2 und der Abstand zwischen dem Abwurfende 7a und dem Schüttkegel 11 unterschreitet einen gewissen Wert, wird der Beschickungsförderer 7 angehoben, so dass der Abstand zwischen Schüttkegel 11 und Abwurfende 7a gleich bleibt. Bei Abnahme des Schüttkegels 11 senkt sich der Abwurf 7a, bis ein Mindestabstand zwischen dem Bunker 2 und dem Abwurfende 7a erreicht ist. Dieser Mindestabstand zwischen dem Abwurfende 7a und der Bunkerfüllhöhe erfolgt beispielsweise, wie im ersten Ausführungsbeispiel, mit Hilfe des Überfüllsensors 20. Zur Überprüfung ist ein Überfüllsensor 20 vorgesehen und bevorzugt am Abwurfende 7a angeordnet, der sicherstellt, dass der Bunker 2 nicht überfüllt wird. Auch bei diesem Ausführungsbeispiel kann somit auf einfache Weise eine Positionsbestimmung des Abwurfendes 7a in den drei Raumrichtungen vorgenommen werden.In addition, the sensor device 18 includes an angle sensor 19 which detects the angular position α of the feed conveyor 7 about a horizontal axis relative to a reference plane and thus determines the distance of the discharge end 7a to the bulk cone 11 and the feed conveyor 7 raises proportionally with an increase in the bulk cone 11. With the aid of the angle α measured by the angle sensor 19 and the previously known and predetermined geometry (in particular of the bunker 2 and the loading conveyor 7), the discharge point can be determined in a simple manner. Because of the known geometry bunker 2, the distance between the discharge end 7a and the bunker 2 can be further determined. Fills the bunker 2 and the distance between the discharge end 7a and the bulk cone 11 falls below a certain value, the feed conveyor 7 is raised, so that the distance between the bulk cone 11 and discharge end 7a remains the same. When the bulk cone 11 decreases, the discharge 7a lowers until a minimum distance between the bunker 2 and the discharge end 7a has been reached. This minimum distance between the discharge end 7a and the Bunkerfüllhöhe example, as in the first embodiment, using the overfill sensor 20. To check an overfill sensor 20 is provided and preferably arranged at the discharge end 7a, which ensures that the bunker 2 is not crowded. Also in this embodiment can thus be made in a simple manner, a position determination of the discharge end 7a in the three spatial directions.

Als Sensoren werden bevorzugt Laser- oder Ultraschallsensoren mit Reflektoren als Referenzelemente verwendet; es können jedoch die unterschiedlichsten Messsysteme eingesetzt werden. So kann eine direkte Abstandsmessung des Abwurfendes 7a zum Schüttkegel 11 in x/y/z-Richtung mit Ultraschall-, optischem, magnetostriktivem, mechanischen (Seilzug) Wegaufnehmern oder anderen Sensoren erfolgen. Auch ist eine differentielle Abstandsmessung des Abwurfpunktes am Abwurfende 7a und des Aufnahmepunktes am Schüttkegel 11 als Differenz zwischen zwei absoluten Positionsbestimmungen von Abwurfpunkt und Aufnahmepunkt möglich, beispielsweise durch eine Laser-Totalstation, GPS oder dgl.. Besonders vorteilhaft ist der Aufbau eines einfachen Differential-GPS mit je einer GPS-Antenne am Abwurf und einer am Aufnahmepunkt. Hier können einfache und kostengünstige Systeme zum Einsatz kommen, deren absolute Genauigkeit zwar gering, deren relative Genauigkeit aber hoch ist, da bei dieser Aufgabe nur eine Relativposition benötigt wird. Weiterhin ist eine indirekte Abstandsmessung Abwurfpunkt/Aufnahmepunkt durch Messung des Abstandes zwischen Neigungswinkeln durch obenbeschriebene Systeme, vorzugsweise magnetostritiv, möglich. Aus diesen Werten und der Geometrie der Maschine lässt sich dann die relative Position von Abwurfpunkt/Aufnahmepunkt errechnen.As sensors preferably laser or ultrasonic sensors with reflectors are used as reference elements; However, a wide variety of measuring systems can be used. Thus, a direct distance measurement of the discharge end 7a to the bulk cone 11 in x / y / z direction with ultrasound, optical, magnetostrictive, mechanical (cable) Wegaufnehmern or other sensors. Also, a differential distance measurement of the discharge point at the discharge end 7a and the pick-up point on the bulk cone 11 as the difference between two absolute position determinations of discharge point and pickup point possible, for example by a laser total station, GPS or the like .. Particularly advantageous is the structure of a simple differential GPS each with a GPS antenna on the drop and one at the pickup point. Here, simple and cost-effective systems can be used whose absolute accuracy is low, but whose relative accuracy is high, since only a relative position is required in this task. Furthermore, an indirect distance measurement discharge point / pick-up point by measuring the distance between angles of inclination by the above-described systems, preferably magnetostrictive, possible. From these values and the geometry of the machine can then calculate the relative position of drop point / pickup point.

Die Positionsbestimmungen werden in einer nicht dargestellten Verarbeitungseinheit der Steuereinrichtung mit den Sollpositionen vergleichen und in geeignete Stellbefehle an die Aktoren weitergeleitet.The position determinations are compared with the desired positions in a processing unit, not shown, of the control device and forwarded to the actuators in suitable setting commands.

Außerdem kann eine Reihe von Stellgliedern an der Versorgungseinheit genutzt werden, um die Regelabweichung der Messungen zu Null zu machen, beispielsweise die Fahrantriebsgeschwindigkeit (Delta in x-Richtung), die Lenkung bzw. Differenzgeschwindigkeit der Fahrwerksketten bei Kettengeräten (Versatz + Delta in y-Richtung), der Massenstrom der Förderanlage, z.B. durch die Fördergeschwindigkeit (Veränderung des Füllstandes im Bunker), der Schwenkantrieb der Fördereinrichtung (Delta in y-Richtung, Fehler in x-Richtung vernachlässigbar) oder den Nickantrieb der Förderanlage (Delta in z-Richtung, Fehler in x-Richtung vernachlässigbar).In addition, a number of actuators on the supply unit may be used to null the measurement bias, such as the drive speed (Delta in x-direction), the steering or differential speed of the suspension chains chain devices (offset + delta in y-direction), the mass flow of the conveyor, eg by the conveying speed (change the level in the bunker), the pivot drive of the conveyor (delta in y-direction, error in x-direction negligible) or the pitch drive of the conveyor system (delta in z-direction, error in x-direction negligible).

Außer bei der Beschickung von Straßenfertigern mit Einbaumaterial kann die Erfindung auch für andere Einsetzzwecke angewandt werden, beispielsweise zum Halten der Abwurfposition beim Verfüllen von Gräben, zum Messen und Regeln der Füllhöhe beim Verfüllen von Gräben, zum Positionieren des Abwurfpunktes bei alternativen Abwurfpositionen, z.B. bei Einbauzügen mit zwei Asphaltsorten und zwei Gutbunkern, zum Maximieren des Füllstandes im Bunker des Fertigers durch definiertes Verteilen des Materials, beim mannlosen Betrieb der Versorgungseinheit bzw. des Straßenfertigers, bei einer Einlernfunktion für die Relativ- oder Absolutposition von Abwurf- und/oder Aufnahmepunkt oder beim definierten Querverteilen von Beton vor einem Gleitschalungsfertiger.In addition to feeding paving machines with paving material, the invention may also be used for other purposes, such as maintaining the dump position when filling trenches, measuring and controlling fill levels when filling trenches, positioning the dump point at alternative dump positions, e.g. in paving trains with two types of asphalt and two hopper bunkers, to maximize the level in the bunker of the paver by defined distribution of the material in unmanned operation of the supply unit or the paver, with a teach-in function for the relative or absolute position of drop and / or pick-up point or in the defined transverse distribution of concrete in front of a slipform paver.

Claims (12)

  1. Pave train having a road finisher (1), a mobile supply unit (4), a sensor device (8, 18) and a feed conveyor (7) with a discharge end (7a), wherein the feed conveyor (7) is provided between the road finisher (1) and the mobile supply unit (4), and wherein said road finisher (1) and supply unit (4) are movable independently of each other in travel direction (F), and their relative positions with respect to each other being detectable by the sensor device (8, 18), characterized in that the sensor device (8, 18) comprises a position sensor (9) which has assigned thereto at least two mutually spaced-apart reference elements (10) for determining the position of the discharge end (7a) in and transversely to the direction of travel (F), wherein the reference elements (10) are spaced apart in a direction transverse to the direction of travel (F) and the position sensor (9) and the reference elements (10) are positioned substantially in a common horizontal plane.
  2. The pave train according to claim 1, characterized in that the reference elements (10) contain reflectors for reflecting signals output by the position sensor (9).
  3. The pave train according to claim 1 or 2, characterized in that the position sensor (9) comprises a laser sensor.
  4. The pave train according to any one of claims 1 to 3, characterized in that the position sensor (9) is arranged at the discharge end (7a) of the feed conveyor (7).
  5. The pave train according to any one of claims 1 to 3, characterized in that the position sensor (9) is arranged on the supply unit (4) outside the discharge end (7a).
  6. The pave train according to any one of claims 1 to 5, characterized in that the sensor device (8, 18) comprises a distance sensor (12, 20) for determining the vertical distance of the discharge end (7a) from a bulk cone (11).
  7. The pave train according to claim 6, characterized in that the distance sensor (12, 20) is arranged on the feed conveyor (7).
  8. The pave train according to claim 6 or 7, characterized in that the distance sensor (12, 20) comprises a laser sensor or ultrasonic sensor.
  9. The pave train according to any one of claims 1 to 8, characterized in that the feed conveyor (7) is pivotable about a substantially horizontal axis, and an angle transmitter (19) is assigned to the feed conveyor (7).
  10. The pave train according to any one of claims 1 to 9, characterized in that the feed conveyor (7) is pivotable about a substantially vertical axis, and an angle transmitter (19) is assigned to the feed conveyor (7).
  11. The pave train according to any one of claims 1 to 8, characterized in that the feed conveyor (7) is pivotable about substantially horizontal and vertical axes, and an angle transmitter (19) is assigned to the feed conveyor (7).
  12. The pave train according to any one of preceding claims 6 to 8, characterized in that a differential distance measurement between two absolute position determinations of the discharge point at the discharge end (7a) and of the reception point at the bulk cone (11) by the sensor device (8, 18) is possible.
EP09006845.3A 2009-05-20 2009-05-20 Paving machines for applying a cover layer of a road surface Active EP2256246B1 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
PL09006845T PL2256246T3 (en) 2009-05-20 2009-05-20 Paving machines for applying a cover layer of a road surface
EP09006845.3A EP2256246B1 (en) 2009-05-20 2009-05-20 Paving machines for applying a cover layer of a road surface
US12/723,766 US8337118B2 (en) 2009-05-20 2010-03-15 Road finisher
CN201010141922.6A CN101892623B (en) 2009-05-20 2010-04-08 Road finisher

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EP09006845.3A EP2256246B1 (en) 2009-05-20 2009-05-20 Paving machines for applying a cover layer of a road surface

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EP2256246A1 EP2256246A1 (en) 2010-12-01
EP2256246B1 true EP2256246B1 (en) 2018-07-04

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PL2256246T3 (en) 2018-11-30
US20100296867A1 (en) 2010-11-25
CN101892623A (en) 2010-11-24
CN101892623B (en) 2013-01-16
EP2256246A1 (en) 2010-12-01

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