EP2392731A2 - Engin et procédé de commande d'un intervalle d'un engin mobile sur une surface terrestre - Google Patents

Engin et procédé de commande d'un intervalle d'un engin mobile sur une surface terrestre Download PDF

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Publication number
EP2392731A2
EP2392731A2 EP11165465A EP11165465A EP2392731A2 EP 2392731 A2 EP2392731 A2 EP 2392731A2 EP 11165465 A EP11165465 A EP 11165465A EP 11165465 A EP11165465 A EP 11165465A EP 2392731 A2 EP2392731 A2 EP 2392731A2
Authority
EP
European Patent Office
Prior art keywords
machine frame
plane
reference location
distance
receiver
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
Application number
EP11165465A
Other languages
German (de)
English (en)
Other versions
EP2392731B1 (fr
EP2392731A3 (fr
Inventor
Cyrus Barimani
Günter HÄHN
Christian Berning
René Müller
Thomas Schmidt
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.)
Wirtgen GmbH
Original Assignee
Wirtgen GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wirtgen GmbH filed Critical Wirtgen GmbH
Publication of EP2392731A2 publication Critical patent/EP2392731A2/fr
Publication of EP2392731A3 publication Critical patent/EP2392731A3/fr
Application granted granted Critical
Publication of EP2392731B1 publication Critical patent/EP2392731B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • E01C21/00—Apparatus or processes for surface soil stabilisation for road building or like purposes, e.g. mixing local aggregate with binder
    • 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 road construction machine according to the preamble of claim 1, and a method for controlling the distance of the machine frame of a road construction machine from a ground surface according to the preamble of claim 13.
  • Such road construction machines require a level reference for processing a ground surface or a road surface in order not to duplicate the existing unevenness of the ground surface when machining the ground or road surface. Rather, unevenness and ripples should largely be compensated by the machining process. Without a reference value for the height adjustment of the machine frame or the working tool, the worst case result would take over any unevenness and waviness and skew, whereby subsequent machines e.g. Asphalting machines or compaction rollers have increased difficulties to produce a flat, homogeneously compacted road surface.
  • the road construction machine has a machine frame supported by a chassis in a plane with the landing gear moving on a ground or road surface.
  • the chassis carries the machine frame via at least three lifting columns (in the case of small milling machines, only at least two lifting columns on the rear axle), which constitute a height adjustment device for the machine frame and which also adjust the plane of the machine frame in response to control signals of a leveling device with respect to a bank.
  • the leveling device controls the distance between the machine frame and the currently crossed ground surface. For this purpose, it is already known that the bottom surface is scanned on laterally adjacent to a work roll side plates, or that along the driveway of the road construction machine, a wire is stretched, which can be scanned by the machine.
  • the distance can be measured relative to the machine frame.
  • the distance of the work roll must be taken into account by the machine frame.
  • An advantageous reference location in the case of a road surface is often found in the middle of the road, since the road there has hardly any damage, displacements or other bumps.
  • a disadvantage of this solution is that a relevant deformation of the telescopic boom can not be excluded by the wide cantilever of the telescopic boom, so that the distance measurement can be falsified thereby.
  • the invention is based on the object, a road construction machine of the type mentioned or a method for controlling the distance of a road construction machine to provide a soil surface in which the distance measurement with increased accuracy and with a higher reproducibility, as well as with less equipment is feasible.
  • the distance from the ground surface to the reference plane can be measured with high accuracy and reproducibility without requiring a mechanism that synchronizes the receiver or transmitter synchronously with the receiver Road construction machine moves, can have an impact on the measurement result.
  • the measuring device can be calibrated.
  • the detected distance signal can therefore control the distance of the machine frame to the ground surface directly via the leveling device.
  • the transmitter or the receiver is movable at a predeterminable distance laterally from the machine frame on the ground surface along a progressive reference location.
  • the predeterminable lateral distance from the road construction machine or the machine frame serves to fix the position of the reference location co-moving with the road construction machine, for example, along a road center line. If there are several tracks of work, it is possible to perform the scanning by the receiver at the same reference location that underlies the processing of the first working track.
  • a work roll is mounted in the machine frame and that the transmitter or the receiver in a plane substantially orthogonal to the reference plane extending, which also extends through the axis of rotation of the work roll, is arranged.
  • the arrangement of the transmitter or the receiver in a common substantially vertical plane with the work roll axis of the measured Distance value can be used in the form of a measurement signal without conversion by the leveling device to perform a distance control of the machine frame and thus the work roll.
  • the transmitter or the receiver is arranged on a carriage which is movable in synchronism with the machine frame in the direction of travel along the reference location on the ground surface.
  • the transmitter or the receiver is arranged on a carriage preferably provided with rollers, which passes over the reference location.
  • the receiver extends over a sufficient height in relation to the reference plane in order to detect the position of the reference plane can.
  • the transmitter or the receiver is arranged on a carriage, which is attached via a laterally to the machine frame telescopic coupling element hinged to the machine frame.
  • a carriage which is attached via a laterally to the machine frame telescopic coupling element hinged to the machine frame.
  • at least two spaced-apart joints may be provided, whose axes are parallel to the direction of travel or parallel to Fräswalzenachse.
  • the receiver may have a plurality of orthogonal to the ground surface at the reference location or to the machine frame arranged sensors that can measure the position of the reference plane.
  • the sensors are arranged, for example, on a carriage such that they are orthogonal to the bottom surface on which the carriage rolls.
  • sensors disposed on the machine frame are orthogonal to a plane parallel to the machine frame.
  • the sensors are lined up with each other, wherein the distance of the sensors determines the resolution of the measurement.
  • the sensors are photosensitive sensors that can detect a reference plane formed of light.
  • the receiver may also include a plurality of orthogonal and parallel to the respective planes extending sensors that measure the position of the reference plane in terms of distance and inclination.
  • the transmitter transmits measurement beams in the form of coherent light in a linear, sector-shaped or at an angle up to 360 ° and the reference plane is formed by this light detectable by the receiver.
  • a transmitter on the machine frame spans a reference plane which runs parallel to the machine frame, that a receiver extending substantially in the orthogonal direction to the bottom surface at the reference location up to the reference plane parallel to and synchronous with the machine frame is movable, which detects the distance of the reference plane to the current reference location.
  • the receiver has a transparent, extending up to the reference plane housing containing the sensors orthogonal to the bottom surface at the reference location in a linear array.
  • a plurality of sensors are arranged in a plane parallel to the bottom surface at the current reference location.
  • the reference location of the ground surface is located along a road centerline.
  • the transmitter is preferably arranged on the reference location facing side of the machine frame.
  • the distance of the supporting means of the carriage on the ground surface along the reference location is selected so that unevennesses of the reference location are compensated in the direction of travel.
  • the carriage carrying the receiver preferably has a large center distance of the carriage wheels in the longitudinal direction, i. in the direction of travel.
  • other support means may also be provided, e.g. Skids, which are mounted laterally on the carriage and have a significantly greater length than the center distance of the carriage wheels. It is understood that the car can also have two carriage wheels side by side per axle.
  • the carriage may also be carried by the skids, or the carriage wheels may be disposed at the ends of the skids.
  • the carriage wheels are arranged, for example, at a small mutual distance in the direction of travel on the carriage or skids.
  • a plane parallel to the machine frame or to the ground surface at a reference location is represented by at least one measuring beam of a transmitter, the reference plane of a substantially orthogonal to the other to the Ground surface is detected at a reference location or to the machine frame parallel plane extending receiver and thus the distance of the Fräswalzenachse measured to the ground surface at the reference location becomes.
  • a parallel to the machine frame reference plane can be spanned and extending substantially in the orthogonal direction to the bottom surface at the reference location to above the reference plane receiver at a predetermined distance laterally from the machine frame on the ground surface along the reference location, and parallel to and synchronously be moved with the machine frame, which detects the distance of the current reference location of the ground surface to the reference plane.
  • the current position of the reference plane is stored as the output value, from which deviations of the distance of the reference plane are measured to the current reference location.
  • Fig. 1 shows a road construction machine 1 using the example of a road milling machine.
  • the road construction machine 1 has a machine frame 2, which of a For example, consisting of crawler chassis 4 is worn, which is connected via at least three height adjustment devices 8 in the form of lifting columns with the machine frame 2.
  • Fig. 2 it can be seen, four lifting columns are provided in the embodiment, with which the machine frame 2 can be brought into a predetermined plane, which preferably runs parallel to the bottom surface 6 on which the crawler tracks of the chassis 4 are. In the case of a horizontal bottom surface 6, the machine frame 2 would normally be oriented horizontally.
  • Fig. 1 shown road milling machine has a work roll 22 between the crawler tracks of the chassis 4.
  • the work roll 22 is a milling drum in the case of a road milling machine.
  • the milling drum for example, at the level of the rear crawler tracks or wheels of the chassis 4 have.
  • the transport means for removing the milled soil material at the front 7 or rear end of the road construction machine 1 may be arranged.
  • the road construction machine 1 has a leveling device 10 which receives a distance signal which is representative of the distance between the machine frame 2 and the ground surface 6, and controls the height adjustment devices 8 in dependence on this distance signal such that a predetermined distance of the machine frame 2 and thus also the Work roll 22 is maintained to the soil surface.
  • the leveling device 10 has an input and operating device on the control station, and a transmitter 15 which emits a measuring beam 17 representative of a plane parallel to the plane of the machine frame 2.
  • the measuring beam 17 is directed to a receiver 16, which scans the bottom surface 6 along a reference location 12, such that the distance of the plane parallel to the machine frame 2 reference plane 14 are detected to the reference location 12 by means of sensitive to the measuring beam 17 sensors 32 can.
  • the transmitter 15 can emit a single measuring beam 17, emit a plurality of juxtaposed, lying in the reference plane 14 measuring beams 17 or emitting sector-shaped measuring beams 17 in one plane up to a radiation of up to 360 °.
  • the transmitter 15 may be attached at any position of the machine frame 2, which allows a clear line of sight to the receiver 16 and is therefore preferably also on the reference site 12 facing side of the road construction machine 1 on the machine frame 2 attached.
  • the receiver 16 is preferably moved on a carriage 26 along the reference location 12, wherein the carriage 26 is pivotally connected to the machine frame 2 via a coupling element 28 telescoping laterally from the machine frame 2 to the side.
  • At least two joints are provided between the carriage 26 and the machine frame 2, the axes of which preferably run parallel to the direction of travel 9 or parallel to the milling drum axis 23.
  • a ball joint In order to be able to measure inclination differences, for example between telescopic rod and the carriage 26 may also be provided a ball joint, in which case it must be ensured that the carriage follows the reference location 12.
  • the telescopic coupling element 28 serves to allow a variable lateral distance of the carriage 26 to the machine frame 2.
  • the telescoping capability allows the same reference location 12 to be selected for each lane.
  • the reference location 12 can run in the vicinity of the center of a lane width, since this location has the least damage, warping or ripples of the ground surface 6.
  • Fig. 2 shows an all-round radiation of the transmitter 15.
  • Such radiation of the measuring beams 17 for mounting a reference plane 14 is for example advantageous if multiple receivers 16, for example, at the front and at the rear end of the road construction machine 1 are provided.
  • a sector-by-sector radiation of the measuring beams 17 would already be sufficient, even at different lateral distances of the reference location 12 to the machine frame 2 to make a distance measurement can.
  • a single measuring beam 17, for example a laser diode, is sufficient if the measuring beam 17 can be aligned with the receiver 16.
  • Fig. 3 shows an example of a receiver 16 disposed on a carriage 26 which is moved on carriage rollers 30 along the reference location 12 on the ground surface 6.
  • the arrangement of the sensors 32 is shown schematically and in the simplest case is a linear arrangement of the sensors 32 orthogonal to the reference location 12 of the bottom surface 6.
  • the reference plane 14 is indicated as a dashed line, wherein the sensor 32 receiving the measurement signal is shown as a black dot. It is understood that the smaller the distance between the individual sensors 32, the better the resolution.
  • the work roll 22 to indicate that a preferred position of the receiver 16 in the orthogonal to the bottom surface 6 extending plane through the Fräswalzenachse 23 runs.
  • two carriages 26 may also be provided at the front and at the rear end of the road construction machine 1. In this case, the measurement of the longitudinal inclination of the reference plane 14 is possible. In order to control the distance of the machine frame 2 at the level of the milling drum axis 23, the leveling device 10 must perform a conversion, which results from the geometric data of the road construction machine 1.
  • Fig. 4 shows a second embodiment in which two receivers 16 are arranged at a mutual distance on a carriage 26.
  • the reference plane 14 is shown with a longitudinal tilt, which can be measured by means of the sensors 32 of the two receivers 16.
  • Fig. 5 shows a cross section through the embodiment of the Fig. 3 showing a possible arrangement of the sensors 32 in a ground-parallel arrangement.
  • the simplest embodiment is in the example made of Plexiglas housing 38 of the receiver 16 only one sensor 32 in a ground-parallel plane.
  • a plurality of sensors 32 can be arranged in one plane.
  • Fig. 5 for example, shows eight sensors 32.
  • the prerequisite is that the carriage 26 is held parallel to the machine frame 2, but otherwise articulated to the machine frame 2, namely articulated about an axis parallel to the Fräswalzenachse 23 axis and articulated with respect to the Fräswalzenachse 23 orthogonal, in the direction of travel parallel axis.
  • Fig. 6 shows a further embodiment, which is provided with two receivers 16, but of course only a receiver 16 may have.
  • a skid 40 is provided on at least one side of the carriage 26, which has a length such that they can compensate for the longitudinal undulations of the soil surface at the reference location 12 better.
  • the carriage wheels 30 may also be arranged at the ends of the skids 40.
  • the embodiments shown show the arrangement of the transmitter 15 on the machine frame and the arrangement of the receiver 16 on a movable carriage 26. It is understood that a reverse arrangement, namely the transmitter 15 on the movable carriage 26 and the receiver on the machine frame is possible. In this case, from the carriage 26 at a predetermined height, one or more measuring beams 17 would be directed toward the machine frame are emitted, wherein the sensors 32 of the receiver 16 are arranged at suitable locations orthogonal to the machine frame 2 parallel plane on the side surfaces of the road construction machine 1.
  • reference plane 14 When clamping a radiated all around or radiated at least in the direction of the road construction machine 1 reference plane 14 is also possible to arrange two receiving devices at the front and at the rear end road construction machine 1, with which, for example, the longitudinal inclination of the road construction machine can be detected. If the receiving device has, in addition to the sensors 32 arranged orthogonally to the plane of the machine frame 2, sensors arranged parallel to the machine frame 2, it is also possible to measure a transverse inclination of the machine frame 2 in relation to the reference location 12 of the bottom surface 6.
  • the road construction machine 1 is operated predominantly with a predetermined bank in order to ensure the drainage of water at a newly created road surface.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Road Paving Machines (AREA)
  • Road Repair (AREA)
EP11165465.3A 2010-06-02 2011-05-10 Engin et procédé de commande d'un intervalle d'un engin mobile sur une surface terrestre Active EP2392731B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102010022467.7A DE102010022467B4 (de) 2010-06-02 2010-06-02 Straßenbaumaschine, sowie Verfahren zum Steuern des Abstandes einer auf einer Bodenoberfläche bewegten Straßenbaumaschine

Publications (3)

Publication Number Publication Date
EP2392731A2 true EP2392731A2 (fr) 2011-12-07
EP2392731A3 EP2392731A3 (fr) 2015-01-14
EP2392731B1 EP2392731B1 (fr) 2017-07-26

Family

ID=44117725

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11165465.3A Active EP2392731B1 (fr) 2010-06-02 2011-05-10 Engin et procédé de commande d'un intervalle d'un engin mobile sur une surface terrestre

Country Status (4)

Country Link
US (2) US8672581B2 (fr)
EP (1) EP2392731B1 (fr)
CN (2) CN202107979U (fr)
DE (1) DE102010022467B4 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018127222A1 (de) 2018-10-31 2020-04-30 Wirtgen Gmbh Straßenfräsmaschine und Verfahren zum Steuern einer Straßenfräsmaschine
CN114585784A (zh) * 2019-09-20 2022-06-03 摩巴自动控制股份有限公司 用于筑路机的调平系统

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DE102010022467B4 (de) * 2010-06-02 2014-12-04 Wirtgen Gmbh Straßenbaumaschine, sowie Verfahren zum Steuern des Abstandes einer auf einer Bodenoberfläche bewegten Straßenbaumaschine
US8794867B2 (en) * 2011-05-26 2014-08-05 Trimble Navigation Limited Asphalt milling machine control and method
DE102011106139B4 (de) 2011-06-10 2015-04-02 Wirtgen Gmbh Verfahren und Vorrichtung zum Bestimmen einer von mindestens einer Baumaschine oder Abbaumaschine mit einer Fräswalze gefrästen Fläche
US8874325B2 (en) * 2011-12-22 2014-10-28 Caterpillar Paving Products Inc. Automatic four leg leveling for cold planers
DE102012216262B3 (de) * 2012-09-13 2013-10-17 Wirtgen Gmbh Walzengehäuse für eine Arbeitswalze einer Baumaschine oder Abbaumaschine, Baumaschine oder Abbaumaschine, sowie Verfahren zum Überwachen des Zustandes einer Arbeitswalze einer Baumaschine oder Abbaumaschine
US9121146B2 (en) 2012-10-08 2015-09-01 Wirtgen Gmbh Determining milled volume or milled area of a milled surface
DE102014209880A1 (de) * 2014-05-23 2015-11-26 Wirtgen Gmbh Nachbehandlungsmaschine sowie Verfahren zum nachträglichen Bearbeiten einer frisch gefertigten Betonschicht
DK3209833T3 (da) * 2014-10-23 2022-07-25 Bekaert Sa Nv Struktur til forstærkning af vejbelægninger, fremgangsmåde til fremstilling af en sådan struktur, vejbelægning, der er forstærket med en sådan struktur, og fremgangsmåde til ophugning af en sådan forstærket vejbelægning
US9631329B2 (en) 2014-12-19 2017-04-25 Wirtgen Gmbh Frame distortion control
US20160326701A1 (en) * 2015-05-07 2016-11-10 Caterpillar Paving Products Inc. Rotary Mixer with Automated Control Functions
US10876259B2 (en) * 2018-06-14 2020-12-29 Caterpillar Paving Products Inc. Cross slope monitoring system
DE102019104850A1 (de) 2019-02-26 2020-08-27 Wirtgen Gmbh Fertiger
US11041276B2 (en) 2019-03-27 2021-06-22 Caterpillar Paving Products Inc. Tool exposed status and lockouts
US10876260B2 (en) 2019-03-27 2020-12-29 Caterpillar Paving Products Inc. Accurate tool depth control
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CN112323586A (zh) * 2020-11-27 2021-02-05 浙江绩丰机械有限公司 一种建筑用小型混凝土铣刨机

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DE102018127222A1 (de) 2018-10-31 2020-04-30 Wirtgen Gmbh Straßenfräsmaschine und Verfahren zum Steuern einer Straßenfräsmaschine
EP3647494A1 (fr) 2018-10-31 2020-05-06 Wirtgen GmbH Raboteuse et procédé de commande d'une raboteuse
DE102018127222B4 (de) * 2018-10-31 2021-06-24 Wirtgen Gmbh Straßenfräsmaschine und Verfahren zum Steuern einer Straßenfräsmaschine
US11047096B2 (en) 2018-10-31 2021-06-29 Wirtgen Gmbh Road milling machine and method for controlling a road milling machine
CN114585784A (zh) * 2019-09-20 2022-06-03 摩巴自动控制股份有限公司 用于筑路机的调平系统

Also Published As

Publication number Publication date
DE102010022467A8 (de) 2012-03-01
DE102010022467A1 (de) 2011-12-08
DE102010022467B4 (de) 2014-12-04
US9057161B2 (en) 2015-06-16
US20110299926A1 (en) 2011-12-08
CN202107979U (zh) 2012-01-11
CN102330407A (zh) 2012-01-25
EP2392731B1 (fr) 2017-07-26
US20140199120A1 (en) 2014-07-17
US8672581B2 (en) 2014-03-18
CN102330407B (zh) 2014-08-13
EP2392731A3 (fr) 2015-01-14

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