EP2562309B1 - Finisseuse de route dotée d'un dispositif de mesure - Google Patents

Finisseuse de route dotée d'un dispositif de mesure Download PDF

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Publication number
EP2562309B1
EP2562309B1 EP11006864.0A EP11006864A EP2562309B1 EP 2562309 B1 EP2562309 B1 EP 2562309B1 EP 11006864 A EP11006864 A EP 11006864A EP 2562309 B1 EP2562309 B1 EP 2562309B1
Authority
EP
European Patent Office
Prior art keywords
measuring device
point cloud
area
road
road paver
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
EP11006864.0A
Other languages
German (de)
English (en)
Other versions
EP2562309A1 (fr
Inventor
Achim Eul
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.)
Joseph Voegele AG
Original Assignee
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.)
Filing date
Publication date
Priority to PL13188708T priority Critical patent/PL2687631T3/pl
Application filed by Joseph Voegele AG filed Critical Joseph Voegele AG
Priority to PL11006864T priority patent/PL2562309T3/pl
Priority to EP11006864.0A priority patent/EP2562309B1/fr
Priority to EP13188708.5A priority patent/EP2687631B1/fr
Priority to JP2012179177A priority patent/JP6124240B2/ja
Priority to US13/586,588 priority patent/US9290894B2/en
Priority to CN2012102997152A priority patent/CN102953312A/zh
Priority to CN201811254055.XA priority patent/CN109537412A/zh
Publication of EP2562309A1 publication Critical patent/EP2562309A1/fr
Application granted granted Critical
Publication of EP2562309B1 publication Critical patent/EP2562309B1/fr
Active legal-status Critical Current
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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
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
    • E01C23/07—Apparatus combining measurement of the surface configuration of paving with application of material in proportion to the measured irregularities
    • 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
    • E01C19/006—Devices for guiding or controlling the machines along a predetermined path by laser or ultrasound
    • 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

Definitions

  • the present invention relates to a road finisher according to the preamble of claim 1.
  • a road finisher essentially comprises a tractor which is movable along a working area on a level, and a screed, which is provided for applying the road surface.
  • the screed is pivotally attached to the tractor by a pulling arm which is rigidly connected to the screed.
  • the pull arm may be height controlled by the operator to raise the screed to a desired level relative to the pavement. This makes it possible, depending on the nature of the surface of the substrate to adjust the plank position so that unevenness in the ground, over which the paver travels, are compensated. This has the consequence that a level pavement layer is formed.
  • Today automated measuring systems are also used, which detect a distance to a reference, in response to which as soon as possible to create a leveling signal, which is used for determining the position of the screed.
  • mechanical sensors are used which are attached to the movable screed in such a way that they come into contact with the surface of the subgrade in front of the newly installed paving, in order to detect unevenness thereon in good time.
  • a mechanical sensor can detect unevenness only on a hard ground, because it does not respond to unevenness on a soft, for example, sandy ground.
  • the mechanical sensor which is pushed over the planum, butts against an object lying around and is damaged.
  • the mechanical sensors must be maintained regularly and are sensitive to contamination or moisture.
  • non-contact measuring systems are used to detect a distance to the planum.
  • Such measuring systems include, for example, an optical or acoustic sensor.
  • a guidewire is used as a reference for the distance measurement along the built-in route.
  • the distance between the measuring head and the guide wire is detected in order to be able to close unevenness on the road surface and to make a corresponding leveling of the screed.
  • attaching a guidewire along the route is extremely expensive and requires a lot of time.
  • the guidewire which is usually a normal rope, may sag through absorbed moisture over a distance such that falsified distance values are detected for leveling.
  • the screed and rotary lasers are used in practice, which are positioned as an external reference so that a laser rotational field spanned by them can be received by a receiver arranged on the paver with a corresponding height adjustment of the screed.
  • a height adjustment of the screed takes place when the receiver on the paver no longer receives the rotating laser field of the rotary laser.
  • the disadvantage of this, however, is that the rotating laser must be repositioned several times along the installation route, including additional operating personnel is needed.
  • the DE 10 2009 044 581 A1 describes a method for asphalting a surface using a paver and a compaction machine following the paver.
  • the screed assembly of the paver is configured to deposit an asphalt mat of varying thickness on the surface.
  • a controlled material delivery is performed based on a detected surface profile.
  • the disadvantage of this is that a high design effort for producing the screed assembly is necessary for the application of the asphalt mat of varying thickness. This results in high production costs.
  • a compacting machine is also necessary, which leads behind the paver to compact the applied asphalt mat.
  • the US 2004/0161299 A1 describes a paver vehicle configured to apply an asphalt mat of varying thickness to a surface based on a surface profile.
  • a complicated rod arrangement is necessary for applying the asphalt mat, which ensures that different amounts of asphalt mix are applied by the road paver on the planum.
  • the driving of the individual rods for metering the material application requires a high control effort, whereby the manufacturing costs are driven up.
  • the invention relates to a paver with a tractor, which is movable along a work area on a planum, and a screed, which is provided for applying a road surface.
  • the road finisher according to the invention comprises a measuring device that is configured to detect a surface and to generate a virtual point cloud representing the surface. Based on the point cloud, the detected surface can be displayed, wherein the point cloud extends relative to the measuring device in three spatial dimensions to reproduce a spatial representation of the surface.
  • the point cloud comprises several points, each of which is defined by 3D coordinates. For spatial representation of the surface is provided that at least one pair of points of the point cloud is aligned in a first direction, preferably in the direction of travel and at least one other pair of points point cloud at an angle to the first direction, preferably to the direction of travel.
  • the invention has the significant technical advantage that unevenness, for example, lateral and longitudinal inclinations in the road profile, meaningful and can be detected accurately.
  • the adjustment of different operating parameters, such as the leveling signal according to the invention can be improved in response to the substrate on which the paver is moving.
  • the invention is insensitive to bad weather and offers a low-cost, low-maintenance alternative to previously known devices of this kind.
  • the measuring device is easy to use and can be attached to the paver without great effort.
  • the invention can be dispensed with an additional measuring equipment, which is designed for the detection of banks in the course of the road.
  • the point cloud defines a surface condition of a surface of the tarmac and / or the road surface.
  • the dimension of the surface may extend over a varying length and a varying width, so that the detected surface portion is different in size.
  • the dimension of the surface to an expected surface finish adapt the planum, so that, for example, it is possible in advance for uneven surfaces to choose the extent of the surface to determine the surface condition so that thereby a sufficiently large point cloud can be displayed.
  • the measuring device comprises a filter unit configured to filter out extreme 3D coordinates from the point cloud. This makes it possible to neglect the detection of unwanted objects. This can be particularly advantageous if the point cloud generated detects sections of the tractor or the screed. It also makes it possible to filter out components that protrude into the point cloud. Finally, it is possible that operating personnel, which is located in the detection area of the point cloud, can be filtered out of the measurement result.
  • the area of the point cloud can be defined with at least 300 laser scanning points. Due to this number of laser scanning points, a meaningful area image, So the point cloud, generated to detect bumps on the detected surface.
  • the measuring device equips the measuring device with a plurality of laser sensors, which are arranged in a matrix, that is to say a sensor receptacle, in such a way that they emit laser beams over the predetermined area for generating the point cloud.
  • the measuring device is movably arranged so that it passes the laser beams over the surface for generating the point cloud by a predetermined movement sequence.
  • the movement of the measuring device can ensure that the laser beams of the laser sensors linewise meet in parallel aligned sequence on the surface to be detected or the measuring device is movable so that the laser beams from outside to inside or vice versa capture the area.
  • the paver comprises a control device which is connected to the measuring device.
  • the control device is preferably configured to convert the point cloud detected by the measuring device into a corresponding signal in order thereby to control a specific operating function of the road finisher.
  • the control device is configured to convert the point cloud detected by the measuring device into at least one leveling signal.
  • the leveling signal is used to drive the leveling cylinders of the paver, so that as a result, a movement of the screed is feasible.
  • the bumps spatially detected by the scatter plot affect the generation of the leveling signal to move the screed. This makes it possible to apply a flat road surface, especially on uneven roads.
  • the measuring device comprises a holding element, with which the measuring device can be fastened to the paver.
  • the holding element may be designed such that it is adjustable in height, for example telescopically extendable to arrange the measuring device at different heights. A particularly useful measure of the area of a point cloud can thus be generated if the measuring device is arranged at a distance of up to ten meters above the planum.
  • the measuring device is configured to control the point cloud and the resulting parameter setting by means of real-time detection. If the parameter setting is the generation of a leveling signal, it can react to unevenness in the ground without any time delay.
  • At least one measuring device seen in the direction of travel is arranged on the left and / or right of the paver.
  • several point clouds can be produced, through which the surface condition of the subgrade or of the road surface can be represented.
  • the measuring device is configured so that it generates the point cloud for a surface on the left and / or right of the work area.
  • the point cloud in the work area within short distance in front of the screed is detectable.
  • an average value is generated by the control device on the basis of one or more detected point clouds, in order to generate a signal for further operating functions of the road finisher on the basis of the generated mean value. This offers the technical advantage of considering several surface sections in the creation of an operating parameter.
  • the measuring device may also be configured to generate the point cloud for an area that partially overlies a portion of the work area. It does not matter whether the point cloud overshadows an area of the screed, an area of the tractor or other technical means available on the paver. As a result, the measuring device can be used particularly flexibly on the road paver.
  • the measuring device is arranged on the movable screed, in particular on the pull arm, which carries the screed.
  • the measuring device can also be arranged on the tractor of the paver.
  • the measuring device may be configured to generate the point cloud over an area surrounding the paver. Because it is possible to hide extreme 3D coordinates, ie here the tractor and screed, even through the surface sections of the point cloud, which are located on the left, right or in front of and behind the paver, a meaningful result can be represented, which the surface texture of the workspace.
  • the measuring device is designed to detect the 3D coordinates of the surface by means of pulse transit time, phase difference in comparison to a reference or by triangulation of optical beams. This allows a precise distance measurement between the measuring device and the surface.
  • the FIG. 1 shows a paver 1 in the direction of travel F according to the invention.
  • the paver 1 comprises a tractor 2 with a chassis 3, which moves on a planum 4.
  • the paver 1 further comprises a screed 5, which is connected via a pull arm 6 movable with the tractor 2 of the paver 1.
  • a new road surface 7 is applied to the surface 4.
  • the planum 4 that is, the surface of the ground, just shown, are in fact unevenness on the planum 4 available.
  • the road surface 7 has a flat surface, even if the underlying Planum has 4 bumps. This can be achieved by a corresponding leveling of the screed 5, as will be described below.
  • a measuring device 8 is attached.
  • the measuring device 8 is configured to have a three-dimensional surface portion 9 (see FIG FIG. 2 ) of the subgrade 4.
  • the measuring device 8 is mounted at a short distance in front of the screed 5 on the traction arm 6.
  • the measuring device 8 is designed to detect unevennesses of the subgrade 4 by the detected three-dimensional surface section 9, in order to determine therefrom during operation certain operating parameters for the road finisher.
  • a leveling signal for controlling the screed 5 can be generated on the basis of the three-dimensionally detected surface section 9 by the measuring device 8, wherein the leveling signal can result in a positional displacement of the screed 5.
  • the FIG. 2 shows the measuring device 8, as shown in the FIG. 1 is attached to the pull arm 6 of the paver 1.
  • the measuring device 8 of FIG. 2 is configured to detect the surface portion 9 of the tarmac 4.
  • the surface portion 9 defines sections of the surface texture of the subgrade 4.
  • the surface portion 9 is defined by a length a and width b.
  • the measuring device 8 is designed to vary the dimension of the surface portion 9. For this purpose, adjustments can be made to the measuring device 8, which adjust the length dimension a and / or the width dimension b.
  • dashed rays 10 which are directed by the measuring device 8 on corner points of the surface portion 9.
  • the beams 10 enclose with one another an angle ⁇ and an angle ⁇ , wherein a desired dimension for the surface section 9 can be detected relative to the plane 4 relative to the height position of the measuring device 8.
  • the angle ⁇ can be 30 ° or the angle ⁇ 40 °.
  • the measuring device 8, which is designed primarily as a laser scanner 14, is configured within the area section 9 to detect the three-dimensional propagation of the subgrade 4 in order to provide a spatial representation of the surface.
  • the height A can be varied, with the measuring device 8 being portable up to 10 meters above the ground.
  • the measuring device 8 can be positioned, for example, by a holder, not shown.
  • To simulate irregularities on the planum 4 is schematically in the FIG. 2 a cuboid-shaped Item 11, which lies on the surface portion 9.
  • the measuring device 8 is configured to detect the article 11. Even if the bump in the FIG. 2 is shown as cuboid, the unevenness on the Planum 4 can take any shape. Unevenness on the surface 4 may include, for example, longitudinal or lateral inclinations of the ground on which the paver 1 moves. Also detectable are, for example potholes or elongated subsidence or soil surveys.
  • the measuring device 8 is configured to generate a virtual net-like point cloud 12 which is located in the FIG. 3 is shown.
  • the point cloud 12 represents the surface portion 9 in its three-dimensional nature.
  • the point cloud 12 extends relative to the measuring device 8 in three spatial dimensions in order to provide a spatial representation of the surface of the subgrade 4.
  • the point cloud 12 comprises a plurality of points 13, which are defined by 3D coordinates relative to the measuring device 8.
  • the measuring device 8 is designed to detect unevenness, which are located within the surface portion 9, by means of the point cloud 12 in order to set specific operating parameters of the road paver 1, for example a leveling signal for controlling the position of the screed 5.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Road Paving Machines (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Claims (7)

  1. Finisseur de route (1) comprenant une machine de traction (2), qui peut se déplacer sur une plate-forme de chaussée (4) le long d'une zone de travail, une table de finisseur (5), qui est prévue pour l'application d'un revêtement routier (7), ainsi qu'au moins un dispositif de mesure (8), qui est configuré pour effectuer le relevé d'une surface, le finisseur de route comprenant également un dispositif de commande (16), qui est relié au dispositif de mesure (8), finisseur de route dans lequel la surface peut, au moyen du dispositif de mesure (8), être représentée sous la forme d'un nuage de points (12), qui s'étend dans trois dimensions spatiales par rapport au dispositif de mesure (8) en vue de réaliser une représentation spatiale de la surface, et comprend plusieurs points (13) définis chacun par des coordonnées dans trois dimensions ou coordonnées 3D, dans lequel au moins une paire de points du nuage de points (12) est orientée dans une première direction, et au moins une autre paire de points du nuage de points (12) forme un angle avec ladite première direction,
    et dans lequel le dispositif de commande (16) est configuré pour convertir le nuage de points (12) engendré par le dispositif de mesure (8), en un signal de nivellement, le signal de nivellement étant prévu pour piloter un mouvement de la table de finisseur (5), caractérisé
    en ce que le dispositif de mesure (8) comprend plusieurs détecteurs laser agencés dans une matrice, qui sont disposés de manière à émettre des rayons laser pardessus la surface pour engendrer le nuage de points, le dispositif de mesure (8) étant agencé de façon mobile, de manière à ce qu'il fasse balayer les surfaces par les rayons laser grâce à une séquence de mouvement prédéterminée, pour engendrer le nuage de points.
  2. Finisseur de route selon la revendication 1, caractérisé en ce que le nuage de points (12) définit une structure ou un état de surface d'une surface de la plate-forme de chaussée (4) et/ou du revêtement routier (7).
  3. Finisseur de route selon l'une des revendications précédentes, caractérisé en ce que le dispositif de mesure (8) est configuré pour supprimer par filtrage, des coordonnées 3D extrêmes, du nuage de points (12).
  4. Finisseur de route selon l'une des revendications précédentes, caractérisé en ce qu'un dispositif de mesure (8) est agencé, en se référant à la direction de marche (F), respectivement à gauche et/ou à droite sur le finisseur de route (1).
  5. Finisseur de route selon l'une des revendications précédentes, caractérisé en ce que le dispositif de mesure (8) est configuré de façon à engendrer un nuage de points (12) pour une surface (9) à gauche et/ou à droite à côté de la zone de travail.
  6. Finisseur de route selon l'une des revendications précédentes, caractérisé en ce que le dispositif de mesure (8) est configuré de manière à engendrer le nuage de points (12) pour une surface (9), qui couvre partiellement un secteur de la zone de travail.
  7. Finisseur de route selon l'une des revendications précédentes, caractérisé en ce que le dispositif de mesure (8) est conçu pour relever les coordonnées 3D à l'aide du temps de parcours d'impulsion, de la différence de phase par rapport à une référence, ou à l'aide d'une triangulation de rayons optiques.
EP11006864.0A 2011-08-22 2011-08-22 Finisseuse de route dotée d'un dispositif de mesure Active EP2562309B1 (fr)

Priority Applications (8)

Application Number Priority Date Filing Date Title
PL11006864T PL2562309T3 (pl) 2011-08-22 2011-08-22 Wykańczarka z urządzeniem pomiarowym
EP11006864.0A EP2562309B1 (fr) 2011-08-22 2011-08-22 Finisseuse de route dotée d'un dispositif de mesure
EP13188708.5A EP2687631B1 (fr) 2011-08-22 2011-08-22 Finisseuse de route dotée d'un dispositif de mesure
PL13188708T PL2687631T3 (pl) 2011-08-22 2011-08-22 Wykańczarka z urządzeniem pomiarowym
JP2012179177A JP6124240B2 (ja) 2011-08-22 2012-08-13 測定装置を有する道路舗装機
US13/586,588 US9290894B2 (en) 2011-08-22 2012-08-15 Road paver with measuring device
CN2012102997152A CN102953312A (zh) 2011-08-22 2012-08-21 具有测量设备的道路摊铺机
CN201811254055.XA CN109537412A (zh) 2011-08-22 2012-08-21 具有测量设备的道路摊铺机

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP11006864.0A EP2562309B1 (fr) 2011-08-22 2011-08-22 Finisseuse de route dotée d'un dispositif de mesure

Related Child Applications (2)

Application Number Title Priority Date Filing Date
EP13188708.5A Division-Into EP2687631B1 (fr) 2011-08-22 2011-08-22 Finisseuse de route dotée d'un dispositif de mesure
EP13188708.5A Division EP2687631B1 (fr) 2011-08-22 2011-08-22 Finisseuse de route dotée d'un dispositif de mesure

Publications (2)

Publication Number Publication Date
EP2562309A1 EP2562309A1 (fr) 2013-02-27
EP2562309B1 true EP2562309B1 (fr) 2014-04-02

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Application Number Title Priority Date Filing Date
EP13188708.5A Active EP2687631B1 (fr) 2011-08-22 2011-08-22 Finisseuse de route dotée d'un dispositif de mesure
EP11006864.0A Active EP2562309B1 (fr) 2011-08-22 2011-08-22 Finisseuse de route dotée d'un dispositif de mesure

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP13188708.5A Active EP2687631B1 (fr) 2011-08-22 2011-08-22 Finisseuse de route dotée d'un dispositif de mesure

Country Status (5)

Country Link
US (1) US9290894B2 (fr)
EP (2) EP2687631B1 (fr)
JP (1) JP6124240B2 (fr)
CN (2) CN102953312A (fr)
PL (2) PL2562309T3 (fr)

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JP2013047454A (ja) 2013-03-07
US20130051913A1 (en) 2013-02-28
CN102953312A (zh) 2013-03-06
US9290894B2 (en) 2016-03-22
EP2687631A1 (fr) 2014-01-22
EP2562309A1 (fr) 2013-02-27
EP2687631B1 (fr) 2015-08-19
CN109537412A (zh) 2019-03-29
JP6124240B2 (ja) 2017-05-10
PL2687631T3 (pl) 2016-01-29

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