EP2687631A1 - Road finisher with measuring device - Google Patents

Road finisher with measuring device Download PDF

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Publication number
EP2687631A1
EP2687631A1 EP13188708.5A EP13188708A EP2687631A1 EP 2687631 A1 EP2687631 A1 EP 2687631A1 EP 13188708 A EP13188708 A EP 13188708A EP 2687631 A1 EP2687631 A1 EP 2687631A1
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EP
European Patent Office
Prior art keywords
measuring device
point cloud
road
paver according
screed
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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
EP13188708.5A
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German (de)
French (fr)
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EP2687631B1 (en
Inventor
Achim Eul
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Joseph Voegele AG
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Joseph Voegele AG
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Publication date
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Priority to EP13188708.5A priority Critical patent/EP2687631B1/en
Priority to PL13188708T priority patent/PL2687631T3/en
Publication of EP2687631A1 publication Critical patent/EP2687631A1/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
    • 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 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 inventive Paver comprising a measuring device 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 By capturing the surface texture in the form of a point cloud, valuable information can be collected that can be used to generate different operating settings.
  • 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, in response to the substrate on which the paver moves can be improved.
  • 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. It is also possible to adapt the dimension of the surface to an expected surface condition of the subgrade, so that it is possible, for example in the case of uneven installation surfaces, to select the dimension of the surface for determining the surface condition in such a way that a sufficiently large point cloud can be represented is. On the other hand, it may be expedient, in particular in the case of a curved installation run, to select the dimension of the surface for determining the surface condition to be smaller.
  • 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 measuring device comprises a 3D scanner.
  • This preferably comprises at least one optical sensor, which is provided for detecting a distance to the detected surface.
  • the 3D scanner is a laser scanner with at least one laser sensor. The laser scanner is easy to use even in bad weather and ensures accurate detection of the point cloud.
  • the 3D scanner comprises at least one movable mirror for deflecting the light beam of the at least one optical sensor.
  • the movable mirror can be controlled by a predetermined sequence of movements, so that the deflected light beam, preferably laser beam, over the predetermined area, which reproduces the point cloud runs.
  • the deflected light beam preferably laser beam
  • the movable mirror can be controlled by a predetermined sequence of movements, so that the deflected light beam, preferably laser beam, over the predetermined area, which reproduces the point cloud runs.
  • a plurality of movable mirror are present in order to deflect different laser beams such that the point cloud can be represented.
  • the area of the point cloud can be defined with at least 300 laser scanning points.
  • a meaningful area image that is to say the point cloud, can be generated in order to detect unevenness on the detected surface.
  • the 3D scanner by means of a movable mirror, it is provided to equip the measuring device with a plurality of laser sensors, which are arranged in a matrix, ie a sensor receptacle, such that they emit laser beams over the predetermined area for generating the point cloud. It may also be advantageous if 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. In this case, 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 can be used to control the leveling cylinders of the paver, 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 plane.
  • 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 can be configured such that it generates the point cloud over a surface that surrounds the point cloud Paver surrounds. 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. For example, it is possible that 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 object 11 is shown, 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)

Abstract

The finisher (1) has a tractor (2) moved along a working area on a ground level (4), and a screed (5) provided for a road surfacing (7). A measurement device (8) detects a surface, and a control device is connected with the measurement device, where the surface is represented as a scatter diagram that extends in three space dimensions. The control device converts the scatter diagram into an automatic level signal for an automatic level cylinder that is fastened to the tractor, where the cylinder has a traction arm (6) at which the screed is fastened for controlling the movement of the screed.

Description

Die vorliegende Erfindung betrifft einen Straßenfertiger gemäß dem Oberbegriff des Anspruchs 1.The present invention relates to a road finisher according to the preamble of claim 1.

Ein Straßenfertiger, wie er in der Praxis bekannt ist, umfasst im Wesentlichen eine Zugmaschine, die entlang eines Arbeitsbereichs auf einem Planum bewegbar ist, sowie eine Einbaubohle, die zum Aufbringen des Straßenbelags vorgesehen ist. Gewöhnlicherweise ist die Einbaubohle durch einen Zugarm, der mit der Einbaubohle starr verbunden ist, an der Zugmaschine schwenkbar befestigt.A road finisher, as known in the art, 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. Usually, the screed is pivotally attached to the tractor by a pulling arm which is rigidly connected to the screed.

Der Zugarm kann durch den Bediener höhengesteuert werden, um die Einbaubohle auf ein gewünschtes Niveau relativ zum Straßenbelag zu heben. Dadurch ist es möglich, je nach Beschaffenheit der Oberfläche des Untergrunds, die Bohlenposition so einzustellen, dass Unebenheiten im Untergrund, über den der Straßenfertiger fährt, ausgeglichen werden. Dies hat zur Folge, dass eine ebene Straßenbelagschicht entsteht. Heutzutage werden auch automatisierte Meßsysteme verwendet, die einen Abstand zu einer Referenz erfassen, um in Reaktion darauf möglichst zeitnah ein Nivelliersignal zu erstellen, welches zur Positionsbestimmung der Einbaubohle verwendet wird.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.

Für solche Meßsysteme werden beispielsweise mechanische Sensoren verwendet, die so an der beweglichen Einbaubohle befestigt sind, dass sie vor dem neu eingebauten Straßenbelag mit der Oberfläche des Planums in Kontakt kommen, um darauf Unebenheiten frühzeitig zu erfassen. Nachteilig daran ist jedoch, dass ein mechanischer Sensor Unebenheiten nur auf einem harten Untergrund erfassen kann, weil er auf einem weichen, beispielsweise sandigen Untergrund, nicht auf Unebenheiten anspricht. Außerdem kann es sein, dass der mechanische Sensor, der über das Planum geschoben wird, gegen einen herumliegenden Gegenstand stößt und beschädigt wird. Ebenfalls müssen die mechanischen Sensoren regelmäßig gewartet werden und sind empfindlich gegenüber Verschmutzungen bzw. Feuchtigkeit.For such measuring systems, for example, 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. The disadvantage of this, however, is that 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. In addition, it may be that the mechanical sensor, which is pushed over the planum, butts against an object lying around and is damaged. Also, the mechanical sensors must be maintained regularly and are sensitive to contamination or moisture.

Alternativ zu den mechanischen, kontaktierenden Meßvorrichtungen werden in der Praxis auch berührungslose Meßsysteme verwendet, um einen Abstand zum Planum zu erfassen. Solche Meßsysteme umfassen beispielsweise eine optische oder akustische Sensorik.As an alternative to the mechanical, contacting measuring devices in practice, non-contact measuring systems are used to detect a distance to the planum. Such measuring systems include, for example, an optical or acoustic sensor.

Gemäß einer weiteren Technik im Straßenbau wird entlang der Einbaustrecke ein Leitdraht als Referenz für die Abstandsmessung verwendet. Dabei wird der Abstand zwischen dem Meßkopf und dem Leitdraht erfasst, um auf Unebenheiten auf der Straßenoberfläche schließen zu können und entsprechend eine Nivellierung der Einbaubohle vorzunehmen. Allerdings ist das Anbringen eines Leitdrahts entlang der Einbaustrecke extrem aufwendig und erfordert viel Zeit. Außerdem kann es sein, dass der Leitdraht, welcher für gewöhnlich ein normales Seil ist, durch aufgesogene Feuchtigkeit über eine Strecke so durchhängt, dass für die Nivellierung verfälschte Abstandswerte erfasst werden.According to another technique in road construction, a guidewire is used as a reference for the distance measurement along the built-in route. In this case, 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. However, attaching a guidewire along the route is extremely expensive and requires a lot of time. In addition, 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.

Zur Nivellierung der Einbaubohle werden in der Praxis auch Rotationslaser verwendet, welche als externe Referenz so positioniert werden, dass ein durch sie aufgespanntes Laserrotationsfeld von einem am Straßenfertiger angeordneten Empfänger bei entsprechender Höheneinstellung der Einbaubohle empfangen werden kann. Eine Höhenverstellung der Einbaubohle erfolgt dann, wenn der Empfänger am Straßenfertiger das Rotationslaserfeld des Rotationslasers nicht mehr empfängt. Nachteilig daran ist jedoch, dass der Rotationslaser mehrmals entlang der Einbaustrecke umpositioniert werden muss, wozu zusätzliches Bedienpersonal benötigt wird.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.

Mit den zuvor beschriebenen Systemen zur Abstandsmessung ist das Erfassen von Unebenheiten auf dem Planum nur in einem beschränkten Maße möglich. Deshalb liegt der vorliegenden Erfindung die Aufgabe zu Grunde, einen Straßenfertiger mit einfachen, konstruktiven technischen Mitteln dahingehend zu verbessern, dass er es ermöglicht, eine verbesserte Straßenbelagsschicht einzubauen.With the above-described systems for distance measurement, the detection of unevenness on the surface is only possible to a limited extent. It is therefore an object of the present invention to improve a paver with simple, constructive technical means such that it makes it possible to install an improved pavement layer.

Diese Aufgabe wird gelöst mit den technischen Merkmalen des Anspruchs 1. Verbesserte Weiterbildungen der Erfindung sind mit den technischen Merkmalen der Unteransprüche gegeben.This object is achieved with the technical features of claim 1. Improved developments of the invention are given with the technical features of the subclaims.

Die Erfindung bezieht sich auf einen Straßenfertiger mit einer Zugmaschine, die entlang eines Arbeitsbereichs auf einem Planum bewegbar ist, sowie einer Einbaubohle, die zum Aufbringen eines Straßenbelags vorgesehen ist. Außerdem umfasst der erfindungsgemäße Straßenfertiger eine Messvorrichtung, die so konfiguriert ist, dass sie eine Oberfläche erfasst und eine die Oberfläche repräsentierende, virtuelle Punktwolke erzeugt. Anhand der Punktwolke ist die erfaßte Oberfläche darstellbar, wobei die Punktwolke sich relativ zu der Messvorrichtung in drei Raumdimensionen erstreckt, um eine räumliche Darstellung der Oberfläche wiederzugeben. Dabei umfasst die Punktwolke mehrere Punkte, die jeweils durch 3D-Koordinaten definiert sind. Zur räumlichen Darstellung der Oberfläche ist vorgesehen, dass mindestens ein Punktepaar der Punktwolke in einer ersten Richtung, vorzugsweise in Fahrtrichtung ausgerichtet ist und mindestens ein anderes Punktepaar der Punktwolke in einem Winkel zur ersten Richtung, vorzugsweise zur Fahrtrichtung liegt.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. In addition, the inventive Paver comprising a measuring device 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.

Durch das Erfassen der Oberflächenbeschaffenheit in Form einer Punktwolke können wertvolle Informationen gesammelt werden, die zur Generierung unterschiedlicher Betriebseinstellungen verwendbar sind. Die Erfindung bietet den wesentlichen technischen Vorteil, dass Unebenheiten, beispielsweise Quer- und Längsneigungen im Straßenprofil, aussagekräftig und genau erfassbar sind. Damit kann die Einstellung unterschiedlicher Betriebsparameter, wie beispielsweise das Nivelliersignal, in Reaktion auf den Untergrund, auf welchem sich der Fertiger bewegt, verbessert werden.By capturing the surface texture in the form of a point cloud, valuable information can be collected that can be used to generate different operating settings. 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. Thus, the adjustment of different operating parameters, such as the leveling signal, in response to the substrate on which the paver moves can be improved.

Ebenfalls ist die Erfindung unempfindlich gegen schlechtes Wetter und bietet eine kostengünstige, wartungsarme Alternative zu bisher bekannten Vorrichtungen dieser Art. Hinzu kommt, dass die Meßvorrichtung einfach bedienbar ist und ohne großen Aufwand am Straßenfertiger zu befestigen ist. Des Weiteren kann durch die Erfindung auf eine zusätzliche Meßausrüstung, die zur Erfassung von Querneigungen im Straßenverlauf ausgebildet ist, verzichtet werden.Also, the invention is insensitive to bad weather and offers a low-cost, low-maintenance alternative to previously known devices of this kind. In addition, the measuring device is easy to use and can be attached to the paver without great effort. Furthermore, the invention can be dispensed with an additional measuring equipment, which is designed for the detection of banks in the course of the road.

In einer vorteilhaften Ausführungsform der Erfindung ist vorgesehen, dass die Punktwolke eine Oberflächenbeschaffenheit einer Fläche des Planums und/oder des Straßenbelags definiert. Dabei kann sich das Maß der Fläche über eine variierende Länge sowie eine variierende Breite erstrecken, sodass der erfaßte Oberflächenabschnitt unterschiedlich groß ausfällt. Möglich ist es auch, das Maß der Fläche an eine zu erwartende Oberflächenbeschaffenheit des Planums anzupassen, so dass es beispielsweise bei unebenen Einbauflächen vorab möglich ist, das Maß der Fläche zur Bestimmung der Oberflächenbeschaffenheit so zu wählen, dass dadurch eine ausreichend große Punktwolke darstellbar ist. Andererseits kann es, insbesondere bei einer kurvigen Einbaufahrt, zweckmäßig sein, das Maß der Fläche zur Bestimmung der Oberflächenbeschaffenheit kleiner zu wählen.In an advantageous embodiment of the invention, it is provided that the point cloud defines a surface condition of a surface of the tarmac and / or the road surface. In this case, 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. It is also possible to adapt the dimension of the surface to an expected surface condition of the subgrade, so that it is possible, for example in the case of uneven installation surfaces, to select the dimension of the surface for determining the surface condition in such a way that a sufficiently large point cloud can be represented is. On the other hand, it may be expedient, in particular in the case of a curved installation run, to select the dimension of the surface for determining the surface condition to be smaller.

In einer weiteren Ausführungsform der Erfindung umfasst die Meßvorrichtung eine Filtereinheit, die dazu konfiguriert ist, extreme 3D-Koordinaten aus der Punktwolke herauszufiltern. Dadurch ist es möglich die Erfassung unerwünschter Gegenstände zu vernachlässigen. Dies kann insbesondere dann von Vorteil sein, wenn die erzeugte Punktwolke Abschnitte der Zugmaschine oder der Einbaubohle erfasst. Ebenfalls ist es dadurch möglich Komponenten, die in die Punktwolke ragen, herauszufiltern. Schließlich ist es möglich, dass Bedienpersonal, welches sich im Erfassungsbereich der Punktwolke befindet, aus dem Messergebnis herausgefiltert werden kann.In another embodiment of the invention, 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.

Für eine besonders zuverlässige Erfassung der Punktwolke umfasst die Messvorrichtung einen 3D-Scanner. Dieser umfasst vorzugsweise mindestens einen optischen Sensor, der zur Erfassung eines Abstands zur erfassten Oberfläche vorgesehen ist. In einer verbesserten Ausführungsform der Erfindung ist der 3D-Scanner ein Laserscanner mit mindestens einem Lasersensor. Der Laserscanner ist selbst bei schlechtem Wetter gut einsetzbar und sorgt für eine genaue Erfassung der Punktwolke.For a particularly reliable detection of the point cloud, the measuring device comprises a 3D scanner. This preferably comprises at least one optical sensor, which is provided for detecting a distance to the detected surface. In an improved embodiment of the invention, the 3D scanner is a laser scanner with at least one laser sensor. The laser scanner is easy to use even in bad weather and ensures accurate detection of the point cloud.

Vorzugsweise umfasst der 3D-Scanner mindestens einen beweglichen Spiegel, um den Lichtstrahl des mindestens einen optischen Sensors abzulenken. Dabei ist es vorstellbar, dass der bewegliche Spiegel durch einen vorbestimmten Bewegungsablauf ansteuerbar ist, so dass sich der abgelenkte Lichtstrahl, vorzugsweise Laserstrahl, über die vorbestimmte Fläche, die die Punktwolke wiedergibt, läuft. Zur schnelleren Erfassung der Punktwolke kann vorgesehen sein, dass mehrere bewegliche Spiegel vorhanden sind, um unterschiedliche Laserstrahlen derartig abzulenken, dass sich die Punktwolke darstellen lässt.Preferably, the 3D scanner comprises at least one movable mirror for deflecting the light beam of the at least one optical sensor. It is conceivable that the movable mirror can be controlled by a predetermined sequence of movements, so that the deflected light beam, preferably laser beam, over the predetermined area, which reproduces the point cloud runs. For faster detection of the point cloud can be provided that a plurality of movable mirror are present in order to deflect different laser beams such that the point cloud can be represented.

Vorzugsweise ist die Fläche der Punktwolke mit mindestens 300 Laserabtastpunkten definierbar. Durch diese Anzahl an Laserabtastpunkten kann ein aussagekräftiges Flächenbild, also die Punktwolke, erzeugt werden, um Unebenheiten auf der erfassten Oberfläche festzustellen.Preferably, the area of the point cloud can be defined with at least 300 laser scanning points. By means of this number of laser scanning points, a meaningful area image, that is to say the point cloud, can be generated in order to detect unevenness on the detected surface.

Alternativ zum 3D-Scanner mittels beweglichem Spiegel, ist es vorgesehen, die Messvorrichtung mit mehreren Lasersensoren auszustatten, welche in einer Matrix, also einer Sensoraufnahme, derartig angeordnet sind, dass sie Laserstrahlen über die vorbestimmte Fläche zur Erzeugung der Punktwolke aussenden. Ebenfalls kann es von Vorteil sein, wenn die Messvorrichtung beweglich angeordnet ist, so dass sie durch einen vorbestimmten Bewegungsablauf die Laserstrahlen über die Fläche zur Erzeugung der Punktwolke leitet. Dabei kann die Bewegung der Messvorrichtung dafür sorgen, dass die Laserstrahlen der Lasersensoren linienartig in parallel ausgerichteter Abfolge auf die zu erfassende Oberfläche treffen bzw. die Messvorrichtung so bewegbar ist, dass die Laserstrahlen von außen nach innen oder umgekehrt die Fläche erfassen.As an alternative to the 3D scanner by means of a movable mirror, it is provided to equip the measuring device with a plurality of laser sensors, which are arranged in a matrix, ie a sensor receptacle, such that they emit laser beams over the predetermined area for generating the point cloud. It may also be advantageous if 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. In this case, 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.

In einer weiteren Ausführungsform der Erfindung umfasst der Straßenfertiger eine Steuervorrichtung, die mit der Messvorrichtung verbunden ist. Vorzugsweise ist die Steuervorrichtung dazu konfiguriert, die durch die Messvorrichtung erfasste Punktwolke in ein entsprechendes Signal umzuwandeln, um damit eine bestimmte Betriebsfunktion des Straßenfertigers zu steuern. Vorzugsweise ist die Steuervorrichtung jedoch dazu konfiguriert, die durch die Messvorrichtung erfasste Punktwolke in mindestens ein Nivelliersignal umzuwandeln. Das Nivelliersignal kann dazu verwendet werden, die Nivellierzylinder des Straßenfertigers anzusteuern, damit infolgedessen eine Bewegung der Einbaubohle durchführbar ist. Folglich beeinflussen die durch die Punktwolke räumlich erfassten Unebenheiten das Erzeugen des Nivelliersignals, um die Einbaubohle zu bewegen. Dadurch ist es möglich, insbesondere auf unebenen Straßen einen ebenen Straßenbelag aufzubringen.In a further embodiment of the invention, 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. Preferably, however, the control device is configured to convert the point cloud detected by the measuring device into at least one leveling signal. The leveling signal can be used to control the leveling cylinders of the paver, as a result, a movement of the screed is feasible. Thus, 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.

In einer weiteren Ausführungsform ist vorgesehen, dass die Messvorrichtung ein Halteelement umfasst, mit dem die Messvorrichtung am Straßenfertiger befestigbar ist. Damit eine Erfassung durch unterschiedlich große Punktwolken möglich ist, kann das Halteelement derart ausgebildet sein, dass es höhenverstellbar ist, beispielsweise teleskopartig ausfahrbar ist, um die Messvorrichtung in unterschiedlichen Höhen anzuordnen. Ein besonders nützliches Maß für die Fläche einer Punktwolke kann damit erzeugt werden, wenn die Messvorrichtung in einem Abstand bis zu zehn Meter über dem Planum angeordnet ist.In a further embodiment it is provided that the measuring device comprises a holding element, with which the measuring device can be fastened to the paver. So that a detection by different sized point clouds is possible, 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 plane.

In einer besonders vorteilhaften Ausführung ist die Messvorrichtung dazu konfiguriert, die Punktwolke sowie die daraus resultierende Parametereinstellung mittels Echtzeiterfassung zu regeln. Handelt es sich bei der Parametereinstellung um das Erzeugen eines Nivelliersignals, so kann dieses ohne zeitlichen Verzug auf Unebenheiten im Untergrund reagieren.In a particularly advantageous embodiment, 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.

Außerdem ist es möglich, dass in einer Ausführungsform der Erfindung mindestens eine Messvorrichtung in Fahrtrichtung gesehen links und/oder rechts am Straßenfertiger angeordnet ist. Dadurch lassen sich mehrere Punktwolken erzeugen, durch die die Oberflächenbeschaffenheit des Planums bzw. des Straßenbelags darstellbar ist.In addition, it is possible that in one embodiment of the invention, at least one measuring device seen in the direction of travel is arranged on the left and / or right of the paver. As a result, several point clouds can be produced, through which the surface condition of the subgrade or of the road surface can be represented.

Vorteilhaft ist es jedoch, wenn die Messvorrichtung so konfiguriert ist, dass sie die Punktwolke für eine Fläche links und/oder rechts neben dem Arbeitsbereich erzeugt. Beispielsweise ist es vorteilhaft, dass die Punktwolke im Arbeitsbereich innerhalb kurzen Abstands vor der Einbaubohle erfaßbar ist.However, it is advantageous if 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. For example, it is advantageous that the point cloud in the work area within short distance in front of the screed is detectable.

Möglich ist es auch, dass anhand einer bzw. mehrerer erfassten Punktwolken ein Mittelwert durch die Steuervorrichtung erzeugbar ist, um anhand des erzeugten Mittelwerts ein Signal für weitere Betriebsfunktionen des Straßenfertigers zu erzeugen. Dies bietet den technischen Vorteil, mehrere Flächenabschnitte in der Erstellung eines Betriebsparameters zu berücksichtigen.It is also possible for an average value to be 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.

Außerdem kann die Messvorrichtung auch so konfiguriert sein, dass sie die Punktwolke für eine Fläche erzeugt, die teilweise einen Abschnitt des Arbeitsbereichs überlagert. Dabei spielt es keine Rolle, ob die Punktwolke einen Bereich der Einbaubohle, einen Bereich der Zugmaschine bzw. andere am Straßenfertiger vorhandenen technischen Mittel überlagert. Dadurch ist die Messvorrichtung besonders flexibel am Straßenfertiger einsetzbar.In addition, 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.

Vorzugsweise ist die Messvorrichtung jedoch an der beweglichen Einbaubohle, insbesondere am Zugarm, der die Einbaubohle trägt, angeordnet. Andererseits kann die Messvorrichtung jedoch auch an der Zugmaschine des Straßenfertigers angeordnet sein.Preferably, however, the measuring device is arranged on the movable screed, in particular on the pull arm, which carries the screed. On the other hand, however, the measuring device can also be arranged on the tractor of the paver.

Um Unebenheiten auf einer besonders großen Fläche zu erfassen, kann die Messvorrichtung derart konfiguriert sein, dass sie die Punktwolke über eine Fläche erzeugt, die den Straßenfertiger umgibt. Weil es möglich ist, extreme 3D-Koordinaten, also hier die Zugmaschine und die Einbaubohle auszublenden, kann selbst durch die Flächenabschnitte der Punktwolke, die sich links, rechts bzw. vor und hinter dem Straßenfertiger befinden, ein aussagekräftiges Ergebnis dargestellt werden, welches die Oberflächenbeschaffenheit des Arbeitsbereichs repräsentiert.In order to detect imperfections on a particularly large area, the measuring device can be configured such that it generates the point cloud over a surface that surrounds the point cloud Paver surrounds. 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.

Gemäß einer vorteilhaften Ausführungsform der Erfindung ist die Messvorrichtung dazu ausgebildet, die 3D-Koordinaten der Oberfläche mittels Pulslaufzeit, Phasendifferenz im Vergleich zu einer Referenz oder mittels Triangulation von optischen Strahlen zu erfassen. Dadurch wird eine präzise Abstandsmessung zwischen der Messvorrichtung und der Oberfläche ermöglicht.According to an advantageous embodiment of the invention, 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.

Erfindungsgemäße Ausführungsformen werden anhand der Zeichnungen beschrieben. Es zeigen:

Figur 1
einen erfindungsgemäßen Straßenfertiger mit einer Messvorrichtung,
Figur 2
die Messvorrichtung, wie sie für den erfindungsgemäßen Straßenfertiger verwendet wird, und
Figur 3
eine die Oberflächenbeschaffenheit beschreibende Punktwolke.
Embodiments of the invention will be described with reference to the drawings. Show it:
FIG. 1
a road finisher according to the invention with a measuring device,
FIG. 2
the measuring device, as used for the paver according to the invention, and
FIG. 3
a point cloud describing the surface condition.

Die Figur 1 zeigt einen Straßenfertiger 1 in Fahrtrichtung F gemäß der Erfindung. Der Straßenfertiger 1 umfasst eine Zugmaschine 2 mit einem Fahrwerk 3, welches sich auf einem Planum 4 bewegt. Der Straßenfertiger 1 umfasst des Weiteren eine Einbaubohle 5, die über einen Zugarm 6 beweglich mit der Zugmaschine 2 des Straßenfertigers 1 verbunden ist. Durch die Einbaubohle 5 wird ein neuer Straßenbelag 7 auf das Planum 4 aufgebracht. Selbst wenn in der Figur 1 das Planum 4, sprich die Oberfläche des Untergrunds, eben dargestellt ist, sind in Wirklichkeit Unebenheiten auf dem Planum 4 vorhanden. Der Straßenbelag 7 hat eine ebene Oberfläche, selbst wenn das darunter liegende Planum 4 Unebenheiten aufweist. Dies kann durch eine entsprechende Nivellierung der Einbaubohle 5 errecht werden, wie es im Folgenden beschrieben wird.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. Through the screed 5, a new road surface 7 is applied to the surface 4. Even if in the FIG. 1 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.

Am Zugarm 6 des Straßenfertigers 1 ist eine Messvorrichtung 8 befestigt. Die Messvorrichtung 8 ist dazu konfiguriert, einen dreidimensionalen Flächenabschnitt 9 (siehe Figur 2) des Planums 4 zu erfassen. Die Messvorrichtung 8 ist in kurzem Abstand vor der Einbaubohle 5 am Zugarm 6 angebracht. Die Messvorrichtung 8 ist dazu ausgebildet, durch den erfassten dreidimensionalen Flächenabschnitt 9 Unebenheiten des Planums 4 zu erfassen, um daraus während des Einbaus bestimmte Betriebsparameter für den Straßenfertiger festzulegen. Beispielsweise ist es möglich, dass anhand des dreidimensional erfaßten Flächenabschnitt 9 durch die Messvorrichtung 8 ein Nivelliersignal zur Steuerung der Einbaubohle 5 generierbar ist, wobei das Nivelliersignal eine Positionsverlagerung der Einbaubohle 5 zur Folge haben kann.At Zugarm 6 of the paver 1, 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. For example, it is possible that 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.

Die Figur 2 zeigt die Messvorrichtung 8, wie sie in der Figur 1 an dem Zugarm 6 des Straßenfertigers 1 befestigt ist. Die Messvorrichtung 8 der Figur 2 ist dazu konfiguriert, den Flächenabschnitt 9 des Planums 4 zu erfassen. Der Flächenabschnitt 9 definiert abschnittsweise die Oberflächenbeschaffenheit des Planums 4. Der Flächenabschnitt 9 ist durch eine Länge a und Breite b definiert. Die Messvorrichtung 8 ist dazu ausgebildet, das Maß des Flächenabschnitts 9 zu variieren. Dazu können an der Messvorrichtung 8 Einstellungen vorgenommen werden, die das Längenmaß a und/oder das Breitenmaß b einstellen. Schematisch sind in der Figur 2 außerdem gestrichelte Strahlen 10 gezeigt, die von der Messvorrichtung 8 auf Eckpunkte des Flächenabschnitts 9 gerichtet sind. Die Strahlen 10 schließen untereinander einen Winkel α sowie einen Winkel β ein, wobei in Abhängigkeit der Höhenposition der Messvorrichtung 8 relativ zum Planum 4 ein gewünschtes Maß für den Flächenabschnitt 9 erfaßbar ist. Wie in der Figur 2 gezeigt wird, kann der Winkel α 30° beziehungsweise der Winkel β 40° sein. Die Messvorrichtung 8, die vornehmlich als Laserscanner 14 ausgebildet ist, ist dazu konfiguriert innerhalb des Flächenabschnitts 9 die dreidimensionale Ausbreitung des Planums 4 zu erfassen, um für eine räumliche Darstellung der Oberfläche zu sorgen.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. Schematically are in the FIG. 2 also shown 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 α and an angle β, 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. Like in the FIG. 2 is shown, the angle α can be 30 ° or the angle β 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.

Des Weiteren zeigt die Figur 2, dass die Messvorrichtung 8 in einer Höhe A über dem Planum 4 angeordnet ist. Die Höhe A ist variierbar, wobei die Messvorrichtung 8 bis zu 10 Meter über dem Untergrund tragbar ist. In einer Höhe von 10 Meter kann die Messvorrichtung 8 beispielsweise durch eine nicht gezeigte Halterung positionierbar sein. Um Unebenheiten auf dem Planum 4 schematisch nachzubilden, ist in der Figur 2 ein quaderförmigen Gegenstand 11 gezeigt, der auf dem Flächenabschnitt 9 liegt. Die Messvorrichtung 8 ist dazu konfiguriert den Gegenstand 11 zu erfassen. Selbst wenn die Unebenheit in der Figur 2 quaderförmig dargestellt ist, kann die Unebenheit auf dem Planum 4 jegliche Form annehmen. Unebenheiten auf dem Planum 4 können beispielsweise Längsbeziehungsweise Querneigungen des Untergrunds umfassen, auf welchem sich der Straßenfertiger 1 bewegt. Ebenfalls erfassbar sind beispielsweise Schlaglöcher beziehungsweise langgezogene Bodensenkungen beziehungsweise Bodenerhebungen.Furthermore, the shows FIG. 2 in that the measuring device 8 is arranged at a height A above the plane 4. The height A can be varied, with the measuring device 8 being portable up to 10 meters above the ground. At a height of 10 meters, 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 object 11 is shown, 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.

Die Messvorrichtung 8 ist dazu konfiguriert, eine virtuelle netzartige Punktwolke 12 zu erzeugen, die in der Figur 3 dargestellt ist. Die Punktwolke 12 stellt den Flächenabschnitt 9 in seiner dreidimensionalen Beschaffenheit dar. Die Punktwolke 12 erstreckt sich relativ zu der Messvorrichtung 8 in drei Raumdimensionen, um für eine räumliche Darstellung der Oberfläche des Planums 4 zu sorgen. Dazu umfasst die Punktwolke 12 mehrere Punkte 13, die durch 3D-Koordinaten relativ zur Messvorrichtung 8 definiert sind. Um für die räumliche Darstellung der Oberfläche zu sorgen, ist mindestens ein Punktepaar der Punktwolke 12 in einer beliebigen ersten Richtung, vorzugsweise in Fahrtrichtung F ausgerichtet und mindestens ein anderes Punktepaar der Punktwolke 12 in einem Winkel zur ersten Richtung, vorzugsweise zur Fahrtrichtung F ausgerichtet. Die Messvorrichtung 8 ist dazu ausgebildet, Unebenheiten, die sich innerhalb des Flächenabschnitts 9 befinden, mittels der Punktwolke 12 zu erfassen, um damit spezifische Betriebsparameter des Straßenfertigers 1 einzustellen, beispielsweise ein Nivelliersignal zur Steuerung der Position der Einbaubohle 5.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. For this purpose, the point cloud 12 comprises a plurality of points 13, which are defined by 3D coordinates relative to the measuring device 8. In order to provide the spatial representation of the surface, at least one pair of points of the point cloud 12 in any first direction, preferably aligned in the direction of travel F and at least one other pair of points point cloud 12 at an angle to the first direction, preferably aligned to the direction of travel F. 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.

Weitere Beispiele der Erfindung sind:

  1. 1. Straßenfertiger (1) mit einer Zugmaschine (2), die entlang eines Arbeitsbereichs auf einem Planum (4) bewegbar ist, einer Einbaubohle (5), die zum Aufbringen eines Straßenbelags (7) vorgesehen ist, sowie mit mindestens einer Messvorrichtung (8), die dazu konfiguriert ist, eine Oberfläche zu erfassen, wobei die Oberfläche mittels der Messvorrichtung (8) als Punktwolke (12) darstellbar ist, die sich relativ zu der Messvorrichtung (8) in drei Raumdimensionen erstreckt, um für eine räumliche Darstellung der Oberfläche zu sorgen, sowie mehrere Punkte (13) umfasst, die jeweils durch 3D-Koordinaten definiert sind, wobei mindestens ein Punktepaar der Punktwolke (12) in einer ersten Richtung ausgerichtet ist und mindestens ein anderes Punktepaar der Punktwolke (12) in einem Winkel zur ersten Richtung liegt.
  2. 2. Straßenfertiger nach Beispiel 1, dadurch gekennzeichnet, dass die Punktwolke (12) eine Oberflächenbeschaffenheit einer Fläche des Planums (4) und/oder des Straßenbelags (7) definiert.
  3. 3. Straßenfertiger nach einem der vorigen Beispiele, dadurch gekennzeichnet, dass die Messvorrichtung (8) dazu konfiguriert ist, extreme 3D-Koordinaten aus der Punktwolke (12) herauszufiltern.
  4. 4. Straßenfertiger nach einem der vorigen Beispiele, dadurch gekennzeichnet, dass die Messvorrichtung (8) zum Erfassen der Punktwolke (12) einen 3D-Scanner (14) umfasst.
  5. 5. Straßenfertiger nach Beispiel 4, dadurch gekennzeichnet, dass der 3D-Scanner (14) mindestens einen optischen Sensor (15) umfasst.
  6. 6. Straßenfertiger nach Beispiel 4 oder 5, dadurch gekennzeichnet, dass der 3D-Scanner (14) ein Laserscanner mit mindestens einem Lasersensor ist.
  7. 7. Straßenfertiger nach einem der Beispiele 4 bis 6, dadurch gekennzeichnet, dass der 3D-Scanner (14) mindestens einen beweglichen Spiegel umfasst.
  8. 8. Straßenfertiger nach einem der Beispiele 4 bis 6, dadurch gekennzeichnet, dass die Messvorrichtung (8) mehrere in einer Matrix angeordnete Lasersensoren umfasst.
  9. 9. Straßenfertiger nach einem der vorigen Beispiele, gekennzeichnet durch eine Steuervorrichtung (16), die mit der Messvorrichtung (8) verbunden ist.
  10. 10. Straßenfertiger nach Beispiel 9, dadurch gekennzeichnet, dass die Steuervorrichtung (16) dazu konfiguriert ist, die durch die Messvorrichtung (8) erzeugte Punktwolke (12) in mindestens ein Nivelliersignal umzuwandeln.
  11. 11. Straßenfertiger nach Beispiel 10, dadurch gekennzeichnet, dass das Nivelliersignal dazu vorgesehen ist, eine Bewegung der Einbaubohle (5) zu steuern.
  12. 12. Straßenfertiger nach einem der vorigen Beispiele, dadurch gekennzeichnet, dass jeweils eine Messvorrichtung (8) in Fahrtrichtung (F) gesehen links und/oder rechts am Straßenfertiger (1) angeordnet ist.
  13. 13. Straßenfertiger nach einem der vorigen Beispiele, dadurch gekennzeichnet, dass die Messvorrichtung (8) so konfiguriert ist, dass sie eine Punktwolke (12) für eine Fläche (9) links und/oder rechts neben dem Arbeitsbereich erzeugt.
  14. 14. Straßenfertiger nach einem der vorigen Beispiele, dadurch gekennzeichnet, dass die Messvorrichtung (8) so konfiguriert ist, dass sie die Punktwolke (12) für eine Fläche (9) erzeugt, die teilweise einen Abschnitt des Arbeitsbereichs überlagert.
  15. 15. Straßenfertiger nach einem der vorigen Beispiele, dadurch gekennzeichnet, dass die Messvorrichtung (8) dazu ausgebildet ist, die 3D-Koordinaten der Oberfläche mittels Pulslaufzeit, Phasendifferenz im Vergleich zu einer Referenz oder mittels Triangulation von optischen Strahlen zu erfassen.
Further examples of the invention are:
  1. A paver (1) with a tractor (2) which is movable along a working area on a flat surface (4), a screed (5), which is provided for applying a road surface (7), as well as with at least one measuring device (8 ) configured to detect a surface, the surface being imaginable by the measuring device (8) as a point cloud (12) extending in three spatial dimensions relative to the measuring device (8), for a spatial representation of the surface and a plurality of points (13) each defined by 3D coordinates, wherein at least one pair of points of the point cloud (12) is aligned in a first direction and at least another point pair of the point cloud (12) lies at an angle to the first direction.
  2. 2. Road paver according to Example 1, characterized in that the point cloud (12) defines a surface finish of a surface of the subgrade (4) and / or the road surface (7).
  3. 3. Paver according to one of the previous examples, characterized in that the measuring device (8) is configured to filter extreme 3D coordinates from the point cloud (12).
  4. 4. Paver according to one of the previous examples, characterized in that the measuring device (8) for detecting the point cloud (12) comprises a 3D scanner (14).
  5. 5. paver according to Example 4, characterized in that the 3D scanner (14) comprises at least one optical sensor (15).
  6. 6. Paver according to Example 4 or 5, characterized in that the 3D scanner (14) is a laser scanner with at least one laser sensor.
  7. 7. Paver according to one of examples 4 to 6, characterized in that the 3D scanner (14) comprises at least one movable mirror.
  8. 8. Road paver according to one of the examples 4 to 6, characterized in that the measuring device (8) comprises a plurality of arranged in a matrix laser sensors.
  9. 9. Road finisher according to one of the preceding examples, characterized by a control device (16) which is connected to the measuring device (8).
  10. Road paver according to Example 9, characterized in that the control device (16) is configured to convert the point cloud (12) generated by the measuring device (8) into at least one leveling signal.
  11. 11. paver according to Example 10, characterized in that the leveling signal is provided to control a movement of the screed (5).
  12. 12. paver according to one of the previous examples, characterized in that in each case a measuring device (8) in the direction of travel (F) seen left and / or right on the paver (1) is arranged.
  13. 13. Road paver according to one of the previous examples, characterized in that the measuring device (8) is configured so that it generates a point cloud (12) for a surface (9) left and / or right of the work area.
  14. Road finisher according to one of the previous examples, characterized in that the measuring device (8) is configured to generate the point cloud (12) for a surface (9) partially overlying a portion of the working area.
  15. 15. Road paver according to one of the previous examples, characterized in that the measuring device (8) is adapted to detect the 3D coordinates of the surface by means of pulse transit time, phase difference compared to a reference or by triangulation of optical beams.

Claims (13)

Straßenfertiger (1) mit einer Zugmaschine (2), die entlang eines Arbeitsbereichs auf einem Planum (4) bewegbar ist, einer Einbaubohle (5), die zum Aufbringen eines Straßenbelags (7) vorgesehen ist, sowie mit mindestens einer Messvorrichtung (8), die dazu konfiguriert ist, eine Oberfläche zu erfassen, und mit einer Steuervorrichtung (16), die mit der Messvorrichtung (8) verbunden ist, wobei die Oberfläche mittels der Messvorrichtung (8) als Punktwolke (12) darstellbar ist, die sich relativ zu der Messvorrichtung (8) in drei Raumdimensionen erstreckt, um für eine räumliche Darstellung der Oberfläche zu sorgen, sowie mehrere Punkte (13) umfasst, die jeweils durch 3D-Koordinaten definiert sind, wobei mindestens ein Punktepaar der Punktwolke (12) in einer ersten Richtung ausgerichtet ist und mindestens ein anderes Punktepaar der Punktwolke (12) in einem Winkel zur ersten Richtung liegt,
dadurch gekennzeichnet, dass
die Steuervorrichtung (16) dazu konfiguriert ist, die durch die Messvorrichtung (8) erzeugte Punktwolke (12) in mindestens ein Nivelliersignal für einen Nivellierzylinder umzuwandeln, welcher an der Zugmaschine (2) des Straßenfertigers (1) befestigt ist und einen Zugarm (6) hält, an dem die Einbaubohle (5) befestigt ist, um eine Bewegung der Einbaubohle (5) zu steuern.Paver (1) with a tractor (2) which is movable along a working area on a flat surface (4), a screed (5), which is provided for applying a road surface (7), and with at least one measuring device (8), which is configured to detect a surface and to a control device (16) which is connected to the measuring device (8), wherein the surface can be represented by means of the measuring device (8) as a point cloud (12) which is relative to the Measuring device (8) extends in three spatial dimensions to provide a spatial representation of the surface, and a plurality of points (13), each defined by 3D coordinates, wherein at least one pair of points of the point cloud (12) aligned in a first direction and at least one other point pair of the point cloud (12) is at an angle to the first direction,
characterized in that
the control device (16) is configured to convert the point cloud (12) generated by the measuring device (8) into at least one leveling signal for a leveling cylinder, which is fastened to the tractor (2) of the paver (1) and has a pull arm (6) holds on which the screed (5) is fixed to control a movement of the screed (5). Straßenfertiger nach Anspruch 1, dadurch gekennzeichnet, dass die Punktwolke (12) eine Oberflächenbeschaffenheit einer Fläche des Planums (4) und/oder des Straßenbelags (7) definiert.Road paver according to claim 1, characterized in that the point cloud (12) defines a surface condition of a surface of the tarmac (4) and / or of the road surface (7). Straßenfertiger nach einem der vorigen Ansprüche, dadurch gekennzeichnet, dass die Messvorrichtung (8) dazu konfiguriert ist, extreme 3D-Koordinaten aus der Punktwolke (12) herauszufiltern.Road paver according to one of the preceding claims, characterized in that the measuring device (8) is configured to filter out extreme 3D coordinates from the point cloud (12). Straßenfertiger nach einem der vorigen Ansprüche, dadurch gekennzeichnet, dass die Messvorrichtung (8) zum Erfassen der Punktwolke (12) einen 3D-Scanner (14) umfasst.Road paver according to one of the preceding claims, characterized in that the measuring device (8) for detecting the point cloud (12) comprises a 3D scanner (14). Straßenfertiger nach Anspruch 4, dadurch gekennzeichnet, dass der 3D-Scanner (14) mindestens einen optischen Sensor (15) umfasst.Road paver according to claim 4, characterized in that the 3D scanner (14) comprises at least one optical sensor (15). Straßenfertiger nach Anspruch 4 oder 5, dadurch gekennzeichnet, dass der 3D-Scanner (14) ein Laserscanner mit mindestens einem Lasersensor ist.Road paver according to claim 4 or 5, characterized in that the 3D scanner (14) is a laser scanner with at least one laser sensor. Straßenfertiger nach einem der Ansprüche 4 bis 6, dadurch gekennzeichnet, dass der 3D-Scanner (14) mindestens einen beweglichen Spiegel umfasst.Road paver according to one of claims 4 to 6, characterized in that the 3D scanner (14) comprises at least one movable mirror. Straßenfertiger nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Messvorrichtung (8) mehrere in einer Matrix angeordnete Lasersensoren umfasst.Road paver according to one of claims 1 to 3, characterized in that the measuring device (8) comprises a plurality of arranged in a matrix laser sensors. Straßenfertiger nach Anspruch 8, dadurch gekennzeichnet, dass die Messvorrichtung (8) beweglich am Straßenfertiger befestigt ist.Road paver according to claim 8, characterized in that the measuring device (8) is movably mounted on the paver. Straßenfertiger nach einem der vorigen Ansprüche, dadurch gekennzeichnet, dass jeweils eine Messvorrichtung (8) in Fahrtrichtung (F) gesehen links und/oder rechts am Straßenfertiger (1) angeordnet ist.Paver according to one of the preceding claims, characterized in that in each case a measuring device (8) in the direction of travel (F) seen left and / or right of the paver (1) is arranged. Straßenfertiger nach einem der vorigen Ansprüche, dadurch gekennzeichnet, dass die Messvorrichtung (8) so konfiguriert ist, dass sie eine Punktwolke (12) für eine Fläche (9) links und/oder rechts neben dem Arbeitsbereich erzeugt.Road paver according to one of the preceding claims, characterized in that the measuring device (8) is configured so that it generates a point cloud (12) for a surface (9) left and / or right of the work area. Straßenfertiger nach einem der vorigen Ansprüche, dadurch gekennzeichnet, dass die Messvorrichtung (8) so konfiguriert ist, dass sie die Punktwolke (12) für eine Fläche (9) erzeugt, die teilweise einen Abschnitt des Arbeitsbereichs überlagert.Road paver according to one of the preceding claims, characterized in that the measuring device (8) is configured to generate the point cloud (12) for a surface (9) partially overlying a portion of the working area. Straßenfertiger nach einem der vorigen Ansprüche, dadurch gekennzeichnet, dass die Messvorrichtung (8) dazu ausgebildet ist, die 3D-Koordinaten der Oberfläche mittels Pulslaufzeit, Phasendifferenz im Vergleich zu einer Referenz oder mittels Triangulation von optischen Strahlen zu erfassen.Road paver according to one of the preceding claims, characterized in that the measuring device (8) is adapted to the 3D coordinates of the surface by means of Pulse transit time to detect phase difference compared to a reference or by triangulation of optical rays.
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CN109537412A (en) 2019-03-29
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