EP2687631B1 - 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
EP2687631B1
EP2687631B1 EP13188708.5A EP13188708A EP2687631B1 EP 2687631 B1 EP2687631 B1 EP 2687631B1 EP 13188708 A EP13188708 A EP 13188708A EP 2687631 B1 EP2687631 B1 EP 2687631B1
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EP
European Patent Office
Prior art keywords
measuring device
point cloud
road paver
road
paver according
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
EP13188708.5A
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German (de)
English (en)
Other versions
EP2687631A1 (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
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Joseph Voegele AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Joseph Voegele AG filed Critical Joseph Voegele AG
Priority to PL13188708T priority Critical patent/PL2687631T3/pl
Priority to EP13188708.5A priority patent/EP2687631B1/fr
Publication of EP2687631A1 publication Critical patent/EP2687631A1/fr
Application granted granted Critical
Publication of EP2687631B1 publication Critical patent/EP2687631B1/fr
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • 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 also used in practice in order to detect a distance from the plane.
  • 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.
  • US 2004/161299 A1 discloses a paver for applying a layer of asphalt of variable thickness.
  • the introduction of the amount of asphalt is regulated depending on the recorded topographical profile of the substrate by a built-up of single elements screed and thus laid an asphalt layer of variable thickness on the ground.
  • the control of the individual elements requires a high tax expense, the individual elements are difficult to move in the mix within the screed.
  • DE 10 2009 044 581 A1 discloses a paver that is configured to control a flow rate of asphalt based on a leveling signal.
  • DE 199 51 297 C1 discloses a paver in which movement of the screed is controlled by leveling cylinders via a leveling signal.
  • the leveling signal is determined by means of an external station, which detects the current position of the screed of the paver and compares it with a road target course to generate in this regard the leveling signal.
  • 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 has the significant technical advantage that unevenness, for example, lateral and longitudinal inclinations in the road profile, meaningful and can be detected accurately.
  • adjustment of sub-operating parameters, such as the leveling signal may 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. 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 is intended to control the leveling cylinders of the road paver, as a result of which 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, in this case the tractor and the 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, can be represented a meaningful result, 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.
  • at least one pair of points of the point cloud 12 is aligned in any first direction, preferably in the direction of travel F and aligned at least one other pair of points of the point cloud 12 at an angle to the first direction, preferably 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.

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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 (13)

  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,
    caractérisé
    en ce que le signal de nivellement est utilisé pour assurer la commande de vérins ou cylindres de nivellement du finisseur de route (1), pour que soit effectué, en conséquence, un mouvement de la table de finisseur (5) .
  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 que le dispositif de mesure (8) comprend un scanner 3D (14) pour le relevé du nuage de points (12).
  5. Finisseur de route selon la revendication 4, caractérisé en ce que le scanner 3D (14) comprend au moins un détecteur optique (15).
  6. Finisseur de route selon la revendication 4 ou la revendication 5, caractérisé en ce que le scanner 3D (14) est un scanner laser avec au moins un détecteur laser.
  7. Finisseur de route selon l'une des revendications 4 à 6, caractérisé en ce que le scanner 3D (14) comprend au moins un miroir mobile.
  8. Finisseur de route selon l'une des revendications 1 à 3, caractérisé en ce que le dispositif de mesure (8) comprend plusieurs détecteurs laser agencés dans une matrice.
  9. Finisseur de route selon la revendication 8, caractérisé en ce que le dispositif de mesure (8) est fixé de manière mobile sur le finisseur de route.
  10. 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).
  11. 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.
  12. 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.
  13. 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 de la surface 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.
EP13188708.5A 2011-08-22 2011-08-22 Finisseuse de route dotée d'un dispositif de mesure Active EP2687631B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PL13188708T PL2687631T3 (pl) 2011-08-22 2011-08-22 Wykańczarka z urządzeniem pomiarowym
EP13188708.5A EP2687631B1 (fr) 2011-08-22 2011-08-22 Finisseuse de route dotée d'un dispositif de mesure

Applications Claiming Priority (2)

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
EP13188708.5A EP2687631B1 (fr) 2011-08-22 2011-08-22 Finisseuse de route dotée d'un dispositif de mesure

Related Parent Applications (2)

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

Publications (2)

Publication Number Publication Date
EP2687631A1 EP2687631A1 (fr) 2014-01-22
EP2687631B1 true EP2687631B1 (fr) 2015-08-19

Family

ID=44650837

Family Applications (2)

Application Number Title Priority Date Filing Date
EP11006864.0A Active EP2562309B1 (fr) 2011-08-22 2011-08-22 Finisseuse de route dotée d'un dispositif de mesure
EP13188708.5A Active EP2687631B1 (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
EP11006864.0A Active EP2562309B1 (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) EP2562309B1 (fr)
JP (1) JP6124240B2 (fr)
CN (2) CN109537412A (fr)
PL (2) PL2687631T3 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4183922A1 (fr) 2021-11-18 2023-05-24 Joseph Vögele AG Adaptation de régulateur de nivellement par analyse du profil de plancher

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EP2687631A1 (fr) 2014-01-22
EP2562309B1 (fr) 2014-04-02
PL2562309T3 (pl) 2014-09-30
CN102953312A (zh) 2013-03-06
US9290894B2 (en) 2016-03-22
JP2013047454A (ja) 2013-03-07
CN109537412A (zh) 2019-03-29
PL2687631T3 (pl) 2016-01-29
JP6124240B2 (ja) 2017-05-10
US20130051913A1 (en) 2013-02-28

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