EP3406799B1 - Train de machines composé d'une fraiseuse routière et d'une finisseuse de route et procédé de fonctionnement d'une fraiseuse routière et d'une finisseuse de route - Google Patents

Train de machines composé d'une fraiseuse routière et d'une finisseuse de route et procédé de fonctionnement d'une fraiseuse routière et d'une finisseuse de route Download PDF

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Publication number
EP3406799B1
EP3406799B1 EP18173127.4A EP18173127A EP3406799B1 EP 3406799 B1 EP3406799 B1 EP 3406799B1 EP 18173127 A EP18173127 A EP 18173127A EP 3406799 B1 EP3406799 B1 EP 3406799B1
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EP
European Patent Office
Prior art keywords
road
profile data
milling
machine
height profile
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Application number
EP18173127.4A
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German (de)
English (en)
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EP3406799A1 (fr
Inventor
Christoph Menzenbach
René Müller
Cyrus Barimani
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Wirtgen GmbH
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Wirtgen GmbH
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Priority to EP20180921.7A priority Critical patent/EP3741914B1/fr
Publication of EP3406799A1 publication Critical patent/EP3406799A1/fr
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Publication of EP3406799B1 publication Critical patent/EP3406799B1/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
    • E01C23/08—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 for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
    • E01C23/085—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 for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
    • E01C23/088—Rotary tools, e.g. milling drums
    • 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
    • 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
    • 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
    • E01C19/4866—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 with solely non-vibratory or non-percussive pressing or smoothing means for consolidating or finishing
    • 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
    • E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs

Definitions

  • the invention relates to a machine train comprising a road milling machine in front which has a machine frame carried by chain drives or wheels and a milling drum arranged on the machine frame for milling off material, and a subsequent road paver which has a machine frame carried by chain drives or wheels, on which a storage container is arranged for material to be installed and a screed for the installation of material.
  • the invention relates to a method for operating a road milling machine and a road paver.
  • the known road milling machines include the well-known road milling machines with which existing road layers of the road surface can be removed.
  • the known road milling machines have a rotating milling drum that is equipped with suitable milling or cutting tools for working the soil.
  • the milling drum is arranged on the machine frame, the height of which is adjustable relative to the soil to be worked.
  • the height of the machine frame is adjusted by means of a lifting device which has lifting columns assigned to the individual crawler tracks or wheels.
  • the road milling machine has a conveyor with a conveyor belt.
  • the known road milling machines have a control and computing unit with which the lifting device is controlled.
  • the machine frame is lowered to mill off a defective road surface so that the milling drum penetrates the road surface.
  • the lifting columns allow both the height adjustment of the machine frame or the milling drum as well as the setting of a predetermined inclination of the milling drum transversely to the feed direction of the road milling machine.
  • the known road milling machines have milling depth regulating devices or leveling systems which have one or more measuring devices for measuring the distance between a reference point on the milling machine and the road surface to be machined.
  • the known measuring devices have tactile sensors or non-contact sensors, for example ultrasonic sensors, for distance measurement.
  • measuring systems called multiplex leveling systems are used, which have several distance sensors arranged at a distance from one another in the longitudinal direction of the substrate to be processed, in order to be able to calculate an average value from the measured values of the individual sensors.
  • the lifting columns are then controlled as a function of the mean value, so that minor unevenness can be largely compensated for.
  • the distance sensors are attached to an elongated arm which is attached to one side of the machine frame.
  • Asphalt pavers are used to install the road material, which have a storage container to hold the mix and a screed.
  • the mix is conveyed from the storage container to the screed with a conveyor, the mix being piled up in front of the screed in the production direction.
  • Screeds are known to float on the material to be installed. This can largely compensate for minor unevenness in the surface.
  • the screeds generally have a device for heating and compacting the material to be installed.
  • the road pavers can have a leveling device which can have one or more distance sensors.
  • the material milled off by the road milling machine is taken from the construction site by truck to be processed in a processing plant to be able to. Prepared mix is then driven to the construction site by truck in order to be reinstalled with the paver.
  • a road milling machine can also be operated together with a road paver as a machine train. The road milling machine in front is used as a recycler, which mills off the damaged road surface and processes the milled surface, for example, with additives such as bitumen emulsion, while the subsequent road paver re-installs the prepared surface.
  • the conveyor device of the road milling machine conveys the milled material into the pavement container of the road paver.
  • a paver is operated together with a road milling machine as a machine train, only a certain amount of material is available. During the advance of the two road construction machines, the paver can only install as much material as the road milling machine has previously milled. It should be taken into account that the volume of the material milled with the road milling machine per unit of time or route section can change continuously depending on the nature of the road surface. The volume of the material to be installed with the paver per unit of time or section is also not constant. For example, the compensation of a depression requires a larger volume of material for the corresponding route section. As a result, the position of the screed must be changed in order to achieve a uniform road surface. The proper operation of the paver also requires a sufficient amount of material in the reservoir.
  • a leveling device for a road milling machine which provides a sensor on the left and right side of the road milling machine for detecting the actual value of the milling depth and a sensor for detecting the current inclination of the milling drum with respect to a reference surface.
  • the milling depth can be specified on the left and right side of the machine.
  • the milling depth can only be on one of the two sides be specified.
  • a certain cross slope can be specified on only one side.
  • the EP 0 542 378 B1 describes a control device for a road milling machine, which has three ultrasonic sensors, which are arranged one behind the other in the feed direction of the milling machine. A side strip of the street is to be scanned with the ultrasonic sensors as a reference surface. Two distance sensors are located on the machine frame at the height of the drives and a sensor is arranged between the drives. The distance values are evaluated statistically, for example an average is formed in order to generate a control signal for the lifting device for height adjustment of the drives.
  • the EP 0 542 297 B1 proposes an ultrasound control device for a road paver, which has three ultrasound sensors arranged one behind the other in the feed direction of the paver, which are attached to a holder.
  • the measured distance values are evaluated in order to generate a control signal for a leveling device for changing the position of the screed.
  • Distance values outside the specified limits should be discarded.
  • Unevenness in the scanned reference plane should be largely compensated for by averaging. It is disadvantageous that the detection of the distance values can only take place over a range that is determined by the sensors attached to the holder. Therefore, elongated bumps that are longer than the machine frame cannot be detected.
  • the US 2009/0317186 A1 describes a train from a preceding road milling machine, a road paver and a compressor, the road milling machine and the road paver have a device for generating height profile data.
  • the document deals primarily with the problem of controlling the compressor depending on the local conditions. Therefore, the height profile data from the road milling machine and the paver are transmitted to the compressor for further processing.
  • the US 2009/0317186 A1 suggests using the height profile data of the road milling machine for other aspects as well.
  • the invention has for its object to achieve an improved detection of the substrate in order to be able to detect elongated bumps. It is also an object of the invention to scan a reference surface or line for the operation of the road paver with a relatively small additional technical outlay.
  • the invention makes use of the fact that the road paver, which has a machine frame carried by chain drives or wheels, on which a receiving container for material to be installed and a screed for the installation of material is arranged, is preferably operated in combination with a road milling machine which is one of chain drives or wheels supported machine frame and a milling drum arranged on the machine frame for milling material.
  • a road milling machine which is one of chain drives or wheels supported machine frame and a milling drum arranged on the machine frame for milling material.
  • the machine train from the preceding road milling machine and the subsequent road paver is characterized in that the road milling machine has a profile data determination device for the leveling device of the road paver, the profile data determination device being designed such that during the advance of the road milling machine a consequence of the height of the Road surface length profile data describing in the longitudinal direction can be determined.
  • the reference line or reference surface for example a strip of the road surface to be processed, is therefore not scanned with distance sensors which can be located on the road paver only within an area delimited by the geometric dimensions of the machine frame, but rather by means of the road milling machine in front. As a result, the road milling machine serves as a "scanner".
  • height profile data is understood to mean all data with which the profile of any strip or line extending in the longitudinal direction of the road surface to be processed can be described, for example the distance values between an assumed reference point or a reference line, for example the average profile in the center of the road, and another reference point or line on the road surface.
  • the elevation profile data can include absolute or relative distance values.
  • a data transmission device is provided on the road milling machine for transmitting the height profile data.
  • a data transmission device is understood to mean all means with which data or signals can be transmitted.
  • the data can be transmitted, for example, with electromagnetic or optical signals.
  • the data transmission device can be a display unit on which the height profile data or data derived therefrom are displayed, so that the machine operator of the road paver or another person can recognize the height profile data.
  • data derived from the height profile data can be visualized, for example, as symbols or the like, which can serve as work instructions for controlling the paver.
  • the road paver preferably has a data receiving device so that the height profile data can be received by the road paver.
  • the data transmission device and data receiving device can be a transmitting and receiving device, which can comprise a radio transmitter and receiver, and can be part of a WLAN (Wireless Local Area Network), for example.
  • the data transmission device can also include a device for reading data from a data carrier, for example a drive or a USB stick, and the data receiving device can include a device for reading data from a data carrier.
  • Intermediate storage of the data on a data carrier is required if the road milling machine and the road paver are not operated as a machine train, but rather there is a certain period of time between the work step of recording and reading in the data.
  • the paver has a leveling device that has at least one actuator and a control unit, which is designed such that the control unit is dependent on a height profile data set, which is obtained from the height profile data determined by the road milling machine, generates a control signal for actuating the at least one actuator.
  • the height profile data can be recorded in advance over a wide area of the road surface with the road milling machine before the material is installed in this area with the road paver.
  • the height profile data can be temporarily stored in a memory for the period of time that the paver requires to cover the corresponding section of the route. This memory can be provided on the road milling machine or the road paver.
  • the height profile data set from the height profile data requires an evaluation of the data or signals. Since the invention lies primarily in the provision of the data, it is not critical for the invention how the data is processed or evaluated and how the position of the screed is controlled with this data. For example, the recorded height profile data or data derived therefrom can only be shown on a display, on the basis of which the machine operator of the paver finishes manually controlling the position of the screed.
  • the height profile data record can be obtained from the height profile data using an evaluation device which can be provided in the road milling machine or the road paver.
  • the evaluation device is preferably part of a control and computing unit of the road milling machine.
  • the evaluation device is designed in such a way that the height profile data are statistically evaluated in order to obtain the height profile data set.
  • the evaluation device is preferably designed in such a way that the statistical evaluation of the height profile data comprises averaging and / or the rejection of height profile data lying outside of predetermined limit ranges.
  • the road milling machine has a device for determining spatial data, wherein profile data determining device is designed such that spatial profile data is obtained from the altitude profile data.
  • the device for determining spatial data can be, for example, an odometer.
  • the position in space can also be determined with a global positioning system (Global Navigation Satellite System (GNSS), e.g. GPS).
  • GNSS Global Navigation Satellite System
  • the height profile can be described for any point in the room.
  • the drives or wheels of the road milling machine are attached to the machine frame via lifting columns in such a way that the height of the machine frame relative to the surface of the ground can be changed in order to adjust the milling depth of the milling drum.
  • the acquisition of height profile data suitable for controlling the screed is particularly easy and reliable with the road milling machine in front if it can be assumed that changes in the height profile are only seen on one side, i.e. on the left or right side of the machine in the direction of travel are expected.
  • this situation often arises from the fact that the road surface of a road in need of renovation has no or only slight bumps in the middle of the road, while the road surface in the edge area of the road often has strong bumps, for example due to settling in the banquet area.
  • one track is then removed per work step, with one machine side moving on the hardly worn center of the road and the other machine side moving over the edge of the road with relatively large unevenness .
  • height profile data suitable for controlling the screed can be recorded particularly easily and reliably with the road milling machine in front, since the road milling machine according to the invention has a cross-slope sensor which, depending on the cross-slope of the machine frame and / or the milling drum, produces a sequence of cross-slope Data generated, the profile data determining device is designed in such a way that the height profile data are obtained from the bank data determined with the bank sensor. It is assumed that the cross slope of the road milling machine describes the height profile of the road surface on one side of the road in the longitudinal direction.
  • the road milling machine has a milling depth control device for controlling the lifting columns, which has a first measuring device for measuring the distance from a reference point on the road milling machine to the surface of the unworked soil on the left side of the milling drum in the working direction and a second measuring device for measuring the distance a reference point on the road milling machine to the surface of the unworked soil on the right side of the milling drum in the working direction, the milling depth control device being designed in such a way that the lifting columns are controlled in such a way that when the road milling machine is advanced, the milling depth on the left in the working direction and right side of the milling drum is kept substantially constant regardless of the nature of the soil surface.
  • This milling depth control means that, regardless of the nature of the substrate, a predetermined layer thickness is removed across the entire width of the milling drum or roadway.
  • the cross slope of the machine frame and the milling drum on the machine frame can change when the road milling machine is advanced in accordance with the profile of the road surface.
  • the inclination of the road milling machine provides information about the nature of the height profile in the longitudinal direction of the carriageway on the other side, on which the height profile changes, for example due to settling in the banquet area changes.
  • a large depression in the road surface can, for example, lead to a greater inclination of the machine frame than a smaller depression.
  • the road milling machine has the cross slope sensor for this purpose, which generates a sequence of cross slope data as a function of the cross slope of the machine frame with such a milling depth control, so that the profile data determination device can obtain the height profile data from the cross slope data, since the cross slope data at describe the height profile of such a milling depth control.
  • Tactile sensors for example cable pull sensors or contactless sensors, for example ultrasonic sensors, can be used to record the milling depth.
  • a cable pull sensor can detect the position of the left and / or right edge protector, which is floating on the floor surface, relative to the machine frame. If the milling depth is increased, the edge protector moves up relative to the machine frame by an amount corresponding to the change in the milling depth. If, on the other hand, the milling depth is reduced, the edge protector moves down relative to the machine frame by an amount that corresponds to the change in the milling depth.
  • a milling depth control is preferably designed such that a certain milling depth is specified. If the milling depth sensors detect a deviation of the sensor (ACTUAL) values from the specified (TARGET) values, the milling depth is corrected. Since milling depth sensors can be provided on both sides of the milling drum, a (possibly also the same) milling depth can be specified for each side of the milling drum.
  • the height of the machine frame is adjusted only on the left side, for example by or only extend the lifting columns on the left side of the machine frame. If there is a depression in the road surface on the left side of the machine, this is recognized by the left milling depth sensor as a reduction in the milling depth. In response to this, the lifting columns on the left side of the machine frame are retracted to increase the milling depth again.
  • An alternative embodiment which is not the subject of the invention, provides that the road milling machine has a milling depth control device for controlling the lifting columns, which has a measuring device for
  • the milling depth control device being designed in such a way that the lifting columns are controlled in such a way that when the road milling machine is advanced, the milling depth on the one the two sides of the milling drum is kept essentially constant regardless of the nature of the soil surface.
  • a cross slope control device is provided, which is designed such that the lifting columns are controlled in such a way that the cross slope of the machine frame when the road milling machine is advanced is kept essentially constant regardless of the nature of the ground surface, so that a specific profile for the road surface is included a certain bank slope can be specified.
  • the height profile data can be obtained from the sequence of the measured distance values.
  • the profile data determination device is designed such that the height profile data are obtained from the distance data.
  • milling depth controls described above which is a prerequisite for determining the height profile data from the bank data or distance data, are known from the prior art. These milling depth regulations are, for example, in the DE 10 2006 020 293 A described in detail.
  • Fig. 1 shows a side view of a self-propelled road milling machine for milling road surfaces in a simplified representation.
  • the road milling machine 1 has a machine frame 3 carried by a chassis 2.
  • the chassis 2 of the milling machine comprises front and rear chain drives 4 and 5, which are arranged on the right and left side of the machine frame 3 in the working direction A. Instead of chain drives, wheels can also be provided.
  • the road milling machine has a lifting device 7 which comprises lifting columns 8 and 9 assigned to the individual crawler tracks 4, 5 and by which the machine frame 3 is carried.
  • the road milling machine 1 also has a milling drum 10 equipped with milling tools, which is arranged on the machine frame 3 between the front and rear chain drives 4, 5 in a milling drum housing 11 which is closed on the longitudinal sides by a left and right edge protector 12.
  • a conveyor device 13 with a conveyor belt 14 is provided for removing the milled off road surface.
  • the conveyor device 13 is arranged at the rear end of the road milling machine, as seen in working direction A, so that the milled material can be loaded from the road milling machine driving ahead onto a subsequent road paver.
  • Above the milling drum housing 11, the operator's platform 15 is located on the machine frame 3.
  • the height and inclination of the machine frame 3 and the milling drum 10 arranged on the machine frame with respect to the floor surface 6 can be adjusted. In principle, however, it is also possible to change the height and inclination of the milling drum compared to the fixed machine frame.
  • Fig. 2 shows a simplified perspective view of a self-propelled paver 16.
  • the paver has a machine frame 18 carried by crawler tracks 17 (crawler paver). Instead of chain drives, wheels can also be provided (wheel pavers).
  • crawler tracks 17 crawler paver
  • wheels can also be provided (wheel pavers).
  • a storage container 19 is arranged for receiving the material to be installed.
  • a screed 20 for paving the material.
  • the operator station 21 is arranged between the storage container 19 and the screed 20.
  • the screed 20 is designed as a screed floating on the material to be installed.
  • the screed 20 is movably connected to the machine frame 18 via bars 22 which are provided on both sides of the machine frame 18.
  • the paver 16 has a leveling device 23 ( Fig. 3 ) to compensate for short and elongated bumps in the subsoil, so that a roadway can be produced in the desired flatness and paving thickness.
  • the leveling device 23 has actuators 24 for changing the position of the screed 20 and a control unit 23A ( Fig. 3 ), which generates control signals for actuating the actuators 24.
  • the desired paving thickness is achieved in particular by adjusting the angle of attack of the screed 20, which is determined by the height of a screed pull point.
  • the actuators 24 of the leveling device 23 can comprise leveling cylinders 26 provided on the sides of the machine frame 18. With the leveling cylinders 26, not only the angle of attack of the screed 20, but also the inclination of the screed can be adjusted transversely to the production direction A.
  • the control unit 23A of the leveling device 23 is configured such that the position of the screed 20 is set on the basis of a height profile data record which comprises a sequence of height profile data describing the height of the road surface 6 in the longitudinal direction.
  • the road milling machine 1 from Fig. 1 and the paver 16 from Fig. 2 are operated according to the invention as a machine train, with the road milling machine 1 driving ahead providing the height profile data from which the height profile data record for the leveling device 23 of the subsequent road finisher 16 is obtained.
  • Fig. 3 shows the machine train from road milling machine 1 and road paver 16 with the essential components for the acquisition and transmission of the height profile data in a highly simplified schematic representation.
  • the height profile data are transmitted from the road milling machine 1 to the road paver 16.
  • the road milling machine 1 has a data transmission device 27 for transmitting the height profile data and the road paver 16 has a data reception device 28 for receiving the height profile data.
  • the data transmission device and the data reception device can be a transmitting and receiving device 27, 28.
  • the transmitting device 27 is a radio transmitter and the receiving device 28 is a radio receiver, so that the signals can be transmitted wirelessly. Radio transmitters and radio receivers can be part of a WLAN.
  • the road surface of a damaged roadway is milled off with the road milling machine 1 and the milled and reprocessed material is reinstalled as a new surface using the road paver 16.
  • the road milling machine 1 moves at a predetermined feed speed, for example on the right half of the road, the milling drum 10 extending transversely to the working direction A over the width of the right half of the road.
  • Fig. 3 the original profile is shown in the middle of the street (middle gradient) and in the area of the right side of the street (outer gradient).
  • the center gradient 29 essentially shows no depressions or elevations. However, 30 depressions 31 or elevations can be clearly recognized on the external gradient.
  • ⁇ z n denotes the vertical distance between the center gradient 29 and the outer gradient 30 at a point a n on the route, for example
  • ⁇ z 1 denotes the vertical distance between the center gradient 29 and the outer gradient 30 at the waypoint a 1 .
  • the road is inclined to the edge by the angle ⁇ .
  • the angle ⁇ is dependent on the horizontal distance and the vertical distance ⁇ z n between the center gradient 29 and the outside gradient 30. Since the horizontal distance between the center gradient 29 and the outside gradient 30 is known and remains constant in the course of tillage, the angle ⁇ is at the waypoint a n suitable to determine the vertical distance ⁇ z n .
  • the milling machine has a milling depth control device 33 for controlling the lifting columns 8, 9, which has a first measuring device 33A for measuring the distance from a reference point on the road milling machine 1 to the surface of the unprocessed soil on the left side of the milling drum 10 and in the working direction A. / or a second measuring device 33B for measuring the distance of a reference point on the road milling machine to the surface of the unworked soil on the right side of the milling drum 10 in the working direction A.
  • the road milling machine 1 is preferably operated with the milling depth control device 33 in such a way that the road surface machined with the milling drum 10 represents a copy of the unworked surface, ie the same layer thickness is always largely removed in the longitudinal direction over the entire width of the milling drum .
  • the current measuring depth is detected by the two measuring devices 33A, 33B on the right or left side of the milling drum 10. If one of the milling depth measuring devices 33A, 33B detects a different milling depth, a corresponding correction is made.
  • the cross slope of the machine frame 3 changes when the milling machine is advanced.
  • the changing cross slope can thus be understood as a measure of the depth of the depression in relation to an average height of the road surface, in particular the central gradient.
  • H. the cross slope of the machine frame describes the height profile of the road surface at the edge of the road.
  • the first or second measuring device 33A, 33B can have a distance sensor, which can be a tactile or non-contact distance sensor.
  • the distance sensor can be an ultrasonic sensor.
  • the distance sensor can also be a sensor that detects the position of the left or right edge protector 12 of the milling machine, for example a cable pull sensor.
  • the two measuring devices 33A, 33B generate a measuring signal which correlates with the distance and which the milling depth control device 33 of the road milling machine 1 receives.
  • the milling depth control device 33 is configured such that the lifting columns 8, 9 are retracted or extended in dependence on the measurement signals in such a way that when the road milling machine is advanced, the milling depth on the left and right sides of the milling drum 10 in the working direction is independent of the Condition of the soil surface is kept essentially constant.
  • Such a milling depth control device is from the DE 10 2006 020 293 A1 known.
  • the road milling machine 1 also has a profile data determination device 36, which has a bank sensor 37.
  • the cross slope ⁇ of the machine frame 3 or the milling drum 10 which changes as a result of bumps is detected by the cross slope sensor 37 during the advancement of the road milling machine.
  • the cross slope can be measured continuously during the feed or at predetermined time intervals in order to generate the height profile data.
  • the height profile data can be, for example, the data of the bank sensor 37 read out at certain time intervals by the profile data determining device. From the data of the Queme Trentssensors 37, the profile data determining means 36 determines during the feed of the milling machine, a sequence of the height of the profile at the coordinate points a 1, a 2, a 3 ... a n descriptive height profile data (Az 1, Az 2 , ⁇ z 3 , ..., ⁇ z n ), If a road milling machine already has this milling depth control device, additional components for determining the height profile data are not required.
  • the profile data determination device 36 can have a global position determination system (GPS) 38, which at the times at which the data of the bank sensor 37 are read out, ie at the waypoints a 1 , a 2 , a 3 ..., a n positions -Data (x 1 , y 1 ), (x 2 , y 2 ), (x 3 , y 3 ) ... (x n , y n ) are available to extract from the height profile data ( ⁇ z 1 , ⁇ z 2 , ⁇ z 3 , ..., ⁇ z n ) to determine spatial height profile data.
  • GPS global position determination system
  • the profile data determining device 36 which, during the advancement of the milling machine, a sequence of height profile data ( ⁇ z 1 , ⁇ z 2 , ⁇ z 3 ,...) Describing the height of the profile at the waypoints a 1 , a 2 , a 3 ... a n . .., ⁇ z n ) determines the height profile data at the individual waypoints, the data determined with the GPS system (x 1 , y 1 ), (x 2 , y 2 ), (x 3 , y 3 ) .. . (x n , y n ) to.
  • a distance counter can also be provided.
  • the position data can also be calculated from the feed rate and the time required by the road milling machine 1 to reach a specific waypoint a 1 , a 2 , a 3 ... a n .
  • a spatial altitude profile data set [file: ( ⁇ z 1 (x 1 , y 1 ), ⁇ z 2 (x 2 , y 2 ), ⁇ z 3 (x 3 , y 3 ) ... ⁇ z n (x n , y n )], which describes the relative height profile in the longitudinal direction of a certain section of road, in particular along the external gradient.
  • the absolute height of the center gradient 29 is determined. If the absolute height of the center gradient 29 is known, absolute height profile data (z 1 , z 2 , z 3 , ..) can be obtained from the relative height profile data ( ⁇ z 1 , ⁇ z 2 , ⁇ z 3 , ..., ⁇ z n ). ., z n ) and a space-related absolute elevation profile data record are calculated, which describes the absolute elevation profile in the longitudinal direction of a certain road section, in particular along the external gradient.
  • an evaluation device 39 is provided, which can be provided in the road milling machine 1 or the road paver 16. If the evaluation device 39 is provided in the road milling machine 1, the entire data set or a part of the data set is transmitted to the data receiving device 28 with the data transmission device 27.
  • the evaluation device 39 is preferably provided in the road milling machine 1. The evaluation device 39 can then be part of the milling depth control device 33 of the road milling machine 1.
  • the evaluation device 39 can be configured such that the height profile data are evaluated according to known statistical evaluation methods.
  • the mean value can be formed from the measured cross slopes.
  • data lying outside of predetermined limit ranges are discarded before the averaging.
  • the height profile data set can be used to control the actuators 24 of the leveling device 23 of the paver 16.
  • the control unit 23A of the leveling device 23 can be configured, for example, in such a way that the leveling cylinders 26 are retracted or extended based on the height profile data record.
  • the angle of attack and / or the transverse inclination of the screed 20 can be set depending on the height profile data.
  • the transverse slope of the screed 20 is changed as a function of the height profile in such a way that depressions on the right-hand side of the carriageway are compensated for.
  • the incline of the screed 20 is reduced, so that a larger amount of material is installed on the right side.
  • unevenness in the subsurface can be compensated.
  • the necessary changes in the angle of attack and / or the transverse inclination of the screed 20 can already be determined by the evaluation device 39 on the basis of the height profile data set. If the evaluation device 39 is provided on the road milling machine 1, it is sufficient in this case if the data transmission device 27 does not transmit the entire height profile data record, but only control instructions for the actuators, in particular to a data reception device 28.
  • the height profile data record determined with the road milling machine 1 driving in front can include data over a larger section of the road without a large number of sensors being required to determine this data.
  • a boom on the paver 16 for fastening a plurality of sensors the spatial dimensions of which would otherwise be essentially limited to the length of the paver. Even the gradients of winding roads can be easily recorded and made available to the paver.
  • the milling depth control device 33 of the road milling machine 1 and the leveling device 23 of the road paver 16 can, for example, be a general one Processor, a digital signal processor (DSP) for the continuous processing of digital signals, a microprocessor, an application-specific integrated circuit (ASIC), an integrated circuit consisting of logic elements (FPGA) or other integrated circuits (IC) or hardware components to control of the actuators.
  • DSP digital signal processor
  • ASIC application-specific integrated circuit
  • FPGA logic elements
  • IC integrated circuits
  • a data processing program software can run on the hardware components.
  • a combination of the different components is also possible.
  • An alternative embodiment which is not the subject of the invention, requires a milling depth control device, which is known in the prior art, for controlling the lifting columns 8, 9 and which is a measuring device for measuring the distance of a reference point on the road milling machine from the surface of the unprocessed soil on only one of the two sides of the milling drum 10.
  • a measuring device 33A is provided only on the left side of the machine frame 3.
  • the milling depth control device 33 is designed such that the lifting columns 8, 9 are retracted or extended in such a way that when the road milling machine is advanced, the milling depth on one of the two sides of the milling drum is kept essentially constant regardless of the nature of the ground surface . In the present embodiment, the milling depth on the left side is kept constant.
  • a cross slope control device 40 is provided, which is designed in such a way that the lifting columns 8, 9 are controlled in such a way that the cross slope of the machine frame 3 is kept essentially constant when the road milling machine is advanced, regardless of the nature of the ground surface, so that results in a predetermined cross slope for the milled surface.
  • the same layer thickness is not always removed on the right-hand side in the longitudinal direction, for example only a smaller layer thickness in the region of a depression and a greater layer thickness than the average layer thickness in the region of an increase.
  • the bank control device can be part of the milling depth control device, which in turn can be part of a central control and computing unit.
  • a sequence of distance data is generated.
  • the profile data determination device 36 is designed such that the height profile data are obtained from the distance data of the second measuring device 33B.
  • Such a milling depth control device which has two measuring devices on the left and right side and a bank inclination control for setting a specific bank inclination, is from the DE 10 2006 020 293 A1 known.

Claims (13)

  1. Train de machine composé d'une fraiseuse routière (1) qui précède comprenant un bâti de machine (3) supporté par des trains de roulement à chenilles (3, 4) ou des roues et un cylindre de fraisage (10) disposé au niveau du bâti de machine, pour enlever du matériau par fraisage, et d'un finisseur de route (16) qui suit, qui présente un bâti de machine (18) supporté par des trains de roulement à chenilles (17) ou des roues, au niveau duquel sont disposés un réservoir (19) pour du matériau à intégrer et une poutre lisseuse (20) pour l'intégration de matériau, dans lequel le finisseur de route (16) présente un dispositif de nivellement (23) pour régler la position de la poutre lisseuse (20) et le dispositif de nivellement (23) est réalisé de telle manière que la position de la poutre lisseuse (20) peut être modifiée par rapport à une ligne de référence ou une face de référence, dans lequel
    la fraiseuse routière (1) présente un dispositif de détermination de données de profil (36) pour le dispositif de nivellement (23) du finisseur de route (16), le dispositif de détermination de données de profil (36) étant configuré de telle manière que pendant l'avancement de la fraiseuse routière, une séquence de données de profil de hauteur décrivant la hauteur de la surface de chaussée (6) dans le sens longitudinal sont déterminées, et présente un dispositif de transmission de données (27) pour transmettre des données de profil de hauteur au finisseur de route,
    les trains de roulement (4, 5) ou les roues de la fraiseuse routière (1) sont fixés de telle manière au niveau du bâti de machine (3) par l'intermédiaire de colonnes de levage (8, 9) que pour régler la profondeur de fraisage du cylindre de fraisage (10), la hauteur du bâti de machine (3) peut être modifiée par rapport à la surface du sol, caractérisé en ce que
    la fraiseuse routière (1) présente un dispositif de régulation de profondeurs de fraisage (33) pour piloter les colonnes de levage (8, 9), qui présente un premier dispositif de mesure (33A) pour mesurer l'espacement d'un point de référence sur la fraiseuse routière (1) par rapport à la surface du sol non usiné sur le côté gauche dans le sens de travail (A) du cylindre de fraisage (10) et un deuxième dispositif de mesure pour mesurer l'espacement d'un point de référence sur la fraiseuse routière par rapport à la surface du sol non usiné sur le côté droit dans le sens de travail (A) du cylindre de fraisage (10), dans lequel le dispositif de régulation de profondeurs de fraisage (33) est réalisé de telle manière que les colonnes de levage (8, 9) sont pilotées de telle manière que lors de l'avancement de la fraiseuse routière, la profondeur de fraisage est maintenue sensiblement constante au niveau du côté gauche et droit dans le sens de travail du cylindre de fraisage indépendamment de la nature de la surface de sol,
    et dans lequel la fraiseuse routière (1) présente un capteur d'inclinaison transversale (37), qui génère en fonction de l'inclinaison transversale du bâti de machine (3) une séquence de données d'inclinaison transversale, dans lequel le dispositif de détermination de données de profil (36) est réalisé de telle manière que les données de profil de hauteur sont obtenues à partir des données d'inclinaison transversale.
  2. Train de machine selon la revendication 1, caractérisé en ce que le finisseur de route présente un dispositif de réception de données (28) pour recevoir les données de profil de hauteur.
  3. Train de machine selon la revendication 1 ou 2, caractérisé en ce que le dispositif de nivellement (23) du finisseur de route (16) présente au moins un actionneur (24) pour modifier la position de la poutre lisseuse (20) et une unité de commande (23A), qui est configurée de telle manière que l'unité de commande (23A) génère en fonction d'un jeu de données de profil de hauteur obtenu à partir des données de profil de hauteur, un signal de commande pour piloter l'au moins un actionneur (24).
  4. Train de machine selon la revendication 3, caractérisé en ce que la fraiseuse routière (1) ou le finisseur de route (16) présente un dispositif d'évaluation (39), qui est réalisé de telle manière que pour obtenir le jeu de données de profil de hauteur, les données de profil de hauteur sont évaluées de manière statistique.
  5. Train de machine selon la revendication 4, caractérisé en ce que le dispositif d'évaluation (39) est configuré de telle manière que l'évaluation statistique des données de profil de hauteur comprend une formation de moyenne et/ou le rejet de données de profil de hauteur situées en dehors de plages limites prédéfinies.
  6. Train de machine selon la revendication 4 ou 5, caractérisé en ce que le dispositif d'évaluation (39) est prévu au niveau de la fraiseuse routière (1).
  7. Train de machine selon l'une quelconque des revendications 1 à 6, caractérisé en ce que la fraiseuse routière (1) présente un dispositif (38) pour déterminer des données spatiales, dans lequel le dispositif de détermination de données de profil (36) est configuré de telle manière que des données de profil de hauteur spatiales sont obtenues à partir des données de profil de hauteur.
  8. Procédé pour faire fonctionner une fraiseuse routière (1), présentant un bâti de machine (3) supporté par des trains de roulement à chenilles (4, 5) ou des roues et un cylindre de fraisage (10) disposé au niveau du bâti de machine pour enlever du matériau par fraisage, et un finisseur de route (16), présentant un bâti de machine (18) supporté par des trains de roulement à chenilles (17) ou des roues, au niveau duquel un réservoir (19) pour du matériau à intégrer, et une poutre lisseuse (20) pour intégrer du matériau sont disposés, dans lequel la position de la poutre lisseuse peut être modifiée par rapport à une ligne de référence ou une face de référence, dans lequel pour régler la position de la poutre lisseuse (20) du finisseur de route (16), une séquence de données de profil de hauteur décrivant la hauteur de la surface de chaussée dans le sens longitudinal sont déterminées pendant l'avancement de la fraiseuse routière, et les données de profil de hauteur sont transmises au finisseur de route avec un dispositif de transmission de données (27),
    caractérisé en ce que
    l'espacement d'un point de référence sur la fraiseuse routière (1) par rapport à la surface du sol non usiné est mesuré sur le côté gauche dans le sens de travail (A) du cylindre de fraisage (10) et l'espacement d'un point de référence sur la fraiseuse routière par rapport à la surface du sol non usiné est mesuré sur le côté droit dans le sens de travail (A) du cylindre de fraisage (10), la profondeur de fraisage du cylindre de fraisage (10) étant régulée de telle manière que lors de l'avancement de la fraiseuse routière, la profondeur de fraisage au niveau du côté gauche et droit dans le sens de travail est maintenue sensiblement constante indépendamment de la nature de la surface de sol, et dans lequel l'inclinaison transversale du bâti de machine (3) de la fraiseuse routière (1) est mesurée et une séquence de données d'inclinaison transversale sont générées en fonction de l'inclinaison transversale et les données de profil de hauteur sont obtenues à partir des données d'inclinaison transversale.
  9. Procédé selon la revendication 8, caractérisé en ce que les données de profil de hauteur sont reçues par un dispositif de réception de données (28) du finisseur de route (16).
  10. Procédé selon la revendication 8 ou 9, caractérisé en ce qu'en fonction d'un jeu de données de profil de hauteur obtenu à partir des données de profil de hauteur, au moins un actionneur (24) est piloté pour modifier la position de la poutre lisseuse (20).
  11. Procédé selon la revendication 10, caractérisé en ce que pour obtenir le jeu de données de profil de hauteur, les données de profil de hauteur sont évaluées de manière statistique.
  12. Procédé selon la revendication 11, caractérisé en ce que l'évaluation statistique des données de profil de hauteur comprend une formation de moyenne et/ou le rejet de données de profil de hauteur situées en dehors de plages limites prédéfinies.
  13. Procédé selon l'une quelconque des revendications 8 à 12, caractérisé en ce que des données de profil de hauteur spatiales sont obtenues à partir des données de profil de hauteur.
EP18173127.4A 2017-05-26 2018-05-18 Train de machines composé d'une fraiseuse routière et d'une finisseuse de route et procédé de fonctionnement d'une fraiseuse routière et d'une finisseuse de route Active EP3406799B1 (fr)

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US20220145552A1 (en) 2022-05-12
US11193245B2 (en) 2021-12-07
EP3741914B1 (fr) 2022-04-27
CN108930218A (zh) 2018-12-04
US11629463B2 (en) 2023-04-18
CN108930218B (zh) 2021-04-02
CN208701480U (zh) 2019-04-05
EP3406799A1 (fr) 2018-11-28
DE102017005015A1 (de) 2018-11-29
EP3741914A1 (fr) 2020-11-25
US20180340302A1 (en) 2018-11-29

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