EP3712328A1 - Système de mesure pour une machine de construction et machine de construction - Google Patents

Système de mesure pour une machine de construction et machine de construction Download PDF

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Publication number
EP3712328A1
EP3712328A1 EP19164127.3A EP19164127A EP3712328A1 EP 3712328 A1 EP3712328 A1 EP 3712328A1 EP 19164127 A EP19164127 A EP 19164127A EP 3712328 A1 EP3712328 A1 EP 3712328A1
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EP
European Patent Office
Prior art keywords
distance
sensor
values
evaluation device
measuring system
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Granted
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EP19164127.3A
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German (de)
English (en)
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EP3712328B1 (fr
Inventor
Sven DUBENKOW
Markus NEUHEUSER
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MOBA Mobile Automation AG
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MOBA Mobile Automation AG
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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
    • 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

  • Embodiments of the present invention relate to a measuring system for a construction machine and to a corresponding method. Further exemplary embodiments relate to a construction machine. In general, the invention is in the field of road construction machines. Preferred exemplary embodiments relate to a sensor system for a road finisher for setting the height of a height-adjustable screed. Further special exemplary embodiments deal with a sensor system for controlling a chassis height adjustment of milling machines, in particular ground milling machines, such as a road milling machine, a recycler, a stabilizer or a surface miner.
  • a road paver with a caterpillar or wheeled running gear runs on a prepared subsurface onto which a road surface to be produced or a road surface to be produced is to be applied.
  • a height-adjustable screed is provided, on the front of which a supply of the paving material is accumulated, which is distributed and tracked by a conveyor that ensures that there is always a sufficient, but not too large, amount on the front of the screed of the paving material is kept in stock.
  • the height of the rear edge of the screed determines the thickness of the manufactured road surface before its subsequent further consolidation by rolling.
  • the screed is held on a pulling arm, which is rotatably mounted about a pulling point located in the middle of the road paver, the height of the screed being determined by a hydraulic adjustment device.
  • a rotationally mounted milling drum is fixed with respect to its axis of rotation relative to the chassis of the milling machine.
  • the milling machine has a front undercarriage and a rear undercarriage. Depending on the milling machine or milling machine type, one of the two is The height of the landing gear (front or rear landing gear) can be manually adjusted to a fixed value.
  • the corresponding other chassis has a chassis height adjustment device that is controlled as a function of a milling depth control signal.
  • the milling depth control signal is supplied by a sensor which is attached to the milling machine and detects the height of the sensor in relation to a reference plane, which can be, for example, an edge strip of the road surface to be milled.
  • the EP 0 542 297 A1 describes an ultrasonic sensor control device for a road paver for setting the height of a height-adjustable screed, with at least two ultrasonic sensors and with an evaluation device.
  • the at least two ultrasonic sensors are arranged essentially in the direction of movement of the road paver at a distance from one another on a bracket attached to the screed such that there is a distance between the radiation lobes of the ultrasonic sensors on a reference surface so that the evaluation device determines the distances of each on the basis of the ultrasonic sensor signals Ultrasonic sensor compared to the reference area, and that the evaluation device calculates the height of the rear edge of the screed compared to the reference area based on the distances and the known geometric arrangement of the ultrasonic sensors based on the rear edge of the screed and from this height and a selectable target thickness of the road surface to be produced derives a height control signal for setting the screed.
  • the EP 0 547 378 A1 an ultrasonic control device for a mobile milling device with a milling drum rotatably mounted with respect to the milling device, a front and a rear chassis, one of which has a first chassis height adjustment device which is controlled as a function of a milling depth control signal.
  • the other landing gear has a second landing gear height adjustment device.
  • At least three ultrasonic sensors are arranged one behind the other on the milling device, essentially in the direction of movement of the milling device.
  • An evaluation device uses ultrasonic sensor signals from the ultrasonic sensors to record the distances between the ultrasonic sensors and a reference surface and derives an inclination signal from the measured distances on the one hand, which represents the angle of incidence of the milling device in relation to the reference surface, and on the other hand, an averaged distance signal.
  • the evaluation device also derives control signals for the two chassis height adjustment devices from the averaged distance signal, the angle of inclination and an adjustable target milling depth.
  • the known ultrasonic regulating devices for a road paver and for a mobile milling device have proven themselves in practice, in particular with the use of four ultrasonic sensors.
  • the fact that the subsurface is scanned by the ultrasonic sensors at a number of widely spaced points means that elongated bumps in particular are well balanced.
  • the disadvantage of the known ultrasonic control devices is that minor unevenness such as individual imperfections, for example a bump, milling recess or the like, in the subsurface, ie. H. in the reference area scanned by the ultrasonic sensors, are not completely eliminated by the measuring system, but are included in the control behavior to a not inconsiderable extent due to the calculation method on which the system is based, and are thus virtually on the newly constructed road surface or on the milled road surface find again. This leads to unpleasant vibrations when driving over these areas with a car, motorcycle or truck.
  • the object of the present invention is to create a concept for a height control of a construction machine (e.g. paver finisher or milling machine), which ensures that unevenness in the ground does not have a detrimental effect on the surface quality of the surface to be created.
  • a construction machine e.g. paver finisher or milling machine
  • Embodiments of the present invention create a measuring system for a construction machine (road paver, road milling machine or the like).
  • the measuring system comprises at least one first distance sensor and an evaluation device, the evaluation device comprising at least one interface, ie a preferably bidirectional communication interface such as a CAN bus or the like.
  • the evaluation device can communicate with the at least one first distance sensor or further units of the construction machine or of the measuring system, ie send and receive data.
  • the distance sensor e.g. ultrasonic sensor
  • the distance sensor is designed to determine the distance to a subsurface of the construction machine (e.g.
  • the evaluation device receives / receives this distance value or the distance values associated with the measurement series with a link to the at least one distance sensor criterion via the at least one interface.
  • the evaluation device continues to receive / receive via the at least one interface, e.g. B. from a distance sensor (which can be part of the measuring system, e.g. in the form of a position sensor, or part of the construction machine, e.g. speed sensor) a distance information (e.g.
  • the Distance information associated with at least one distance criterion e.g. also in correlation over time to corresponding points in time, or over the measured distance to corresponding distance sections. If, for example, the route information and the distance are determined simultaneously, the two pieces of information (route information distance value) relate to the same or comparable points in time. If the two pieces of information (distance information distance value) should relate, for example, to the path covered by the construction machine or to the same path section, the distance is determined and output to the evaluation unit depending on or in relation to the distance information (trigger on the distance information) . Based on this, the evaluation device is designed to combine the obtained distance value or the distance values associated with the measurement series with the distance information in a correlating manner (for example, as a function of time or distance).
  • a correlating manner for example, as a function of time or distance.
  • a time or a distance-dependent reference can be defined for the distance sensor criterion and for the distance criterion.
  • a time reference can mean that the values (distance information or distance value (s) of the sensor) are output at one or more points in time (e.g. every 100 or 250 ms, or every second, ...) and the evaluation device determines the time can combine mutually correlating values.
  • a distance-dependent reference can mean that the values (distance information or distance value (s) from the sensor) are output for one or more path trigger points and the evaluation device can combine the values that are correlated with one another depending on the path.
  • Path trigger point in in this context means, for example, that depending on the distance covered or after certain path lengths (path sections, such as every 10 or 25 cm, 1 meter, ...), after certain changes in position, etc.
  • a path information z. B. is output from a distance sensor to the evaluation device or is present, which the evaluation device receives via the at least one interface.
  • the distance criterion and / or the distance sensor criterion can, in addition to the information as to whether a time and / or distance-dependent reference is defined, also other information such as the output interval for the values (e.g. every 100 or 250 ms ...; or every 10 or 25 cm ...) included.
  • distance values or a measurement series of distance values are only output to the evaluation unit if, for example, the measured distance or an averaged distance value exceeds a predefined threshold.
  • a measured value or threshold value-dependent output advantageously reduces the amount of data on the communication path between the distance sensor and evaluation unit and in the evaluation unit itself, since the distance sensor only sends data when a corresponding change in measured value occurs.
  • the evaluation device is designed to define the distance sensor criterion and / or the distance criterion. It is also conceivable that several criteria are linked to one another, for example a temporal output of measured values linked to a measured value-dependent output. This has the advantage that the amount of data on the communication path between the distance sensor and the evaluation unit as well as in the evaluation unit itself is minimized, but at least one measured value must be sent within a predetermined time interval, on the basis of which the evaluation device can determine whether the distance sensor is still working properly or the electrical connection between the distance sensor and the evaluation device is still OK.
  • the evaluation device is designed to request and receive the distance value or the measurement series of distance values and the distance information via the at least one interface in order to generate at least one distance-dependent and / or time-dependent distance value or a distance-dependent and / or time-dependent measurement series of distance values.
  • Requesting measured values e.g. individual distance measured values or a series of measured distance values or distance information
  • the evaluation device would thus be a further conceivable criterion which can also be linked to other criteria (e.g. a temporal output of measured values).
  • the evaluation device is designed to first request the distance information via the at least one interface and to transfer the received information to the at least first distance sensor, the at least first distance sensor being designed to generate a distance-dependent distance value or a distance-dependent measurement series of distance values and spend.
  • the at least first distance sensor supplies a distance-dependent distance value or a distance-dependent measurement series of distance values, these values received by the evaluation device for height control of a construction machine (e.g. height control of a screed on the paver or a control for the chassis height adjustment device a milling machine) can be processed directly.
  • a correlating combination of the distance value or the distance values belonging to the measurement series with the distance information would thereby be shifted to the distance sensor and relieve the evaluation device accordingly.
  • the evaluation device has a first interface for requesting and receiving the distance value or the measurement series of the distance values, and a second interface for requesting and receiving the route information.
  • the two interfaces can either use the same technology (e.g. CAN bus or similar) or be technologically different (e.g. CAN bus and RS485 or similar).
  • the evaluation device has a common interface (for example CAN bus or similar) for requesting and receiving the distance value or the measurement series of the distance values and the distance information.
  • the result of combining by the evaluation device is an image of the subsurface over a distance covered by the construction machine (for example over the several points in time).
  • the measuring system comprises further distance sensors, if one considers all distance sensors, these are for example along the Construction machine are arranged.
  • the first distance sensor can be positioned, for example, at the foremost point in the direction of travel or a bit in front of the construction machine, while the other distance sensors, e.g. B. the second, or the second and third or the second, third and fourth are arranged along a path direction to the rear.
  • Embodiments of the present invention are based on the knowledge that ultrasonic regulating devices or, in general, the measuring system of a regulating device with a distance sensor for use in road pavers or mobile milling devices can be improved in that the values measured by the distance sensors (e.g. ultrasonic sensors) are dependent on the the distance covered by the machine are included in the calculation algorithm of the control device.
  • the measured distance values are linked or linked to corresponding route information (for example, based on the times or the route information).
  • the result is an image of the subsurface, in which it can be seen whether a change in the measured values is only due to a temporary disturbance (such as a short unevenness) or whether the measured values are to be evaluated so that they can be taken into account surface processing (e.g.
  • paving the road or milling must be carried out.
  • smaller unevenness in the subsurface such as individual imperfections, for example bumps, milled hollows or the like, are better compensated for compared to the known ultrasonic control devices, i.e. H. are largely no longer found on a newly constructed road surface or on a milled road surface.
  • the sensor system contributes to a significant improvement in the accuracy or evenness of the subgrade, especially with such minor unevenness.
  • Another advantage results from the fact that no further distance sensors (beyond the sensors already present) are necessary.
  • An already existing sensor system with usually three or four distance sensors arranged in the direction of movement of the machine can continue to be used, since according to the present invention this only needs to be expanded by a distance determination device and changes must be made in the software of the evaluation device or the evaluation device itself needs to be replaced.
  • the operation of the sensor system / height control device also remains the same, which means that operators can carry out installation or milling work in the usual way without having to "rethink”.
  • the evaluation device is designed to filter, average, slidingly average or calculate a median over a predetermined distance. Even smaller bumps are filtered out using such a sliding averaging. Low-pass filters can also be used, which then remove any vibrations that may be reflected in the measurement signal.
  • the evaluation explained above with regard to temporary outliers can be carried out by analyzing the scatter of the distance values (distance value scatter). During this analysis, temporary bumps (i.e. bumps that exist along a limited path) can then be recognized and marked. According to exemplary embodiments, such marked distance values can be reduced for the subsequent control and not taken into account. For this purpose, the evaluation device can directly replace the marked distance values with previous distance values or averaged distance values in accordance with exemplary embodiments.
  • distance values are marked that differ from the other measured values (significantly, i.e., for example, by more than 5% or more than 10%) at most within the limited distance that is predefined by threshold values.
  • the distance values are marked which differ from the other distance values beyond a predefined amount.
  • a so-called “delta value” can also be used for marking, in which case the distance values are marked whose delta value exceeds a predetermined threshold value.
  • the route information such as e.g. B. saved the position. This has advantages if the evaluation is carried out using a plurality of distance sensors.
  • the measuring system can thus comprise a plurality of distance sensors, the evaluation device then using, for example, the following calculation rule: an assignment of the obtained distance values or the obtained measurement series with distance values to the distance information takes place according to the at least one distance sensor criterion, so that distance values determined with different distance sensors over the route information can be assigned to a position.
  • the evaluation device is designed in accordance with exemplary embodiments in order to include the distance values obtained or the series of measurements obtained Distance values per distance sensor based on the known relative positions of the respective distance sensor with respect to a route determiner that provides the route information, or with a corresponding reference position for the route information of the exact position along the route.
  • the distance sensors are preferably spaced far apart from one another, that is to say arranged along the length of the construction vehicle. The middle ones in particular can be used to regulate the height.
  • the evaluation device is designed to mark distance values of the first distance sensor, in particular in relation to the route information or to a corresponding reference position for the route information of the exact position along the route (if there are a number for temporary bumps or temporary outliers) and then furthermore, to hide the distance values of a distance sensor following in the direction of travel (for example second or middle or middle) distance sensors for the position, which are marked on the basis of the distance values of the first distance sensor.
  • the route information can represent position information or information relating to a route covered by the construction machine (in relation to a reference, such as a starting point). Such information is determined, for example, via a GPS (sensor) or GNSS (sensor), a speed sensor, an odometer (a distance on the machine) or a chassis sensor. In general, this determination unit can be referred to as distance determination and is either part of the measuring system or the construction machine.
  • the route information, the position information or the information relating to a route covered by the construction machine can also be determined by a mobile device (e.g. a tablet PC, laptop, smartphone or the like) which is located in the area of the construction machine mobile device preferably wirelessly transmits the route information to the measuring system via a communication interface (WLAN, Bluetooth or similar).
  • a mobile device e.g. a tablet PC, laptop, smartphone or the like
  • the evaluation device can use the distance values and the route information to detect an incline or a change in incline in the course of the road or in the ground to be processed.
  • a regression line is used to identify the slope or to detect a change in slope.
  • the evaluation device can use the distance values to detect an incline or a change in incline in the course of the road or in the ground to be processed over time.
  • the detection of a slope or a change in slope in the course of the road or in the ground to be processed by means of a regression line is advantageous, for example, when paving road construction material by a paver on which the measuring system according to the invention is arranged, since the pulling point for the screed is regulated more optimally. Because the course of roads is often shaped by the landscape profile, so that positive and negative gradients (colloquially formulated: uphill or downhill) occur during road construction.
  • height control of the screed can be optimized by avoiding the pulling point for the screed being adjusted either too early or too late and thus during the transition to a positive incline a lot of asphalt material is paved and too little asphalt material is paved when transitioning back to the horizontal position of the machine or when transitioning to a negative slope.
  • the measuring system arranged on the paver finisher is adjusted accordingly before the start of the asphalt paving, ie a so-called zero adjustment is carried out.
  • the evaluation device then continuously calculates a regression line over the measured distance or height values (individual distance values or a series of measurements with distance or height values) during asphalt paving.
  • the evaluation device receives these distance values or the distance values associated with the measurement series with a link to one or more output criteria, as indicated above, for example as a function of time and / or distance information. Any deviations in the measured distance or height values are compared by the evaluation device with specified target values or a zero adjustment value, further processed if necessary (e.g. filtered or averaged or similar), and flow continuously into a height control of the paver screed.
  • the detection of an incline or a change in incline in the course of the road or in the ground to be processed by means of a regression line is advantageous in order to align the milling machine parallel to a reference surface (e.g. a ground parallel to the road surface to be milled) during the milling process.
  • a reference surface e.g. a ground parallel to the road surface to be milled
  • the calculation of a regression line for the parallel alignment of the milling machine or milling machine with respect to a reference surface or a subsurface is used, over the entire length of the milling machine.
  • other spacing lengths are also conceivable in this context.
  • the milling machine Before starting the milling work, the milling machine is usually aligned on a relatively level surface parallel to the surface to be milled and the measuring system arranged on the milling machine is adjusted accordingly, i.e. H. a so-called zero adjustment is carried out.
  • the evaluation device advantageously continuously calculates a regression line over the measured distance or height values (individual distance values or a series of measurements with distance or height values). The evaluation device receives these distance values or the distance values associated with the measurement series with a link to one or more output criteria, as indicated above, for example as a function of time and / or distance information.
  • any deviations in the measured distance or height values are compared by the evaluation device with specified setpoint values or a zero adjustment value, further processed if necessary (e.g. filtered or averaged or similar), and flow continuously into a control for the chassis height adjustment device of the milling machine that controls the milling machine holds during the milling process at an optimal cutting angle / milling angle or parallel to the reference or a substrate.
  • Another embodiment relates to a measuring system with a height control device, i. H. So a control unit which is designed to control a tool of the construction machine such. B. to control the screed or a milling tool in relation to its height position.
  • the distance values or corrected distance values (distance values corrected for outliers) determined by the one or more distance sensors are used for the control.
  • Another exemplary embodiment relates to a construction machine, such as a road finisher or a road milling machine, with a corresponding measuring system.
  • the measuring system can of course be increased by Height control device be expanded.
  • the construction machine can also be a so-called kilver, ie a dozer blade pulled by a tractor, a bulldozer (dozer), a grader or any other form of construction machine that has a tool for working a subsurface , with a corresponding measuring system according to the invention.
  • the structural length of the measuring system can vary or be adapted accordingly to the construction machine.
  • the measuring system in contrast to the ultrasonic control devices mentioned at the beginning and known from the prior art, in which the measuring system has a variable length in the range of 9 to 13 meters, is also quite shorter (e.g. in the range of only about 3 to 4 meters in length) or can also be designed longer.
  • the method can be implemented by a computer.
  • FIG. 1 shows a measuring system 1 with an evaluation unit 45 and at least one distance sensor 41. Furthermore, FIG Fig. 1 a route determining device 50, such as. B. a GPS sensor is shown, which can either be part of the measuring system 1 or simply sends data to the evaluation device 45 (see. Dashed line).
  • a route determining device 50 such as. B. a GPS sensor is shown, which can either be part of the measuring system 1 or simply sends data to the evaluation device 45 (see. Dashed line).
  • the measuring system includes further distance sensors 42, 43, 44, which are shown here with dashed lines, since they are optional features.
  • the distance sensors 41 to 44 are directed, for example, downwards onto the ground and enable the determination of an actual height or an actual distance to the ground. This actual value is used to control tools such as B. used a screed in road construction.
  • the need for such a regulation is given in view of the in Fig. 2a and 2 B illustrated background 21 clearly.
  • This in Fig. 2a and 2 B The illustrated profile of the subsurface 21 is identical and poses different challenges to the regulation. There are essentially two temporary bumps 21b and 21c and a large-area profile step 21a.
  • the profile step 21a extends, for example, over more than a vehicle length and is lower than the reference surface 21r, e.g. B. lower by two centimeters.
  • the temporary unevenness 21b represents a depression which, for example, has a length of a few centimeters, e.g. B. 10 or 20 cm.
  • the temporary asperity 21c is an elevation, e.g. B. formed by a larger stone.
  • the measuring system 1 essentially represents a conventional measuring system with at least one distance sensor 41, the distance values being output to an evaluation device 45.
  • This sensor system 1 or the height control device to which the sensor system 1 belongs is further expanded by a distance determining device 50, the output signals (distance or position information) of which are fed to the evaluation device of the sensor system / height control device.
  • Fig. 2a represents the basic variant here. Starting from the subsurface 21 with its profile and the respective discontinuities in the profile 21a, 21b and 21c, it is now necessary to scan this profile so that a good height control can take place. The scanning is carried out with the in relation to Fig. 1 explained distance sensor 41. This is, for example, on the construction machine moving in the direction of travel 10f at the height in front of the chassis, e.g. B. at the front, attached and scans the substrate 21. The distance from the reference 21r is known or calibrated, so that by scanning the distance sensor 41 on the basis of the absolute signals, in particular the change can be determined. At the in Fig. 2a The position shown, the distance sensor 41 is in a position above the ground which is at the reference level (see marking p1).
  • the sensor 41 While driving along the direction of travel 10f, the sensor 41 moves over the profile 21, as shown in dashed lines for the positions p2, p3, p4 and p5 associated with the first distance sensor 41 (here 41 '). Scanning with positions p1 to p5 takes place in the example at different times.
  • the evaluation device 45 is designed to obtain the distance values of the distance sensor 41 and to link them with position values or distance information that is generated via the sensor 50.
  • the link takes place via the points in time, that is to say in such a way that the distance value for position p1 determined at point in time t1 is linked to the distance information from sensor 50.
  • the link is path-dependent, i.e. such that the distance value for position p1 is determined as a function of or in relation to the route information (trigger on the route information) and transferred to the evaluation unit 45, and then by the evaluation unit 45 with the route information of the sensor 50 is linked.
  • the route information can be a position, e.g. B. from GPS coordinates or a distance covered from a reference point. Both types enable a change in position between points p1, p2, (2003), p5 to be determined.
  • the system 1 now continuously scans the surface 21 along the route 10f and detects a temporary elevation 21c at position p2, a temporary unevenness 21b at position p3 and a lowered level along position p5 or in the area starting from p5.
  • the running gear is little influenced by the unevenness 21c and 21b in terms of control technology, while the running gear will, however, move into the depression 21a. Based on this, readjustment of the tool of the construction machine at the unevenness 21b and 21c is not necessary, while the unevenness 21a is readjusted.
  • the distance determination device determines the distance covered by the machine or continuously determines the position or position deviations of the machine, so that the evaluation device can determine the distance covered by the machine.
  • the route determination device can, for example, be a contactless measuring system according to FIG EP 3 112 812 A1 or the EP 3 270 109 A1 act in which for distance measurement on a construction machine with a caterpillar chain drive at least one contactless sensor is provided for arrangement on the chassis of the construction machine, such that the contactless sensor is directed to a caterpillar chain of the caterpillar chain drive of the construction machine.
  • An evaluation unit is connected to the contactless sensor and is effective in order to determine a distance covered by the construction machine based on the signals received from the contactless sensor.
  • the route determining device can also be one as in FIG EP 0 388 819 A1 Act described distance measuring device in the form of a measuring wheel moving within the working width of the screed.
  • the route determination device represents a part of the construction machine, that is to say the route covered is determined by the construction machine itself and is output to the sensor system.
  • the route information is also from a mobile device (e.g. a tablet PC, laptop, smartphone or the like) located in the area of the construction machine, the mobile device sending the route information preferably wirelessly via a communication interface (WLAN, Bluetooth or similar) to the measuring system transmits.
  • a mobile device e.g. a tablet PC, laptop, smartphone or the like
  • the evaluation device 45 is thus designed to carry out a calculation based on the measured sensor distance values together with the distance covered by the machine (output signals of the distance determination device) so that an image of the background 21 scanned by the distance sensors is created.
  • the image of the underground 21 or the partial image of underground sections, in each case between two adjacent distance sensors (assuming several distance sensors 41 to 44) can now be processed in different ways.
  • the image of the subsurface or the partial images of subsurface sections can be processed with one or more corresponding filters (also in combination), for example with an average value filter, with a sliding average value filter (which processes only partial areas of the image / partial image ) or with a so-called median filter (in order to be able to recognize "measured value outliers"). It is also possible to use only one type of filter on the image or the partial images, or to use several filter types in combination.
  • temporarily occurring bumps can be masked out:
  • measured value deviations of the first sensor located in the direction of movement of the paver are observed over a previously defined distance. As soon as a measured value deviation exceeds a previously defined limit, this fault is observed. Measured values that represent such a disturbance are not used for height control.
  • the measuring system 1 can also have additional sensors 42, 43 and 44 - in accordance with expanded exemplary embodiments.
  • the time sampling for two points in time t2 (sensor 41 is at position p2) and t5 (sensor 42 is at position p2) is shown in FIG Figure 2b shown.
  • the sensor value at position p2 for this sensor 42 can be masked out in a further step for the following sensor 42 (in a control device with three distance sensors, consequently the middle sensor) according to exemplary embodiments. Based on the distance information, it is known at what point in time t5 the sensor 42 is located at the position p2, so that precisely these sensor values can be identified over time.
  • this method is to be understood as analogous to the second and third sensors.
  • all distance sensors 41-44 are calibrated with one another, ie a so-called zero calibration was carried out in the sensor system 1 after assembly (and before the actual construction work began) on the construction machine.
  • all distance sensors are calibrated or adjusted to the background, which represents a reference (zero) line at the time of adjustment, and only the deviations with respect to this reference (zero) line are sent as measured values to the Evaluation facility passed on. It is also necessary that all distance sensors are positioned essentially geometrically in a line (in the direction of movement of the road finisher) to one another in order to ensure that unevenness is equally detected by all distance sensors.
  • the measured delta values are stored in a separate memory field (array) within the evaluation device and shifted synchronously to the position or the path covered in the array, in such a way that the measured delta values "migrate" together with the position (the distance covered) in this array.
  • a separate memory field array
  • temporary unevenness 21b / 21c disurbances
  • the evaluation device 45 is able to offset the measured value deviations (delta values) determined by the first or foremost distance sensor with the path covered by the machine and to display their height measured values at the positions of all further or subsequent distance sensors 42-44 Correct the reference to the adjustment value and thus reduce errors in the height control.
  • the evaluation device 45 can detect inclines or changes in incline. Often the landscape profile determines the course of roads, which means that positive and negative gradients (colloquially: uphill or downhill) also occur when building roads.
  • a remedy for the problem described can be created with the system 1 in that initially only measured values of the first or foremost distance sensor of the sensor system / height control device (in the direction of movement of the paver) are taken into account.
  • the image of the subsurface that is created is always viewed over a first area of approx. 1 meter of the recorded image of the subsurface in order to detect inclines or changes in incline.
  • Measured values are first processed with a filter, for example with a median filter (in order to be able to recognize "measured value outliers”), then a regression line is used to calculate whether or not there is a slope or a change in slope.
  • the regression line should be positioned above the measured values in such a way that the distance from each measurement point to the regression line is minimal (sum of the squares of errors is minimal). While the machine is moving, the first area of the image of approx. 1 meter will change continuously, so that the above-mentioned Calculations related to the travel must be carried out constantly.
  • the evaluation device 45 is able to adjust a tension point control for the screed depending on a recognized gradient or a recognized gradient change, so that neither too much nor too little asphalt material is paved in the area of gradients.
  • the detection of an incline or a change in incline in the course of the road or in the subsoil 21 to be processed by means of a regression line is advantageous in order to align the milling machine parallel to a reference surface (e.g. a subsurface parallel to the road surface to be milled) during the milling process . That means that with a milling machine or milling machine, on which the measuring system 1 according to the invention is arranged, the calculation of a regression line for parallel alignment of the milling machine or milling machine with respect to a reference surface or a subsurface is used, specifically over the entire length of the milling machine. However, other spacing lengths are also conceivable in this context.
  • the milling machine Before starting the milling work, the milling machine is generally aligned parallel to the surface to be milled on a relatively flat surface and the measuring system 1 arranged on the milling machine is adjusted accordingly, ie a so-called zero adjustment is carried out.
  • the evaluation device 45 continuously calculates a regression line over the measured distance or height measured values (individual distance values or a series of measurements with distance or height measured values). Any deviations in the measured distance or height values are compared by the evaluation device 45 with predetermined setpoint values or a zero adjustment value, further processed if necessary (e.g. filtered or averaged or similar), and flow continuously into a control for the chassis height adjustment device of the milling machine, which the Milling machine holds during the milling process in an optimal cutting angle / milling angle or parallel to the reference or a substrate 21.
  • Fig. 3 shows schematically a self-propelled road finisher 10 as an example of a construction machine.
  • the paver 10 comprises a material bunker 12 for receiving building material, such as. B. asphalt, gravel or the like, as well as a built-in or screed 15, which is arranged on a pulling arm 13 and is pulled by the driving unit or tractor unit of the road paver 10.
  • a distribution auger 14 which distributes the building material to be installed, which is transported during the installation from the material bunker 13 via conveyor belts (not shown) in the direction of the distribution auger 14, transversely to the direction of travel of the paver 10 in front of the screed 15, so that the building material to be installed is always available in approximately even quantities in front of the screed 15 during installation.
  • a driver's cab 11 from which the machine 10, among other things, is steered.
  • a carrier mechanism 60 for a sensor system 40 is arranged on the pulling arm 13 of the road paver 10, this being preferably arranged at two points on the pulling arm 13.
  • the main support mechanism 61 is releasably fastened both in the front area of the pull arm, for example near the pulling point, by means of a bracket 62, and in the rear area, for example near the fastening of the plank 15, by means of a bracket 63.
  • the main support mechanism 61 preferably consists of individual or individually connectable mechanical parts or also of individual parts that can be rotated by means of a rotary mechanism or also of telescopic individual parts in order to be able to individually adjust the length L of the system.
  • Variable lengths L in the range from 9 to 13 meters are common in the ultrasonic control devices mentioned at the beginning and known from the prior art.
  • the sensor system 40 usually consists of four distance sensors 41 to 44, but only three distance sensors 41, 43 and 44 are also conceivable.
  • either two or three distance sensors 41, 42 and / or 43 are arranged, which scan a substrate 21 that is still to be processed or determine distance values s1, s2 and / or s3 to the substrate 21 that is still to be processed.
  • the sensor system 40 thus comprises - as already described - at least two distance sensors 41, 42 and / or 43 in front of the screed 15, which scan or scan the subsoil 21 still to be worked, as well as a further distance sensor 44 which detects the newly laid or newly laid
  • the built-in road surface 22 is scanned or a distance value s4 is determined from the newly laid or newly built road surface 22.
  • the basic and schematic in Fig. 3 The illustrated structure of the sensor system 40 essentially corresponds to the systems known from the prior art.
  • the distance sensor 43 is preferably arranged in the area of the auger 14, ie a (assembly) position p3 assigned to the distance sensor 43 is advantageously in the area of the auger 14 or, viewed along the direction of travel of the road paver 10, shortly before the auger 14 to the distance sensor 43, the outer distance sensors 41 (in front of the screed 15) and 44 (behind the screed 15) are preferably arranged at a uniform distance from one another, ie the The length of the subsections L1 + L2 (length of the section between a (mounting) position P1 assigned to the distance sensor 41 and the position P3) and L3 (length of the section between a (mounting) position P4 assigned to the distance sensor 44 and the position P3) is preferred equal.
  • the distance sensor 42 is preferably positioned centrally between the two distance sensors 41 and 43, so that the length of the subsections L1 (length of the section between a (mounting) position P2 assigned to the distance sensor 42 and the position P1) and L2 (length of the section between the Position P2 and position P3) is essentially the same and the length of the subsections L1 and L2 is each half the length of the subsection L3.
  • Such a distribution of the distance sensors is advantageous with regard to the fact that elongated bumps can be well balanced.
  • other distance distributions are also conceivable, such as, for example, an approximately uniform distribution of the distance sensors, ie the length of all illustrated subsections L1, L2 and L3 is approximately the same.
  • a different distance distribution of the distance sensors is also possible in particular if more than four distance sensors are used.
  • the sensor system 40 further includes an evaluation device 45, consisting essentially of a process computer unit 45A and an operating and display device 45B.
  • the individual distance sensors 41 to 44 are preferably connected via cable connections 41k to 44k to the process computer unit 45A, which reads in and processes the measured distance values s1 to s4 of the distance sensors 41 to 44.
  • the process computer unit 45A controls or regulates the height of the screed 15 as a function of the measured distance values s1 to s4, i. H. the process computer unit 45A functions here as a leveling unit.
  • an operator for example the screed personnel, can make settings and changes to various parameters relating to the leveling or monitor them during the paving process.
  • the display and control device 45B is used as a so-called man-machine interface (MMI).
  • MMI man-machine interface
  • the process computer unit 45A and the operating and display device 45B are combined in one device or in a housing, i.e. H. integrated in a device or housing.
  • a route determining device 50 is also connected to the process computer unit 45A via a corresponding cable connection 50k.
  • the distance determining device 50 determines the distance covered by the road paver 10.
  • the distance determining device 50 can be used, for example, as a contactless measuring system or as a measuring wheel that moves within the working width of the screed (Odometer).
  • Odometer working width of the screed
  • all types of displacement or position measuring devices can be used for the present invention.
  • the route determination device represents a part of the construction machine, that is to say the route covered is determined by the construction machine itself and is output to the sensor system.
  • the distance determination device 50 should advantageously supply a highly accurate distance signal so that a precise calculation of the height of the screed 15 as a function of the measured distance values s1 to s4 can take place.
  • Fig. 4 shows in addition to the in Fig. 3 self-propelled road paver 10 and the already described sensor system 40, which is arranged on the carrier mechanism 60, a communication device 70 arranged on the road paver 10, which is connected to the process computer unit 45A of the evaluation device 45 via a cable connection 70k.
  • the sensor system 40 (the height control device) arranged on the road finisher 10 is able to wirelessly exchange data with a remote data server 90 and / or a mobile terminal 80, ie to send data wirelessly to the devices 80 and 90 mentioned and receive data from these devices 80 and 90 wirelessly.
  • the mobile terminal 80 can for example be a laptop computer or a tablet PC or a smartphone or the like, the mobile device 80 having a communication device 85 in order to be able to communicate via corresponding wireless connection types such as WLAN, Bluetooth, etc.
  • data such as measured distance values from the distance sensors 41 to 44 and / or data indicating the height of the screed 15 and / or route information from the route determination device 50 to the mobile device 80 or via a network 100 can be transmitted the data server 90 for logging, calculation or evaluation purposes.
  • a machine operator or site manager always has an overview of the installation process and can react immediately in the event of problems such as the failure of a distance sensor.
  • data from the mobile device can also be sent to the sensor system 40 (the height control device) on the road paver 10 or to the data server 90, for example to set calculation parameters of the calculation algorithm Adjust the control device or to store data relating to the sensor system 40 on the data server 90.
  • calculations by the control device during the asphalt paving are not (only) carried out in the process computer unit 45A of the evaluation device 45, but (also) on the data server 90, with a continuously available data or communication connection between the Process computer unit 45A on the road finisher 10 and the data server 90 is a prerequisite.
  • the communication device 70, the communication connections 71, 72, 81 and 91 as well as the mobile devices 80 are also suitable for remote maintenance purposes, for example to remotely call up a status of the sensor system 40 and / or to be able to detect and correct a fault in the sensor system 40 .
  • a distance determining device 50 such as. B. a GPS sensor or a simple speed signal is provided.
  • the route information can also be determined by a mobile device 80 (e.g. a tablet PC, laptop, smartphone or the like) which is located in the area of the construction machine 10, with the mobile device 80 preferably providing the route information wirelessly via a communication interface 70, 85, 71 (WLAN, Bluetooth or similar) to the sensor system 40 or the measuring system 1.
  • the concept described above can be implemented by software that runs on the evaluation device 45.
  • a series of measurements with distance values assigned to corresponding criteria e.g. at different times or via the measured path to corresponding path sections or path trigger points
  • corresponding distance information is also determined by means of the distance sensor 50, so that each measured value can be assigned to distance information (for example, time-related or distance-related).
  • the route determiner 50 is shown as a type of position sensor, such as a GPS sensor.
  • This GPS sensor measures the position at its location, but not at the locations for the sensors.
  • a distance value is assigned to a position that corresponds to the position of the Distance determiner plus the (lateral offset) between distance determiner 50 and the respective detector 41 or 42 or 43 or 44.
  • the information that is generated by means of the sensor 41 can then be transmitted to the following sensors 42, 43 or 44.
  • the distance values determined by means of the sensor 41 for example, it is recognized whether it is a temporary unevenness or an unevenness to be taken into account (depression or elevation existing over a longer section).
  • These distance values and then also the positions are marked and are not taken into account in the sensors 42 and 43, by means of which, for example, the height regulation takes place, in that the marked sensor values are replaced by previous sensor values.
  • the first sensor 41 which is used in particular to determine whether it is a temporary or a bump to be taken into account, is arranged as far in front of the chassis 12 of the construction machine 10 as possible an unevenness cannot have any influence on the construction machine and yet it has to be evaluated.
  • the examples described were partially explained using the example of a road paver. It goes without saying, however, that the examples described can also be transferred to other construction machines, such as a road milling machine, for example.
  • the construction machine can also be a so-called Kilver, i.e. H. be a dozer pulled by a tractor, a dozer, a grader or any other form of construction machine that has a tool for working on a subsurface, with a corresponding measuring system according to the invention.
  • the structural length of the measuring system can vary or be adapted accordingly to the construction machine.
  • the measuring system in contrast to the ultrasonic control devices mentioned at the beginning and known from the prior art, in which the measuring system has a variable length in the range of 9 to 13 meters, is also quite shorter (e.g. in the range of only about 3 to 4 meters in length) or can also be designed longer.
  • aspects have been described in connection with a device, it goes without saying that these aspects also represent a description of the corresponding method, so that a block or a component of a device can also be understood as a corresponding method step or as a feature of a method step is. Analogously, aspects that have been described in connection with or as a method step also represent a description of a corresponding block or details or features of a corresponding device.
  • Some or all of the method steps can be carried out by a hardware apparatus (or using a hardware device). Apparatus), such as a microprocessor, a programmable computer or an electronic circuit. In some embodiments, some or more of the most important process steps can be performed by such apparatus.
  • embodiments of the invention can be implemented in hardware or in software.
  • the implementation can be carried out using a digital storage medium such as a floppy disk, a DVD, a Blu-ray disc, a CD, a ROM, a PROM, an EPROM, an EEPROM or a FLASH memory, a hard disk or other magnetic memory or optical memory, on which electronically readable control signals are stored, which can interact with a programmable computer system or cooperate in such a way that the respective method is carried out. Therefore, the digital storage medium can be computer readable.
  • Some exemplary embodiments according to the invention thus include a data carrier which has electronically readable control signals which are able to interact with a programmable computer system in such a way that one of the methods described herein is carried out.
  • exemplary embodiments of the present invention can be implemented as a computer program product with a program code, the program code being effective to carry out one of the methods when the computer program product runs on a computer.
  • the program code can for example also be stored on a machine-readable carrier.
  • exemplary embodiments include the computer program for performing one of the methods described herein, the computer program being stored on a machine-readable carrier.
  • an exemplary embodiment of the method according to the invention is a computer program that contains a program code for performing one of the methods described herein has described method when the computer program runs on a computer.
  • a further exemplary embodiment of the method according to the invention is thus a data carrier (or a digital storage medium or a computer-readable medium) on which the computer program for performing one of the methods described herein is recorded.
  • the data carrier, the digital storage medium or the computer-readable medium are typically tangible and / or non-perishable or non-temporary.
  • a further exemplary embodiment of the method according to the invention is thus a data stream or a sequence of signals which represents or represents the computer program for performing one of the methods described herein.
  • the data stream or the sequence of signals can, for example, be configured to be transferred via a data communication connection, for example via the Internet.
  • Another exemplary embodiment comprises a processing device, for example a computer or a programmable logic component, which is configured or adapted to carry out one of the methods described herein.
  • a processing device for example a computer or a programmable logic component, which is configured or adapted to carry out one of the methods described herein.
  • Another exemplary embodiment comprises a computer on which the computer program for performing one of the methods described herein is installed.
  • a further exemplary embodiment according to the invention comprises a device or a system which is designed to transmit a computer program for performing at least one of the methods described herein to a receiver.
  • the transmission can take place electronically or optically, for example.
  • the receiver can be, for example, a computer, a mobile device, a storage device or a similar device.
  • the device or the system can for example comprise a file server for transmitting the computer program to the recipient.
  • a programmable logic component for example a field-programmable gate array, an FPGA
  • a field-programmable gate array can interact with a microprocessor in order to carry out one of the methods described herein.
  • the methods in some exemplary embodiments are implemented by a any hardware device performed. This can be universally applicable hardware such as a computer processor (CPU) or hardware specific to the method such as an ASIC.
  • the devices described herein can be implemented, for example, using a hardware apparatus, or using a computer, or using a combination of a hardware apparatus and a computer.
  • the devices described herein, or any components of the devices described herein, can be implemented at least partially in hardware and / or in software (computer program).
  • the methods described herein can be implemented, for example, using a hardware apparatus, or using a computer, or using a combination of a hardware apparatus and a computer.
  • Both stationary and mobile or portable devices such as, for example, tablet PC, notebook, smartphone, etc., are to be understood as computers.
  • Computer programs therefore also include programs and so-called apps on these mobile or portable devices.

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  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Road Paving Machines (AREA)
EP19164127.3A 2019-03-20 2019-03-20 Machine de construction avec un système de mesure Active EP3712328B1 (fr)

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0388819A1 (fr) 1989-03-23 1990-09-26 ABG-WERKE GmbH Finisseuse pour route
DE9204614U1 (de) * 1992-04-03 1992-07-02 Moba-Electronic Gesellschaft für Mobil-Automation mbH, 6254 Elz Vorrichtung zum Bestimmen des Oberflächenprofils eines mittels eines Bearbeitungswerkzeugs zu bearbeitenden, flächigen Gegenstandes, insbesondere für eine den Belag einer Straße bearbeitende Straßenbaumaschine
EP0542297A1 (fr) 1991-11-15 1993-05-19 MOBA-electronic Gesellschaft für Mobil-Automation mbH Appareil de contrôle pour un finisseur
EP0547378A1 (fr) 1991-11-15 1993-06-23 MOBA-Electronic Gesellschaft für Mobil-Automation mbH Appareil de contrôle ultrasonore pour une fraiseuse mobile
US5549412A (en) * 1995-05-24 1996-08-27 Blaw-Knox Construction Equipment Corporation Position referencing, measuring and paving method and apparatus for a profiler and paver
US20060045620A1 (en) * 2004-08-31 2006-03-02 Olson Dale M Paving machine output monitoring system
EP3112812A1 (fr) 2015-07-01 2017-01-04 MOBA - Mobile Automation AG Dispositif et procede de mesure de la distance parcourue sur un engin equipe de chenilles et engin
EP3406799A1 (fr) * 2017-05-26 2018-11-28 Wirtgen GmbH Train de machine d'une fraiseuse routière et d'une finisseuse de route et procédé de fonctionnement d'une fraiseuse routière et d'une finisseuse de route

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0388819A1 (fr) 1989-03-23 1990-09-26 ABG-WERKE GmbH Finisseuse pour route
EP0542297A1 (fr) 1991-11-15 1993-05-19 MOBA-electronic Gesellschaft für Mobil-Automation mbH Appareil de contrôle pour un finisseur
EP0547378A1 (fr) 1991-11-15 1993-06-23 MOBA-Electronic Gesellschaft für Mobil-Automation mbH Appareil de contrôle ultrasonore pour une fraiseuse mobile
DE9204614U1 (de) * 1992-04-03 1992-07-02 Moba-Electronic Gesellschaft für Mobil-Automation mbH, 6254 Elz Vorrichtung zum Bestimmen des Oberflächenprofils eines mittels eines Bearbeitungswerkzeugs zu bearbeitenden, flächigen Gegenstandes, insbesondere für eine den Belag einer Straße bearbeitende Straßenbaumaschine
US5549412A (en) * 1995-05-24 1996-08-27 Blaw-Knox Construction Equipment Corporation Position referencing, measuring and paving method and apparatus for a profiler and paver
US20060045620A1 (en) * 2004-08-31 2006-03-02 Olson Dale M Paving machine output monitoring system
EP3112812A1 (fr) 2015-07-01 2017-01-04 MOBA - Mobile Automation AG Dispositif et procede de mesure de la distance parcourue sur un engin equipe de chenilles et engin
EP3270109A1 (fr) 2015-07-01 2018-01-17 MOBA - Mobile Automation AG Dispositif et procédé de mesure de la distance parcourue sur un engin équipé de chenilles et engin
EP3406799A1 (fr) * 2017-05-26 2018-11-28 Wirtgen GmbH Train de machine d'une fraiseuse routière et d'une finisseuse de route et procédé de fonctionnement d'une fraiseuse routière et d'une finisseuse de route

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