EP3712328B1 - Machine de construction avec un système de mesure - Google Patents

Machine de construction avec un système de mesure Download PDF

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Publication number
EP3712328B1
EP3712328B1 EP19164127.3A EP19164127A EP3712328B1 EP 3712328 B1 EP3712328 B1 EP 3712328B1 EP 19164127 A EP19164127 A EP 19164127A EP 3712328 B1 EP3712328 B1 EP 3712328B1
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Prior art keywords
distance
path
construction machine
sensor
distance values
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German (de)
English (en)
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EP3712328A1 (fr
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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

  • the present invention relates to a construction machine comprising a measuring system and a corresponding method.
  • the invention is in the field of road construction machinery.
  • Preferred exemplary embodiments relate to a road finisher comprising a sensor system for adjusting the height of a height-adjustable screed.
  • Further special exemplary embodiments deal with a sensor system for controlling a chassis height adjustment in milling machines, in particular ground milling machines such as a road milling machine, a recycler, a stabilizer or a surface miner.
  • a road finisher with a caterpillar or wheeled chassis runs on a prepared subsurface onto which a road surface or a road surface to be finished is to be applied.
  • a height-adjustable screed is provided at the rear of the road finisher in the direction of travel, on the front of which a supply of the road surface material is accumulated, which is distributed and tracked by a conveyor device that ensures that there is always a sufficient, but not too large, amount on the front of the screed of the pavement 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 towing arm which is rotatably mounted about a towing point arranged in the central region of the road finisher, the height of the screed being determined by a hydraulic adjustment device.
  • a milling drum mounted so as to rotate is fixed relative to the chassis of the milling machine with respect to its axis of rotation.
  • the milling machine has a front chassis and a rear chassis.
  • 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 that is attached to the milling machine and detects the height of the sensor relative 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 finisher for adjusting the height of a height-adjustable screed, with at least two ultrasonic sensors and with an evaluation device.
  • the EP 0 547 378 A1 an ultrasonic control device for a mobile milling machine with a milling drum that is rotatably mounted relative to the milling machine, a front and a rear chassis, one of which has a first chassis height adjustment device that is controlled as a function of a milling depth control signal.
  • the other chassis has a second chassis 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 Based on ultrasonic sensor signals from the ultrasonic sensors, an evaluation device detects the distances between the ultrasonic sensors and a reference surface and uses the measured distances to derive an inclination signal, which represents the angle of attack of the milling machine relative to the reference surface, and 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 control devices for a road finisher and for a mobile milling machine have proven themselves in practice, especially with the use of four ultrasonic sensors. Since the subsoil is scanned by the ultrasonic sensors at several widely spaced points, long bumps in the ground in particular are well compensated for.
  • a disadvantage of the known ultrasonic control devices is that minor bumps such as individual flaws, for example a bump, milling pit or the like, in the subsoil, d. H. in the reference surface scanned by the ultrasonic sensors, are not completely eliminated by the measuring system, but are included in the calculation method on which the system is based to a not inconsiderable extent in the control behavior and are thus more or less reflected on the newly manufactured 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.
  • EP 3 406 799 A1 describes a road milling machine that has a profile data determination device and with which spatial height profile data are determined during the advance of the road milling machine.
  • the object of the present invention is to create a concept for regulating the height of a construction machine (e.g. road finisher or milling machine) which ensures that unevenness in the subsoil does not have a negative effect on the surface quality of the surface to be created.
  • a construction machine e.g. road finisher or milling machine
  • Embodiments of the present invention create a construction machine (road finisher, road milling machine or the like) comprising a measuring system.
  • 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 similar.
  • the evaluation device can interface with the at least one first distance sensor or other units of the construction machine or the measuring system to communicate, 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 obtains/receives this distance value or the distance values associated with the series of measurements linked to the at least one distance sensor criterion via the at least one interface.
  • the evaluation device receives/receives 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 Route information is associated with at least one route criterion (e.g. over time also in correlation to corresponding points in time, or via the measured route to corresponding route sections). If, for example, the route information and the distance are determined at the same time, the two items of information (route information distance value) relate to the same or comparable points in time. If the two items of information (route information distance value) are to relate, for example, to the route covered by the construction machine or to the same route section, the distance is determined and output to the evaluation unit as a function of or in relation to the route information (trigger on the route information) . Proceeding from this, the evaluation device is designed to combine the obtained distance value or the distance values belonging to the series of measurements with the distance information in a correlating manner (for example as a function of time or distance).
  • a time reference or a distance-dependent reference can be defined for the distance sensor criterion and for the distance criterion.
  • a temporal 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 records the time can combine mutually correlating values.
  • a path-dependent reference can mean that the values (path information or distance value(s) of the sensor) are output at one or more path trigger points and the evaluation device can combine the path-dependent correlating values.
  • a route 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 also contain 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 the measured value occurs.
  • the evaluation device is designed to define the distance sensor criterion and/or the distance criterion. It is also conceivable that a number of criteria are linked to one another, for example a timed 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 and in the evaluation unit itself is minimized, but at least one measured value must be sent within a predetermined time interval, which can be used by the evaluation device to 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 value that is dependent on the distance and/or time-dependent, or a series of measurements that is dependent on the distance and/or time.
  • Requesting measurements e.g. individual measured distance values or a measurement 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 timed 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, with 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 path-dependent distance value or a path-dependent measurement series of distance values, with these values received by the evaluation device being used for height control of a construction machine (e.g. height control of a screed on the road finisher or 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 series of measurements with the distance information would be shifted to the distance sensor and correspondingly relieves the evaluation device.
  • the evaluation device has a first interface for requesting and receiving the distance value or the series of measurements of the distance values, and a second interface for requesting and receiving the route information.
  • the two (physically separate) 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 (e.g. CAN bus or similar) for requesting and receiving the distance value or the series of measurements of the distance values and the distance information.
  • the measuring system comprises further distance sensors, with all distance sensors being considered, for example along the Construction machinery are arranged.
  • the first distance sensor can be positioned, for example, at the foremost point in the direction of travel or a little 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 along a direction of travel are arranged rearward.
  • Exemplary embodiments of the present invention are based on the finding that ultrasonic control devices or, in general, the measuring system of a control device with a distance sensor for use in road finishers or mobile milling machines can be improved in that the values measured by the distance sensors (e.g. ultrasonic sensors) are dependent on the of the distance covered by the machine are included in the calculation algorithm of the control device.
  • the measured distance values are connected or linked to corresponding route information (e.g. based on the times or the route information).
  • the result is an image of the subsoil, which then shows whether a change in the measured values is only due to a temporary disturbance (e.g.
  • a further advantage results from the fact that no further distance sensors (over and above the existing sensors) 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 has to be expanded by a distance determination device and changes have to be made in the software of the evaluation device or the evaluation device itself must be exchanged.
  • 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, continuously average or calculate a median the distance values over a predetermined distance. Smaller bumps are already filtered out via such a sliding averaging. Low-pass filters can also be used, which then remove any vibrations that may appear 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, temporarily occurring bumps (i.e. bumps that are present along a limited stretch of road) can then be recognized and marked. According to exemplary embodiments, distance values marked in this way can be reduced for the subsequent regulation and not taken into account. For this purpose, according to the exemplary embodiments, the evaluation device can directly replace the marked distance values with previous distance values or averaged distance values.
  • distance values are marked that differ from the other measured values (significantly, ie for example by more than 5% or more than 10%) within the limited distance that is predefined by threshold values.
  • the distance values that differ from the other distance values by more than a predefined extent are marked.
  • 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 distance information such as e.g. B. the position is saved. This has advantages when the evaluation is carried out using a plurality of distance sensors.
  • the measuring system can therefore comprise a plurality of distance sensors, in which case the evaluation device then uses the following calculation rule, for example: the distance values obtained or the series of measurements obtained with distance values are assigned to the distance information in accordance with the at least one distance sensor criterion, so that distance values determined using different distance sensors the distance information can be assigned to a position.
  • the evaluation device is designed to use the distance values obtained or the series of measurements obtained Distance values for each distance sensor based on the known relative positions of the respective distance sensor in relation to a route determiner that supplies the route information, or in relation to 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, ie arranged along the length of the construction vehicle. In particular, the middle ones can be used to control 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 in relation to a corresponding reference position for the route information of the exact position along the route (if there are a number of temporary bumps or temporary outliers) and then furthermore hide the distance values of a distance sensor that follows in the direction of travel (e.g. second or middle or the middle) distance sensors for the position that are marked based on 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 road wheel arranged 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 measurement system or the construction machine.
  • the route information, the position information or the information regarding 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, with the mobile device transmits the distance information preferably wirelessly via a communication interface (WLAN, Bluetooth or similar) to the measuring system.
  • a mobile device e.g. a tablet PC, laptop, smartphone or the like
  • the evaluation device can use the distance values and the distance information to identify an incline or an incline change in the course of the road or in the subsoil to be processed.
  • a regression line is used to identify an incline or to identify a change in incline.
  • the evaluation device can use the distance values over time to detect an incline or an incline change in the course of the road or in the subsoil to be processed.
  • the detection of an incline or an incline change in the course of the road or in the subsoil to be processed by means of a regression line is advantageous, for example, when paving road construction material using a construction machine according to the invention as a paver on which the measuring system is arranged, since the pulling point for the paving screed is regulated more optimally .
  • the course of roads is often characterized by the profile of the landscape, so that positive and negative gradients (colloquially formulated: uphill or downhill) occur during road construction.
  • height control of the screed can be optimized by preventing the pulling point for the screed from being adjusted either too early or too late and thus increasing when there is a transition to a positive gradient a lot of asphalt material is placed and too little asphalt material is placed when the machine returns to the horizontal position or when transitioning to a negative incline.
  • the measuring system arranged on the road finisher is usually adjusted accordingly before the start of 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 series of measurements linked to one or more output criteria, as indicated above, for example depending on 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 continuously flow into a height control of the paving screed of the road finisher.
  • the detection of a slope or a change in slope in the course of the road or in the subsoil 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 subsoil lying parallel to the road surface to be milled) during the milling process.
  • a reference surface e.g. a subsoil lying parallel to the road surface to be milled
  • the calculation of a regression line is used for the parallel alignment of the milling machine or milling machine with respect to a reference surface or a subsurface, specifically over the entire length of the milling machine.
  • other distance 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 on the milling machine is adjusted accordingly, i. H. a so-called zero adjustment is carried out.
  • the evaluation device continuously calculates a regression line using 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 series of measurements linked to one or more output criteria, as indicated above, for example, depending on 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, processed further if necessary (e.g. filtered or averaged or similar), and continuously flow into a control for the chassis height adjustment device of the milling machine, which the milling machine during the milling process at an optimal cutting angle/milling angle or parallel to the reference or a subsurface.
  • Another embodiment relates to a measurement system with a height control device, i. H. So a control unit that is designed to a tool of the construction machine, such. B. to control the screed or a milling tool in relation to their height position.
  • the distance values determined by the one or more distance sensors or corrected distance values are used for the control.
  • a further 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 Height control device to be expanded.
  • the construction machine can also be a so-called kilver, ie a leveling blade pulled by a tractor, a bulldozer (dozer), a grader or any other form of construction machine that has a tool for working a subsoil , with a corresponding measuring system.
  • 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 configured longer.
  • the invention creates a method for determining the distance in a construction machine according to claim 21.
  • FIG 1 shows a measuring system 1 with an evaluation unit 45 and at least one distance sensor 41. Furthermore, FIG 1 a distance determination device 50, such as. For example, a GPS sensor is shown, which can either be part of the measuring system 1 or simply sends data to the evaluation device 45 (cf. dashed line).
  • a distance determination device 50 such as. For example, a GPS sensor is shown, which can either be part of the measuring system 1 or simply sends data to the evaluation device 45 (cf. dashed line).
  • the measuring system includes further distance sensors 42, 43, 44, which are shown here with dashed lines because they are optional features.
  • the distance sensors 41 to 44 are directed downwards onto the ground, for example, and enable an actual height or an actual distance from the ground to be determined. This actual value is used to control tools such as B. a plank used in road construction.
  • B. a plank used in road construction The need for such a regulation is in view of the Figure 2a and 2 B illustrated underground 21 clearly. This in Figure 2a and 2 B The illustrated profile of underground 21 is identical and presents different control challenges. Essentially, there are two temporary bumps 21b and 21c and a large-area profile jump 21a.
  • the profile jump 21a extends, for example, over more than one vehicle length and is lower than the reference surface 21r, e.g. B. two centimeters lower.
  • the temporary unevenness 21b represents a depression which, for example, has a length of a few centimeters, such as e.g. B. 10 or 20 cm.
  • the temporary bump 21c is a ridge, 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 to include a distance determination device 50 whose output signals (path or position information) are fed to the evaluation device of the sensor system/height control device.
  • Figure 2a 10 represents the basic variant. 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 level control can take place. The sampling is done with the respect 1 distance sensor 41 explained above. This is, for example, on the construction machine moving in the direction of travel 10f at the level in front of the chassis, e.g. B. front mounted and scans the ground 21 from. The distance to the reference 21r is known or calibrated, so that the change can be determined in particular by scanning the distance sensor 41 on the basis of the absolute signals. at the in Figure 2a In 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 moves across the profile 21, as shown in dashed lines for the positions p2, p3, p4 and p5 belonging to the first distance sensor 41 (here 41').
  • the scanning with positions p1 to p5 takes place at different points in time.
  • the evaluation device 45 is designed to receive the distance values from the distance sensor 41 and to link them to position values or distance information that is generated via the sensor 50 .
  • the linking takes place via the points in time, ie in such a way that the distance value for the position p1 determined at the point in time t1 is linked to the distance information of the sensor 50 .
  • the linkage is path-dependent, i.e. in such a way that the distance value for position p1 is determined as a function of or in relation to the distance information (trigger on the distance information) and is transferred to evaluation unit 45, and then by evaluation unit 45 with the distance information of the sensor 50 is linked.
  • the distance information here can be a position, e.g. B. from GPS coordinates or a distance covered from a reference point. Both types allow determining a change in position between points p1, p2, ......, p5.
  • the system 1 now continuously scans the surface 21 along the path 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. From the control engineering point of view, the running gear is little influenced by the bumps 21c and 21b, while the running gear will, however, move into the depression 21a. Proceeding from this, a readjustment of the tool of the construction machine at the bumps 21b and 21c is not necessary, while the bump 21a is readjusted.
  • the distance determining 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 distance determination device can be, for example, a non-contact measuring system according to EP 3 112 812 A1 or the EP 3 270 109 A1 act, in which at least one non-contact sensor is provided to be arranged on the chassis of the construction machine for distance measurement on a construction machine with a caterpillar chain drive, such that the non-contact sensor is directed towards a caterpillar chain of the caterpillar chain drive of the construction machine.
  • An evaluation unit is connected to the non-contact sensor and is effective to determine a distance covered by the construction machine based on the signals received from the non-contact sensor.
  • the distance determination device can also be one as in FIG EP 0 388 819 A1 described displacement measuring device in the form of a measuring wheel running within the working width of the screed.
  • the distance determination device represents a part of the construction machine, ie the distance covered is determined by the construction machine itself and is output to the sensor system.
  • the distance information from a mobile device (e.g. a tablet PC, laptop, smartphone or the like) which is located in the area of the construction machine, the mobile device transmitting 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 therefore 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) in such a way that an image of the subsurface 21 scanned by the distance sensors is created.
  • the image of the subsoil 21 or the partial image of subsoil sections, in each case between two adjacent distance sensors (if one assumes a plurality of distance sensors 41 to 44), can now be processed in different ways.
  • the image of the background or the partial images of underground sections can be processed with one or more corresponding filters (also in combination), for example with an average filter, with a sliding average filter (which only processes partial areas of the image/partial image ) or with a so-called median filter (in order to be able to recognize "measuring value outliers"). It is also possible to use only one filter type 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 road finisher are observed over a previously defined distance. As soon as a measured value deviation exceeds a previously defined limit, this disturbance is observed. Measured values that represent such a disturbance are not used for altitude control.
  • the measuring system 1 can also have additional sensors 42, 43 and 44—corresponding to expanded exemplary embodiments.
  • the temporal sampling for two points in time t2 (sensor 41 is at position p2) and t5 (sensor 42 is at position p2) is in Figure 2b shown.
  • bumps such as bump 21b or 21c
  • a previously defined limit e.g. greater than 20 cm, or degree of deviation from the reference 21r, unevenness with more than 5 cm
  • the fault is observed and the respective distance values or to be precise the position, here the position p2 observed.
  • the sensor 41 At the illustrated point in time t2, at which the sensor 41 is located at the position p2, it observes a temporary increase in the underground (corresponds to a shortening of the measured distance), namely the elevation 21c.
  • the respective sensor values at position p2 are thus marked. It is further assumed that this disturbance only remains within a previously defined distance (e.g.
  • the sensor value at position p2 for this sensor 42 can be masked out in a further step for the following sensor 42 (in the case of a control device with three distance sensors, consequently the middle sensor). Based on the distance information, it is known at which point in time t5 the sensor 42 is located at the position p2, so that precisely these sensor values can be identified over time.
  • the masking of the measured value recording of the first sensor 41 is correspondingly extended and the start and end position of the fault is converted accordingly for the respective subsequent sensor or an end position is corrected accordingly.
  • the measured delta values are stored in relation to the distance in a separate memory field (array) within the evaluation device and are shifted in the array synchronously with the position or the distance covered. such that the measured delta values "wander" along with the position (the distance traveled) in this array.
  • the evaluation device 45 is able to offset the measured value deviations (delta values) determined by the first or frontmost distance sensor with the distance covered by the machine and, at the positions of all further or subsequent distance sensors 42-44, to calculate their measured height values in to correct the reference to the adjustment value and thus to reduce errors in the height control.
  • the evaluation device 45 can detect slopes or changes in slope. Often determines the landscape profile the course of roads, which means that road construction also involves positive and negative inclines (colloquially formulated: uphill or downhill).
  • the system 1 can be used to remedy the problem described in that initially only measured values of the first or frontmost distance sensor (in the direction of movement of the road finisher) of the sensor system/height control device are taken into account.
  • the image of the subsoil that is created is always viewed over a first area of approximately 1 meter of the recorded image of the subsoil in order to detect slopes or changes in slope.
  • 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 there is a gradient or a change in gradient or not.
  • the regression line should lie above the measured values in such a way that the distance from each measuring point to the regression line is minimal (sum of the error squares is minimal).
  • the first area of the image of approx. 1 meter will constantly change, so that the above Calculations path-related must be carried out constantly.
  • the evaluation device 45 is able to adapt a traction point control for the screed as a function of a recognized incline or a recognized incline change, so that neither too much nor too little asphalt material is paved in the area of inclines.
  • a regression line for example with a milling machine, in order to align the milling machine parallel to a reference surface (e.g. a subsoil lying parallel to the road surface to be milled) during the milling process .
  • a reference surface e.g. a subsoil lying parallel to the road surface to be milled
  • the calculation of a regression line is used for the parallel alignment of the milling machine or milling machine with respect to a reference surface or a subsurface, namely over the entire length of the milling machine.
  • other distance lengths are also conceivable in this context.
  • the milling machine is usually aligned before the start of the milling work on a relatively level surface parallel to the surface to be milled 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 using the measured distance or height values (individual distance values or a series of measurements with distance or height values). Any deviations in the measured distance or height values are compared by the evaluation device 45 with specified target values or a zero adjustment value, processed further if necessary (e.g. filtered or averaged or similar), and continuously flow into a control system for the chassis height adjustment device of the milling machine, which Milling machine during the milling process in an optimal cutting angle / milling angle or parallel to the reference or a substrate 21 holds.
  • the road finisher 10 includes a material bunker 12 for receiving building material, such as. As asphalt, gravel or the like, and a built-in or screed 15, which is arranged on a towing arm 13 and is pulled by the driving unit or tractor unit of the road finisher 10.
  • An auger 14 is arranged in front of the screed 15, which distributes the building material to be installed, which is transported during installation starting from the material bunker 13 via conveyor belts (not shown) in the direction of the auger 14, transversely to the direction of travel of the road finisher 10 in front of the screed 15, so that the building material to be installed is always available in an approximately uniform amount in front of the screed 15 during installation.
  • a support mechanism 60 for a sensor system 40 is arranged on the tow arm 13 of the road finisher 10, this being preferably arranged at two points on the tow arm 13.
  • the main support mechanism 61 is releasably attached both in the front area of the towing arm, for example near the towing point, by means of a bracket 62 and in the rear area, for example near the attachment of the screed 15, by means of a bracket 63.
  • the main carrier 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 telescoping individual parts in order to be able to adjust the length L of the system individually.
  • Variable lengths L in the range of 9 to 13 meters are common in the ultrasonic control devices mentioned at the outset 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. In the area in front of the screed 15, either two or three distance sensors 41, 42 and/or 43 are then arranged, which scan a subsoil 21 still to be processed or determine distance values s1, s2 and/or s3 from the subsoil 21 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 sense or scan the subsoil 21 still to be processed, and a further distance sensor 44, which detects the newly laid or newly laid scans or scans the paved road surface 22 or determines a distance value s4 to the newly laid or paved road surface 22 .
  • the principal and schematic in 3 The structure of the sensor system 40 shown 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 an (assembly) position p3 assigned to the distance sensor 43 is advantageously in the area of the auger 14 or, seen along the direction of travel of the road finisher 10, just 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 an (assembly) position P1 assigned to the distance sensor 41 and the position P3) and L3 (length of the section between an (assembly) position P4 assigned to the distance sensor 44 and the position P3) is preferred same.
  • the distance sensor 42 is preferably positioned centrally between the two distance sensors 41 and 43, so that the length of the partial sections 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 sections L1 and L2 is half the length of section L3.
  • Such a distribution of the distance sensors is advantageous with regard to the fact that elongated bumps in the ground can be easily compensated.
  • other distance distributions are also conceivable, such as an approximately uniform distribution of the distance sensors, ie the length of all illustrated sections L1, L2 and L3 is approximately the same.
  • a different distance distribution of the distance sensors is also possible in particular when more than four distance sensors are used.
  • the sensor system 40 also 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 the measured distance values s1 to s4 from the distance sensors 41 to 44 and processes them.
  • 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 use the operating and display device 45B to make settings and changes to various parameters relating to the leveling or to monitor them during the paving process.
  • the display and operating device 45B serves 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 one housing, i. H. integrated in a device or housing.
  • a distance determination device 50 is also connected to the process computer unit 45A via a corresponding cable connection 50k.
  • the distance determination device 50 determines the distance covered by the road finisher 10.
  • the distance determination device 50 can be, for example, a non-contact measuring system or a measuring wheel running within the working width of the screed (Odometer) be trained. However, all types of distance or position measuring devices can be used for the present invention. However, it is also conceivable in this context that the distance determination device represents a part of the construction machine, ie the distance covered is determined by the construction machine itself and is output to the sensor system.
  • distance determination device 50 should advantageously supply a highly accurate distance signal so that the height of screed 15 can be precisely calculated as a function of the measured distance values s1 to s4.
  • the 4 shows in addition to the in 3 illustrated self-propelled road finisher 10 and the sensor system 40 already described, which is arranged on the carrier mechanism 60, a communication device 70 arranged on the road finisher 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 via the communication device 70 to wirelessly exchange data with a remote data server 90 and/or a mobile terminal device 80, ie to wirelessly send data to the devices 80 and 90 mentioned and to receive data from these devices 80 and 90 wirelessly.
  • the mobile terminal device 80 can be, for example, a laptop computer or a tablet PC or a smartphone or the like, with the mobile device 80 having a communication device 85 in order to be able to communicate via appropriate wireless connection types such as WLAN, Bluetooth, etc.
  • data such as measured distance values from distance sensors 41 to 44 and/or data indicating the elevation of screed 15 and/or distance information can be sent from distance determination device 50 to mobile device 80 or via a network 100 be sent to the data server 90 for logging, computation or evaluation purposes.
  • a machine operator or site manager always has an overview of the paving 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 finisher 10 or to the data server 90 via a connection 71, 81 and 91, in order to, for example, calculate parameters of the calculation algorithm Set control device or to store data relating to the sensor system 40 on the data server 90.
  • calculations by the control device during 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 existing 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 links 71, 72, 81 and 91 and the mobile devices 80 are also suitable for remote maintenance purposes, for example to be able to remotely call up a status of the sensor system 40 and/or to be able to detect and rectify an error that occurs in the sensor system 40 .
  • a measurement series with distance values assigned to corresponding criteria e.g. at different points in time or over the measured path to corresponding path sections or path trigger points
  • Corresponding distance information is also determined for this purpose by means of distance sensor 50, so that each measured value can be assigned to distance information (e.g. in terms of time or distance).
  • the odometer 50 is shown as some 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 corresponds.
  • the information generated by the sensor 41 can then be transmitted to the following sensors 42, 43 or 44 via this assignment of the respective position, distance and/or time.
  • the distance values determined by the sensor 41 for example, it is recognized whether it is a temporary unevenness or an unevenness to be taken into account (indentation 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 case of the sensors 42 and 43, by means of which, for example, the height control 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 the unevenness is temporary or whether it is to be taken into account, to be arranged as far in front of the chassis 12 of the construction machine 10 as an unevenness cannot yet have any effect on the construction machine and nevertheless this has to be evaluated.
  • the construction machine can also be a so-called Kilver, i. H. be a tractor-pulled bulldozer blade, a bulldozer (dozer), a grader or any other form of construction machine that has a tool for working a subsoil, with a corresponding measuring system.
  • the structural length of the measuring system can vary or be adapted accordingly to the construction machine. This means that 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 configured longer.
  • aspects have been described in the context of a device, it is understood 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. Similarly, aspects described in connection with or as a method step also constitute a description of a corresponding block or detail or feature of a corresponding device.
  • Some or all of the method steps may be performed by hardware apparatus (or using a hardware Apparatus), such as a microprocessor, a programmable computer, or an electronic circuit. In some embodiments, some or more of the essential process steps can be performed by such an apparatus.
  • embodiments of the invention may be implemented in hardware or in software. Implementation can be performed using a digital storage medium such as a floppy disk, DVD, Blu-ray Disc, CD, ROM, PROM, EPROM, EEPROM or FLASH memory, hard disk or other magnetic or optical memory, on which electronically readable control signals are stored, which can interact or interact with a programmable computer system in such a way that the respective method is carried out. Therefore, the digital storage medium can be computer-readable.
  • a digital storage medium such as a floppy disk, DVD, Blu-ray Disc, CD, ROM, PROM, EPROM, EEPROM or FLASH memory, hard disk or other magnetic or optical memory, on which electronically readable control signals are stored, which can interact or interact with a programmable computer system in such a way that the respective method is carried out. Therefore, the digital storage medium can be computer-readable.
  • some embodiments according to the invention comprise a data carrier having electronically readable control signals capable of interacting with a programmable computer system in such a way that one of the methods described herein is carried out.
  • embodiments of the present invention can be implemented as a computer program product with a program code, wherein the program code is operative to perform one of the methods when the computer program product runs on a computer.
  • the program code can also be stored on a machine-readable carrier, for example.
  • exemplary embodiments include the computer program for performing one of the methods described herein, the computer program being stored on a machine-readable carrier.
  • the invention thus creates a computer program with a program code according to claim 22.
  • a further exemplary embodiment of the method according to the invention is therefore a data carrier (or a digital storage medium or a computer-readable medium) on which the computer program for carrying out one of the methods described herein is recorded.
  • the data carrier, digital storage medium, or computer-readable medium is typically tangible and/or non-transitory.
  • a further embodiment is thus a data stream or a sequence of signals representing the computer program for performing one of the methods described herein.
  • the data stream or sequence of signals may be configured to be transferred over a data communication link, such as the Internet.
  • Another embodiment includes a processing device, such as a computer or programmable logic device, configured or adapted to perform any of the methods described herein.
  • a processing device such as a computer or programmable logic device, configured or adapted to perform any of the methods described herein.
  • Another embodiment includes a computer on which the computer program for performing one of the methods described herein is installed.
  • Another embodiment includes a device or a system designed to transmit a computer program for performing at least one of the methods described herein to a recipient.
  • the transmission can take place electronically or optically, for example.
  • the recipient may be a computer, mobile device, storage device, or similar device.
  • the device or the system can, for example, comprise a file server for transmission of the computer program to the recipient.
  • a programmable logic device e.g., a field programmable gate array, an FPGA
  • a field programmable gate array may cooperate with a microprocessor to perform any of the methods described herein.
  • the methods are performed by a any hardware device. This can be hardware that can be used universally, such as a computer processor (CPU), or hardware that is specific to the method, such as an ASIC.
  • the devices described herein may be implemented, for example, using hardware apparatus, or using a computer, or using a combination of hardware apparatus and a computer.
  • the devices described herein, or any components of the devices described herein may be implemented at least partially in hardware and/or in software (computer program).
  • the methods described herein may be implemented, for example, using hardware apparatus, or using a computer, or using a combination of hardware apparatus and a computer.

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  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Road Paving Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Claims (22)

  1. Machine de construction (10), en particulier finisseur routier, fraiseuse routière, kilver, bulldozer ou niveleuse, comportant un système de mesure (1), dans laquelle le système de mesure (1) présente les caractéristiques suivantes:
    au moins un premier capteur de distance (41) qui est conçu pour déterminer une distance (s1, s2, s3, s4) de la machine de construction (10) par rapport à un sol (21) et pour sortir, en fonction de la distance (s1, s2, s3, s4) déterminée, une valeur de distance ou une série de mesures avec des valeurs de distance en fonction d'au moins un critère de capteur de distance;
    un moyen d'évaluation (45) avec au moins une interface,
    dans laquelle le moyen d'évaluation (45) est conçu pour recevoir, par l'intermédiaire de l'au moins une interface, la valeur de distance ou la série de mesures des valeurs de distance appartenant à l'au moins un critère de capteur de distance ainsi qu'une information de trajet appartenant à au moins un critère de trajet,
    dans laquelle le moyen d'évaluation est conçu pour combiner de manière corrélative la valeur de distance obtenue ou la série de mesures des valeurs de distance obtenue avec les informations de trajet;
    dans laquelle le système de mesure (1) comporte au moins un deuxième capteur de distance (42) qui est disposé dans une direction du trajet de la machine de construction (10),
    dans laquelle le premier capteur de distance (41) est positionné à l'avant, vu dans la direction de circulation, tandis que le deuxième capteur de distance (42) est disposé à l'arrière;
    dans laquelle le deuxième capteur de distance (41, 42, 43, 44) est conçu pour déterminer une distance (s1, s2, s3, s4) par rapport à un sol (21) et pour sortir, en fonction de la distance déterminée (s1, s2, s3, s4), une valeur de distance propre ou une série de mesures propre avec des valeurs de distance appartenant à au moins un critère de capteur de distance; dans laquelle le moyen d'évaluation (45) est conçu pour combiner de manière corrélative la valeur de distance obtenue ou la série de mesures obtenue avec des valeurs de distance du deuxième capteur de distance (42) avec l'information de trajet;
    dans laquelle le moyen d'évaluation (45) est conçu pour marquer les valeurs de distance du premier capteur de distance (41) qui indiquent une irrégularité temporaire (21b, 21c) ou une irrégularité présente le long d'un trajet limité du trajet prédéterminé et/ou pour marquer les valeurs de distance qui indiquent une valeur aberrante temporaire (21b, 21c) ou des valeurs aberrantes présentes le long d'un trajet limité du trajet prédéterminé; et dans laquelle le moyen d'évaluation (45) est conçu pour masquer les valeurs de distance d'un deuxième capteur de distance (42, 43, 44) dans la direction de circulation, qui suit dans la direction de circulation, pour les positions (P1, P2, P3, P4) qui sont marquées en partant des valeurs de distance du premier capteur de distance (41).
  2. Machine de construction (10) selon la revendication 1, dans laquelle le moyen d'évaluation (45) est conçu pour fixer l'au moins un critère de capteur de distance et/ou l'au moins un critère de trajet, et/ou
    dans laquelle le moyen d'évaluation (45) est conçu pour combiner la valeur de distance obtenue ou la série de mesures des valeurs de distance obtenue avec l'information de trajet à l'aide d'au moins un critère de capteur de distance et critère de trajet correspondant ou corrélé.
  3. Machine de construction (10) selon l'une des revendications précédentes, dans laquelle le moyen d'évaluation (45) est conçu pour demander et pour recevoir, par l'intermédiaire de l'au moins une interface, la valeur de distance ou la série de mesures de valeurs de distance ainsi que l'information de trajet pour générer au moins une valeur de distance dépendant du trajet et/ou dépendant du temps ou une série de mesures de valeurs de distance dépendant du trajet et/ou du temps; et/ou
    dans laquelle le moyen d'évaluation (45) est conçu pour demander, par l'intermédiaire de l'au moins une interface, l'information de trajet et pour transmettre l'information reçue à l'au moins un premier capteur de distance (41), dans laquelle l'au moins un premier capteur de distance (41) est conçu pour générer et sortir une valeur de distance dépendant du trajet ou une série de mesures de valeurs de distance dépendant du trajet.
  4. Machine de construction (10) selon l'une des revendications précédentes, dans laquelle le moyen d'évaluation (45) présente une première interface pour demander et recevoir la valeur de distance ou la série de mesures des valeurs de distance et une deuxième interface pour demander et recevoir l'information de trajet; ou dans laquelle le moyen d'évaluation (45) présente une interface commune pour demander et recevoir la valeur de distance ou la série de mesures des valeurs de distance ainsi que l'information de trajet.
  5. Machine de construction (10) selon l'une des revendications précédentes, dans laquelle le moyen d'évaluation (45) génère, lors de la combinaison, une image du sol (21) sur un trajet parcouru par la machine de construction (10).
  6. Machine de construction (10) selon l'une des revendications précédentes, dans laquelle le moyen d'évaluation (45) est conçu pour filtrer, pour établir la moyenne, pour établir la moyenne mobile et/ou pour calculer une moyenne des valeurs de distance sur un trajet prédéterminé.
  7. Machine de construction (10) selon l'une des revendications précédentes, dans laquelle le moyen d'évaluation (45) est conçu pour évaluer les valeurs de distance appartenant à un trajet prédéterminé en ce qui concerne les valeurs aberrantes temporaires (21b, 21c) et/ou en ce qui concerne une dispersion de la valeur de distance.
  8. Machine de construction (10) selon la revendication 7, dans laquelle le moyen d'évaluation (45) est conçu pour marquer les valeurs de distance qui indiquent une irrégularité temporaire (21b, 21c) ou une irrégularité présente le long d'un trajet limité du trajet prédéterminé et/ou pour marquer les valeurs de distance qui indiquent une valeur aberrante temporaire (21b, 21c) ou qui indiquent des valeurs aberrantes présentes le long d'un trajet limité du trajet prédéterminé; et/ou
    dans laquelle le moyen d'évaluation (45) est conçu pour marquer les valeurs de distance qui indiquent une irrégularité temporaire (21b, 21c) ou une irrégularité présente le long d'un trajet limité du trajet prédéterminé et/ou pour marquer les valeurs de distance qui indiquent une valeur aberrante temporaire (21b, 21c) ou des valeurs aberrantes présentes le long d'un trajet limité du trajet prédéterminé, et dans laquelle le moyen d'évaluation (45) est conçu pour tenir compte de manière réduite ou pour ne pas tenir compte des valeurs de distance marquées pour un réglage suivant ou pour remplacer les valeurs de distance marquées par d'autres valeurs de distance ou des valeurs de distance précédentes.
  9. Machine de construction (10) selon la revendication 8, dans laquelle le moyen d'évaluation (45) marque les valeurs de distance qui diffèrent au maximum des autres dans les limites du trajet limité prédéfini; et/ou
    dans laquelle le moyen d'évaluation (45) marque les valeurs de distance qui diffèrent des autres valeurs de distance au-delà d'une mesure prédéfinie; et/ou
    dans laquelle le moyen d'évaluation (45) marque les valeurs de distance dont la valeur delta excède une valeur de seuil prédéterminée.
  10. Machine de construction (10) selon l'une des revendications 8 à 9, dans laquelle les valeurs de distance sont marquées ensemble avec leur position (P1, P2, P3, P4) et/ou l'information de trajet.
  11. Machine de construction (10) selon l'une des revendications précédentes, dans laquelle le système de mesure (1) comporte au moins un troisième et un quatrième capteur de distance (42, 43, 44) qui sont disposés dans une direction du trajet.
  12. Machine de construction (10) selon la revendication 11, dans laquelle le moyen d'évaluation (45) est conçu pour établir la moyenne des valeurs de distance d'au moins deux capteurs de distance (41, 42, 43, 44) et/ou pour établir la moyenne des valeurs de distance associées à une position (P1, P2, P3, P4) et/ou l'information de trajet sur le trajet.
  13. Machine de construction (10) selon l'une des revendications 11 ou 12, dans laquelle le moyen d'évaluation (45) est conçu pour marquer les valeurs de distance du premier capteur de distance (41) qui indiquent une irrégularité temporaire (21b, 21c) ou une irrégularité présente le long d'un trajet limité du trajet prédéterminé et/ou pour marquer les valeurs de distance qui indiquent une valeur aberrante temporaire (21b, 21c) ou des valeurs aberrantes présentes le long d'un trajet limité du trajet prédéterminé; et
    dans laquelle le moyen d'évaluation (45) est conçu pour masquer les valeurs de distance d'un capteur de distance moyen dans la direction de circulation, qui suit dans la direction de circulation, ou de capteurs de distance (42, 43, 44) moyens pour les positions (P1, P2, P3, P4) qui sont marquées en partant des valeurs de distance du premier capteur de distance (41).
  14. Machine de construction (10) selon l'une des revendications précédentes, dans laquelle le moyen d'évaluation (45) est conçu pour associer les valeurs de distance pour chaque capteur de distance (41, 42, 43, 44) en partant des positions relatives connues du capteur de distance respectif (41, 42, 43, 44) par rapport à un déterminateur de trajet (50) qui fournit l'information de trajet, ou par rapport à une position de référence correspondante pour l'information de trajet de la position exacte (P1, P2, P3, P4) le long du trajet.
  15. Machine de construction (10) selon l'une quelconque des revendications précédentes, dans laquelle le premier capteur de distance (41) est disposé devant la machine de construction (10) dans la direction de circulation.
  16. Machine de construction (10) selon l'une des revendications précédentes, dans laquelle l'information de trajet représente une information de position et/ou une information relative à un trajet parcouru par la machine de construction (10); et/ou
    dans laquelle l'information de trajet est déterminée par un déterminateur de trajet (50), un capteur de position, un capteur de GPS, un capteur de GNSS, un capteur de vitesse, un odomètre, un capteur de châssis de la machine de construction (10) ou par la machine de construction (10) elle-même; et/ou
    dans laquelle l'information de trajet, une information de position et/ou une information relative à un trajet parcouru par la machine de construction (10) est déterminée par un appareil mobile (80) qui se trouve dans la zone de la machine de construction (10) et qui est transmise de préférence sans fil par l'intermédiaire d'une interface de communication (70, 85) au système de mesure (1).
  17. Machine de construction (10) selon l'une quelconque des revendications 1 à 16, dans laquelle le système de mesure (1) comporte un déterminateur de trajet (50) qui est conçu pour sortir l'information de trajet.
  18. Machine de construction (10) selon l'une des revendications précédentes, dans laquelle le moyen d'évaluation (45) est conçu pour reconnaître, à l'aide des valeurs de distance et à l'aide de l'information de trajet, une pente ascendante ou un changement de pente ascendante.
  19. Machine de construction (10) selon la revendication 18, dans laquelle le moyen d'évaluation (45) forme, pour reconnaître une pente ascendante ou un changement de pente ascendante, une droite de régression.
  20. Machine de construction (10) selon l'une des revendications précédentes, dans laquelle le système de mesure (1) comporte un dispositif de réglage de hauteur qui est conçu pour commander un outil de la machine de construction (10), une poutre (15) de la machine de construction (10) et/ou un outil de fraisage de la machine de construction (10) par rapport à sa position en hauteur.
  21. Procédé permettant de déterminer la distance pour une machine de construction (10), aux étapes suivantes consistant à:
    déterminer, à l'aide d'au moins un premier capteur de distance (41), une distance (s1, s2, s3, s4) par rapport à un sol (21) de la machine de construction (10) pour sortir, en fonction de la distance déterminée (s1, s2, s3, s4), une valeur de distance ou une série de mesures avec des valeurs de distance en fonction d'au moins un critère de capteur de distance;
    recevoir la valeur de distance ou la série de mesures des valeurs de distance appartenant à l'au moins un critère de capteur de distance et recevoir une information de trajet appartenant à au moins un critère de trajet; et
    combiner de manière corrélative la valeur de distance obtenue ou
    la série de mesures des valeurs de distance obtenue avec l'information de trajet;
    déterminer, à l'aide d'au moins un deuxième capteur de distance (42) qui est disposé dans une direction du trajet de la machine de construction (10), une distance (s1, s2, s3, s4) par rapport à un sol (21) et sortir, en fonction de la distance déterminée (s1, s2, s3, s4), une valeur de distance propre ou une série de mesures propre avec des valeurs de distance appartenant à au moins un critère de capteur de distance;
    marquer les valeurs de distance du premier capteur de distance (41) qui indiquent une irrégularité temporaire (21b, 21c) ou une irrégularité présente sur un trajet limité du trajet prédéterminé et/ou marquer les valeurs de distance qui indiquent une valeur aberrante temporaire (21b, 21c) ou des valeurs aberrantes présentes le long d'un trajet limité du trajet prédéterminé; où les valeurs de distance du deuxième capteur de distance (42, 43, 44) dans la direction de circulation, suivant dans la direction de circulation, sont masquées pour les positions (P1, P2, P3, P4) qui sont marquées en partant des valeurs de distance du premier capteur de distance (41).
  22. Programme d'ordinateur avec un code de programme qui fait que la machine de construction selon la revendication 1 réalise les étapes du procédé selon la revendication 21 lorsque le programme d'ordinateur est exécuté sur un ordinateur.
EP19164127.3A 2019-03-20 2019-03-20 Machine de construction avec un système de mesure Active EP3712328B1 (fr)

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Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3909583A1 (de) 1989-03-23 1990-10-18 Abg Werke Gmbh Strassenfertiger
EP0547378B1 (fr) 1991-11-15 1995-02-15 MOBA-Electronic Gesellschaft für Mobil-Automation mbH Appareil de contrôle ultrasonore pour une fraiseuse mobile
DE9214769U1 (de) 1991-11-15 1993-04-01 MOBA - Electronic Gesellschaft für Mobil-Automation mbH, 65604 Elz Ultraschallsensor-Regeleinrichtung für einen Straßenfertiger
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
US7172363B2 (en) * 2004-08-31 2007-02-06 Caterpillar Paving Products Inc Paving machine output monitoring system
EP3270109B1 (fr) 2015-07-01 2018-11-14 MOBA - Mobile Automation AG Dispositif et procédé de mesure de la distance parcourue sur un engin équipé de chenilles et engin
DE102017005015A1 (de) * 2017-05-26 2018-11-29 Wirtgen Gmbh Maschinenzug aus einer Straßenfräsmaschine und einem Straßenfertiger und Verfahren zum Betreiben einer Straßenfräsmaschine und eines Straßenfertigers

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