EP3741914A1 - Train de machine d'une fraiseuse routière et d'une finisseuse de route et procédé de ponctionnement d'une fraiseuse routière et d'une finisseuse de route - Google Patents

Train de machine d'une fraiseuse routière et d'une finisseuse de route et procédé de ponctionnement d'une fraiseuse routière et d'une finisseuse de route Download PDF

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Publication number
EP3741914A1
EP3741914A1 EP20180921.7A EP20180921A EP3741914A1 EP 3741914 A1 EP3741914 A1 EP 3741914A1 EP 20180921 A EP20180921 A EP 20180921A EP 3741914 A1 EP3741914 A1 EP 3741914A1
Authority
EP
European Patent Office
Prior art keywords
road
machine
milling
profile data
height profile
Prior art date
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Granted
Application number
EP20180921.7A
Other languages
German (de)
English (en)
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EP3741914B1 (fr
Inventor
Christoph Menzenbach
René Müller
Cyrus Barimani
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Wirtgen GmbH
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Wirtgen GmbH
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Publication of EP3741914A1 publication Critical patent/EP3741914A1/fr
Application granted granted Critical
Publication of EP3741914B1 publication Critical patent/EP3741914B1/fr
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
    • E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
    • E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
    • E01C23/088—Rotary tools, e.g. milling drums
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/004—Devices for guiding or controlling the machines along a predetermined path
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/004—Devices for guiding or controlling the machines along a predetermined path
    • E01C19/006—Devices for guiding or controlling the machines along a predetermined path by laser or ultrasound
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/48—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/48—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ
    • E01C19/4866—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ with solely non-vibratory or non-percussive pressing or smoothing means for consolidating or finishing
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs

Definitions

  • the invention relates to a machine train consisting of a road milling machine traveling ahead, which has a machine frame carried by crawler tracks or wheels and a milling drum arranged on the machine frame for milling material, and a subsequent road paver, which has a machine frame carried by crawler drives or wheels, on which a storage container is arranged for material to be paved and a screed for paving material.
  • the invention also relates to a method for operating a road milling machine and a road paver.
  • Self-propelled construction machines of various types are used in road construction. These machines include the well-known road milling machines with which existing layers of the road surface can be removed.
  • the known road milling machines have a rotating milling drum that is equipped with suitable milling or cutting tools for processing the soil.
  • the milling drum is arranged on the machine frame, which is adjustable in height in relation to the soil to be worked. The height adjustment of the machine frame takes place by means of a lifting device which has lifting columns assigned to the individual crawler tracks or wheels.
  • the road milling machine has a conveying device with a conveyor belt to remove the milled off material.
  • the known road milling machines have a control and computing unit with which the lifting device is controlled.
  • the machine frame is lowered so that the milling drum penetrates the road surface.
  • the lifting columns allow both the height adjustment of the machine frame or the milling drum and the setting of a predetermined inclination of the milling drum transversely to the feed direction of the road milling machine.
  • the known road milling machines have milling depth regulating devices or leveling systems which have one or more measuring devices for measuring the distance between a reference point have on the milling machine and the road surface to be machined.
  • the known measuring devices have tactile sensors or contactless sensors for distance measurement, for example ultrasonic sensors.
  • measuring systems known as multiplex leveling systems are used, which have several distance sensors arranged at a distance from one another in the longitudinal direction of the substrate to be processed in order to be able to calculate an average value from the measured values of the individual sensors.
  • the lifting columns are then controlled as a function of the mean value, so that minor unevenness can be largely compensated for.
  • the distance sensors are attached to an elongated boom which is attached to one side of the machine frame.
  • road pavers are used that have a storage container for receiving the mix and a screed.
  • the mix is conveyed with a conveyor device from the storage container to the screed, the mix being piled in front of the screed in the direction of manufacture.
  • Screeds are known which float on the material to be paved. This means that minor unevenness in the subsurface can be largely evened out.
  • the screeds generally have a device for heating and compacting the material to be paved.
  • the road pavers like the road milling machines, can have a leveling device that can have one or more distance sensors.
  • the material milled by the road milling machine is removed from the construction site with a truck to be processed in a processing plant to be able to. Prepared mix is then driven to the construction site in a truck to be paved again with the paver.
  • a road milling machine can, however, also be operated together with a road paver as a machine train.
  • the road milling machine in front is used as a recycler, which mills off the damaged road surface and processes the milled surface, for example with additives such as bitumen emulsion, while the following road paver paves the processed surface again.
  • the conveyor device of the road milling machine conveys the milled material into the storage container of the road paver.
  • a road paver is operated together with a road milling machine as a machine train, only a certain amount of material is available.
  • the road paver can only pave as much material as the road milling machine has previously milled off. It must be taken into account that the volume of the material milled per unit of time or route section with the road milling machine can change continuously depending on the nature of the road surface.
  • the volume of the material to be paved with the road paver per unit of time or route section is also not constant. For example, the compensation of a depression requires a larger volume of material for the corresponding route section. Consequently, the position of the screed has to be changed in order to achieve a uniform road surface. Proper operation of the paver also requires a sufficient amount of material in the storage bin.
  • a leveling device for a road milling machine which provides a sensor for detecting the actual value of the milling depth and a sensor for detecting the current inclination of the milling drum in relation to a reference surface on the left and right side of the road milling machine.
  • the milling depth can be specified on the left and right side of the machine.
  • the milling depth can also only be on one of the two sides can be specified. In this case, in addition to the milling depth, a specific cross slope can be specified on only one side.
  • the EP 0 542 378 B1 describes a control device for a road milling machine which has three ultrasonic sensors which are arranged one behind the other in the feed direction of the milling machine. A shoulder of the road is to be scanned as a reference surface with the ultrasonic sensors. Two distance sensors are located on the machine frame at the height of the drives and one sensor is arranged between the drives. The distance values are evaluated statistically, for example an average value is formed in order to generate a control signal for the lifting device for adjusting the height of the drives.
  • the EP 0 542 297 B1 proposes an ultrasonic control device for a road finisher which has three ultrasonic sensors which are arranged one behind the other in the feed direction of the paver and which are fastened to a holder.
  • the measured distance values are evaluated in order to generate a control signal for a leveling device to change the position of the screed.
  • Distance values that lie outside the specified limits should be discarded.
  • Unevenness in the scanned reference plane should be largely compensated for by averaging.
  • the disadvantage is that the distance values can only be recorded over a range that is determined by the sensors attached to the holder. Therefore, elongated bumps that extend over a greater length than the machine frame cannot be detected.
  • the invention is based on the object of achieving improved detection of the subsurface in order to also be able to detect elongated unevenness.
  • An object of the invention is also to scan a reference area or line with a relatively small additional technical effort for the operation of the road finisher.
  • the road paver which has a machine frame carried by crawler tracks or wheels, on which a receptacle for material to be paved and a screed for paving material is arranged, is preferably operated in conjunction with a road milling machine, which has one of crawler tracks or wheels supported machine frame and arranged on the machine frame milling drum for milling off material.
  • a road milling machine which has one of crawler tracks or wheels supported machine frame and arranged on the machine frame milling drum for milling off material.
  • the machine train from the road milling machine ahead and the road paver behind it is characterized in that the road milling machine has a profile data determination device for the leveling device of the road paver, the profile data determination device being designed in such a way that, during the advance of the road milling machine, a sequence of the height of the Height profile data describing the road surface in the longitudinal direction are determined.
  • the reference line or reference surface for example a strip of the road surface to be machined, is therefore not scanned with distance sensors, which can only be located on the paver within an area limited by the geometric dimensions of the machine frame, but by means of the road milling machine driving ahead. Consequently, the road milling machine serves as a "scanning device".
  • height profile data is understood to mean all data with which the profile of any strip or line extending in the longitudinal direction of the road surface to be processed can be described, for example the distance values between an assumed reference point or a reference line, for example the mean profile in the center of the road, and another reference point or line on the road surface.
  • Under Profile data are also understood as corresponding electrical signals.
  • the height profile data can comprise absolute or relative distance values.
  • a data transmission device is provided on the road milling machine to transmit the height profile data.
  • a data transmission device is understood to mean all means with which data or signals can be transmitted.
  • the data can be transmitted, for example, using electromagnetic or optical signals.
  • the data transmission device can be a display unit on which the height profile data or data derived therefrom are displayed so that the machine operator of the road paver or another person can recognize the height profile data.
  • data derived from the height profile data can be visualized, for example, as symbols or the like, which can serve as work instructions for controlling the paver.
  • the road finisher preferably has a data receiving device so that the height profile data can be received by the road finisher.
  • the data transmission device and data receiving device can be a transmitting and receiving device, which can comprise a radio transmitter and receiver, and can be part of a WLAN (Wireless Local Area Network), for example.
  • the data transmission device can also comprise a device for reading out data on a data carrier, for example a drive or a USB stick, and the data receiving device can comprise a device for reading in data from a data carrier.
  • Intermediate storage of the data on a data carrier is necessary if the road milling machine and the road paver are not operated as a machine train, but rather a certain period of time lies between the work step of recording and reading in the data.
  • the road finisher has a leveling device which has at least one actuator and a control unit which is designed in such a way that the control unit, depending on a height profile data set, which is obtained from the height profile data determined by the road milling machine, generates a control signal to control the at least one actuator.
  • the height profile data can be recorded in advance over a wide area of the road surface with the road milling machine before the material is paved in this area with the road paver.
  • the elevation profile data can be temporarily stored in a memory for the period of time that the road paver needs to cover the corresponding route section. This memory can be provided on the road milling machine or the road paver.
  • the extraction of the altitude profile data set from the altitude profile data requires an evaluation of the data or signals. Since the invention lies primarily in the provision of the data, how the data are processed or evaluated and how the position of the screed is controlled with this data is not decisive for the invention. For example, the recorded height profile data or data derived therefrom can only be shown on a display, on the basis of which the machine operator of the road paver carries out manual control of the position of the screed.
  • the elevation profile data set can be obtained from the elevation profile data using an evaluation device which can be provided in the road milling machine or the road paver.
  • the evaluation device is preferably part of a control and computing unit of the road milling machine.
  • the evaluation device is designed in such a way that the height profile data are statistically evaluated in order to obtain the height profile data set.
  • the evaluation device is preferably designed in such a way that the statistical evaluation of the height profile data includes averaging and / or the rejection of height profile data lying outside predetermined limit areas.
  • the road milling machine has a device for determining spatial data, the profile data determining device being designed in such a way that spatial height profile data are obtained from the height profile data.
  • the device for determining spatial data can be, for example, an odometer.
  • the position in space can also be determined with a global positioning system (Global Navigation Satellite System (GNSS), e.g. GPS).
  • GNSS Global Navigation Satellite System
  • the height profile can be described for any point in space.
  • the drives or wheels of the road milling machine can be attached to the machine frame via lifting columns in such a way that the height of the machine frame relative to the surface of the floor can be changed to adjust the milling depth of the milling drum.
  • the acquisition of height profile data suitable for controlling the screed is particularly simple and reliable with the road milling machine in front if it can be assumed that changes in the height profile will only occur on one side, i.e. on the left or right side of the machine in the direction of travel are expected.
  • this situation often arises from the fact that the road surface of a road in need of repair in the middle of the road has no or only slight bumps, while the road surface in the edge area of the road often has strong bumps, for example due to settlement in the shoulder area.
  • a track is then removed for each operation, with one side of the machine moving on the barely worn center of the road and the other side of the machine moving over the edge area of the road with relatively large bumps .
  • height profile data suitable for controlling the screed can be recorded particularly easily and reliably with the road milling machine in front if the road milling machine has a slope sensor which, depending on the cross slope of the machine frame and / or the milling drum, generates a sequence of cross slope data generated, wherein the profile data determining device is designed in such a way that the height profile data are obtained from the cross slope data determined with the slope sensor. It is assumed that the transverse slope of the road milling machine describes the height profile of the road surface on one side of the road in the longitudinal direction.
  • the road milling machine has a milling depth control device for controlling the lifting columns, which has a first measuring device for measuring the distance between a reference point on the road milling machine and the surface of the unworked soil on the left side of the milling drum in the working direction, and a second measuring device for measuring the distance of a reference point on the road milling machine to the surface of the unmachined soil on the right side of the milling drum in the working direction, the milling depth control device being designed in such a way that the lifting columns are controlled in such a way that the milling depth on the advance of the road milling machine the left and right side of the milling drum in the working direction is kept essentially constant regardless of the nature of the soil surface.
  • This regulation of the milling depth means that, regardless of the nature of the subsurface, a specified layer thickness is removed over the entire width of the milling drum or roadway.
  • the transverse inclination of the machine frame and the milling drum on the machine frame can change when the road milling machine is advanced according to the profile of the road surface.
  • the inclination of the road milling machine provides information about the nature of the height profile in the longitudinal direction of the roadway on the other side, on which the height profile is, for example, due to settlement in the shoulder area changes. For example, a large depression in the road surface can cause the machine frame to tilt more than a smaller depression.
  • the profile data determination device can obtain the height profile data from the cross slope data, since the cross slope data in such a milling depth control describe the elevation profile.
  • tactile sensors for example draw-wire sensors or non-contact sensors, for example ultrasonic sensors
  • a cable sensor can detect the position of the left and / or right edge protection, which rests floating on the floor surface, relative to the machine frame.
  • the edge protector moves upwards relative to the machine frame by an amount corresponding to the change in the milling depth. If, on the other hand, the milling depth is reduced, the edge protection moves downward relative to the machine frame by an amount which corresponds to the change in the milling depth.
  • a milling depth control is preferably designed in such a way that a specific milling depth is specified. If the milling depth sensors detect a deviation of the sensor (actual) values from the specified (nominal) values, the milling depth is corrected. Since milling depth sensors can be provided on both sides of the milling drum, a milling depth (possibly also the same) can be specified for each side of the milling drum.
  • the height of the machine frame is only adjusted on the left side, for example by or extend only the lifting columns on the left side of the machine frame. If there is a depression in the road surface on the left side of the machine, this is recognized by the left milling depth sensor as a reduction in the milling depth. In response to this, the lifting columns on the left side of the machine frame are retracted in order to increase the milling depth again.
  • the road milling machine has a milling depth control device for controlling the lifting columns, which has a measuring device for Measuring the distance of a reference point on the road milling machine to the surface of the unmachined soil on one of the two sides of the milling drum, the milling depth control device being designed in such a way that the lifting columns are controlled in such a way that the milling depth on the one hand the two sides of the milling drum is kept essentially constant regardless of the nature of the soil surface.
  • a transverse inclination control device is provided, which is designed in such a way that the lifting columns are controlled in such a way that the transverse inclination of the machine frame is kept essentially constant when the road milling machine is advanced, regardless of the nature of the ground surface, so that a certain profile is also used for the road surface a certain transverse slope can be specified.
  • a measuring device is provided for measuring the distance of a reference point on the road milling machine to the surface of the unworked soil on the other of the two sides of the milling drum, the height profile data can be obtained from the sequence of the measured distance values.
  • the profile data determination device is designed in such a way that the height profile data are obtained from the distance data.
  • milling depth regulations described above which are a prerequisite for determining the height profile data from the bank data or distance data, are known from the prior art. These milling depth regulations are for example in the DE 10 2006 020 293 A described in detail.
  • Fig. 1 shows a side view of a self-propelled road milling machine for milling road surfaces in a simplified representation.
  • the road milling machine 1 has a machine frame 3 carried by a chassis 2.
  • the chassis 2 of the milling machine comprises front and rear crawler tracks 4 and 5, which are arranged on the right and left side of the machine frame 3 in the working direction A.
  • wheels can also be provided.
  • the road milling machine has a lifting device 7 which comprises lifting columns 8 and 9 assigned to the individual crawler tracks 4, 5, by which the machine frame 3 is supported.
  • the road milling machine 1 also has a milling drum 10 equipped with milling tools, which is arranged on the machine frame 3 between the front and rear track drives 4, 5 in a milling drum housing 11 which is closed on the long sides by a left and right edge protection 12.
  • a conveyor device 13 with a conveyor belt 14 is provided to remove the milled road surface.
  • the conveying device 13 is arranged at the rear end of the road milling machine, seen in the working direction A, so that the milled material can be loaded from the road milling machine in front onto a subsequent road paver.
  • the operator's platform 15 for the machine operator is located on the machine frame 3 above the milling drum housing 11.
  • the height and inclination of the machine frame 3 and the milling drum 10 arranged on the machine frame relative to the floor surface 6 can be adjusted. In principle, however, it is also possible to change the height and inclination of the milling drum in relation to the stationary machine frame.
  • Fig. 2 shows a simplified perspective view of a self-propelled road paver 16.
  • the road paver has a machine frame 18 carried by crawler tracks 17 (crawler paver). Instead of crawler tracks, wheels can also be provided (wheeled pavers).
  • crawler tracks 17 crawler paver
  • wheels can also be provided (wheeled pavers).
  • a storage container 19 for receiving the material to be installed is arranged.
  • a screed 20 for paving the material.
  • the operator's platform 21 is arranged between the storage container 19 and the screed 20.
  • the screed 20 is designed as a screed floating on the material to be laid.
  • the screed 20 is movably connected to the machine frame 18 via spars 22 which are provided on both sides of the machine frame 18.
  • the paver 16 has a leveling device 23 ( Fig. 3 ) to compensate for short and long unevenness in the subsurface so that a roadway can be produced with the desired evenness and paving thickness.
  • the leveling device 23 has actuators 24 for changing the position of the screed 20 and a control unit 23A ( Fig. 3 ), which generates control signals for controlling the actuators 24.
  • the desired paving thickness is achieved in particular by adjusting the setting angle of the screed 20, which is determined by the height of a screed pulling point.
  • the actuators 24 of the leveling device 23 can include leveling cylinders 26 provided on the sides of the machine frame 18. With the leveling cylinders 26, not only the angle of incidence of the screed 20, but also the inclination of the screed transverse to the direction of manufacture A can be adjusted.
  • the control unit 23A of the leveling device 23 is configured in such a way that the setting of the position of the screed 20 takes place on the basis of a height profile data set which comprises a sequence of height profile data describing the height of the road surface 6 in the longitudinal direction.
  • the road milling machine 1 from Fig. 1 and the paver 16 from Fig. 2 are operated according to the invention as a machine train, the road milling machine 1 traveling ahead providing the height profile data from which the height profile data set for the leveling device 23 of the following road paver 16 is obtained.
  • FIG. 3 Describes in detail how the height profile data are determined by the road milling machine 1 and the height profile data set is obtained from the height profile data.
  • Fig. 3 shows the machine train consisting of road milling machine 1 and road paver 16 with the essential components for the acquisition and transmission of the height profile data in a greatly simplified schematic representation.
  • the height profile data are transmitted from the road milling machine 1 to the road paver 16.
  • the road milling machine 1 has a data transmission device 27 for transmitting the height profile data and the road paver 16 has a data receiving device 28 for receiving the height profile data.
  • the data transmission device and the data receiving device can be a transmitting and receiving device 27, 28.
  • the transmitting device 27 is a radio transmitter and the receiving device 28 is a radio receiver, so that the signals can be transmitted wirelessly. Radio transmitters and radio receivers can be part of a WLAN.
  • the road surface of a damaged roadway is milled off with the road milling machine 1 and the milled and reconditioned material is installed again as a new surface using the road paver 16.
  • the road milling machine 1 moves at a predetermined feed rate, for example, on the right half of the road, the milling drum 10 extending transversely to the working direction A over the width of the right half of the road.
  • Fig. 3 the original profile is shown in the middle of the street (central gradient) and in the area of the right edge of the street (outer gradient).
  • the central gradient 29 has essentially no depressions or elevations. However, depressions 31 or elevations can be clearly seen on the outer gradient 30.
  • the height of the roadway along a line in the longitudinal direction of the roadway, ie the central or outer gradient, is plotted on the Y-axis, and the distance is plotted on the X-axis.
  • ⁇ z n denotes the vertical distance between the central gradient 29 and the outer gradient 30 at a point a n on the route, for example
  • ⁇ z 1 denotes the vertical distance between the central gradient 29 and the outer gradient 30 at the waypoint a 1 .
  • the road is inclined towards the edge by the angle ⁇ .
  • the angle ⁇ is dependent on the horizontal distance and the vertical distance ⁇ z n between the central gradient 29 and the outer gradient 30. Since the horizontal distance between the central gradient 29 and the outer gradient 30 is known and remains constant during the tillage, the angle ⁇ is at the waypoint a n suitable to determine the vertical distance ⁇ z n .
  • the milling machine has a milling depth control device 33 for controlling the lifting columns 8, 9, which has a first measuring device 33A for measuring the distance between a reference point on the road milling machine 1 and the surface of the unworked soil on the left side of the milling drum 10 and in the working direction A / or a second measuring device 33B for measuring the distance of a reference point on the road milling machine to the surface of the unworked soil on the right side of the milling drum 10 in the working direction A.
  • the road milling machine 1 according to the invention with the milling depth control device 33 is preferably operated in such a way that the road surface machined with the milling drum 10 is a copy of the unmachined surface, i.e. in the longitudinal direction largely the same layer thickness is always removed over the entire width of the milling drum .
  • the current milling depth is recorded by the two measuring devices 33A, 33B on the right or left side of the milling drum 10. If one of the milling depth measuring devices 33A, 33B determines a deviating milling depth, a corresponding correction is made.
  • the transverse inclination of the machine frame 3 changes as the milling machine is advanced.
  • the changing transverse slope can therefore be understood as a measure of the depth of the depression in relation to a mean height of the road surface, in particular the mean gradient, i.e. H. the transverse slope of the machine frame describes the height profile of the road surface at the edge of the roadway.
  • the first or second measuring device 33A, 33B can have a distance sensor, which can be a tactile or contactless distance sensor.
  • the distance sensor can be an ultrasonic sensor.
  • the distance sensor can also be a sensor that detects the position of the left or right edge protection 12 of the milling machine, for example a cable sensor.
  • the two measuring devices 33A, 33B generate a measuring signal which correlates with the distance and which the milling depth control device 33 of the road milling machine 1 receives.
  • the milling depth control device 33 is configured in such a way that the lifting columns 8, 9 are retracted or extended depending on the measurement signals in such a way that when the road milling machine is advanced, the milling depth on the left and right side of the milling drum 10 in the working direction is independent of the Condition of the soil surface is kept essentially constant.
  • Such a milling depth control device is from DE 10 2006 020 293 A1 known.
  • the road milling machine 1 also has a profile data determining device 36 which has a slope sensor 37.
  • the transverse slope ⁇ of the machine frame 3 or the milling drum 10, which changes as a result of bumps, is detected by the transverse slope sensor 37 while the road milling machine is being advanced.
  • the transverse slope can be measured continuously during the advance or at specified time intervals in order to generate the height profile data.
  • the height profile data can be, for example, the data of the bank slope sensor 37 read out at specific time intervals by the profile data determination device. From the data of the slope sensor 37, the profile data determination device 36 determines a sequence of height profile data describing the height of the profile at the waypoints a 1 , a 2 , a 3 ...
  • the profile data determination device 36 can have a global position determination system (GPS) 38 which, at the times at which the data from the bank angle sensor 37 is read out, ie at the waypoints a 1 , a 2 , a 3 .., a n position Provides data (x 1 , y 1 ), (x 2 , y 2 ), (x 3 , y 3 ) ... (x n , y n ) to extract from the height profile data ( ⁇ z 1 , ⁇ z 2 , ⁇ z 3 , ..., ⁇ z n ) to determine spatial height profile data.
  • GPS global position determination system
  • the profile data determination device 36 which during the advance of the milling machine a sequence of the height of the profile at the waypoints a 1 , a 2 , a 3 ... a n descriptive height profile data ( ⁇ z 1 , ⁇ z 2 , ⁇ z 3 ,. .., ⁇ z n ), assigns the altitude profile data at the individual waypoints to the data (x 1 , y 1 ), (x 2 , y 2 ), (x 3 , y 3 ) .. . (x n , y n ) to.
  • a distance counter can also be provided to determine the position data (x 1 , y 1 ), (x 2 , y 2 ), (x 3 , y 3 ) ... (x n , y n ).
  • the position data can also be calculated from the feed rate and the time required by the road milling machine 1 to reach a specific path point a 1 , a 2 , a 3 ... a
  • ⁇ z n (x n , y n ) From the spatial height profile data ⁇ z n (x n , y n ) a spatial height profile data set [file: ( ⁇ z 1 (x 1 , y 1 ), ⁇ z 2 (x 2 , y 2 ), ⁇ z 3 (x 3 , y 3 ) ... ⁇ z n (x n , y n )], which describes the relative height profile in the longitudinal direction of a certain road section, in particular along the outer gradient.
  • the absolute height of the central gradient 29 is determined. If the absolute height of the central gradient 29 is known, absolute height profile data (z 1 , z 2 , z 3 , ...) can be obtained from the relative height profile data ( ⁇ z 1 , ⁇ z 2 , ⁇ z 3 , ..., ⁇ z n ). ., z n ) and a spatially related absolute height profile data set can be calculated, which describes the absolute height profile in the longitudinal direction of a certain road section, in particular along the outer gradient.
  • An evaluation device 39 which can be provided in the road milling machine 1 or the road paver 16, is provided to obtain the height profile data set. If the evaluation device 39 is provided in the road milling machine 1, the entire data set or a part of the data set is transmitted to the data receiving device 28 with the data transmission device 27. The evaluation device 39 is preferably provided in the road milling machine 1. The evaluation device 39 can then be part of the milling depth control device 33 of the road milling machine 1.
  • the evaluation device 39 can be configured in such a way that the height profile data are evaluated according to known statistical evaluation methods.
  • the mean value can be formed from the measured transverse slopes.
  • data lying outside predetermined limit ranges are discarded prior to the averaging. With these measured values, it is assumed that incorrect measurements are present or that the measuring device does not detect the road surface itself, but rather objects lying on the road, for example larger stones.
  • the height profile data set can be used to control the actuators 24 of the leveling device 23 of the road paver 16.
  • the control unit 23A of the leveling device 23 can be configured, for example, in such a way that the leveling cylinders 26 are extended or retracted on the basis of the height profile data set.
  • the angle of attack and / or the transverse inclination of the screed 20 can be set as a function of the height profile data.
  • the transverse inclination of the screed 20 is changed as a function of the height profile in such a way that depressions on the right-hand side of the roadway are compensated.
  • the inclination of the screed 20 is reduced so that a larger amount of material is installed on the right-hand side.
  • the necessary changes in the angle of attack and / or the transverse inclination of the screed 20 can already be determined by the evaluation device 39 on the basis of the height profile data set. If the evaluation device 39 is provided on the road milling machine 1, it is sufficient in this case if the data transmission device 27 does not transmit the entire height profile data set, but rather only control instructions for the actuators, in particular to a data receiving device 28.
  • the height profile data record determined with the road milling machine 1 traveling ahead can include data over a larger section of the road without a large number of sensors being required to determine this data.
  • a boom on the road paver 16 for fastening a plurality of sensors is also not required, which arm would otherwise be limited in its spatial dimensions essentially to the length of the paver. Even the gradients of winding roads can easily be recorded and made available to the paver.
  • the milling depth control device 33 of the road milling machine 1 and the leveling device 23 of the road paver 16 can, for example, have a general one Processor, a digital signal processor (DSP) for the continuous processing of digital signals, a microprocessor, an application-specific integrated circuit (ASIC), an integrated circuit (FPGA) consisting of logic elements or other integrated circuits (IC) or hardware components for the control of the actuators.
  • DSP digital signal processor
  • ASIC application-specific integrated circuit
  • FPGA integrated circuit
  • a data processing program software can run on the hardware components.
  • a combination of the various components is also possible.
  • An alternative embodiment requires a milling depth control device known in the prior art for controlling the lifting columns 8, 9, which has a measuring device for measuring the distance between a reference point on the road milling machine and the surface of the unworked soil on only one of the two sides of the milling drum 10 having.
  • a measuring device 33A is only provided on the left side of the machine frame 3.
  • the milling depth control device 33 is designed such that the lifting columns 8, 9 are extended or retracted in such a way that when the road milling machine is advanced, the milling depth on one of the two sides of the milling drum is kept essentially constant regardless of the nature of the soil surface . In the present embodiment, the milling depth is kept constant on the left side.
  • a transverse inclination control device 40 is provided, which is designed such that the lifting columns 8, 9 are controlled in such a way that the transverse inclination of the machine frame 3 is kept essentially constant when the road milling machine is advanced, regardless of the nature of the ground surface, so that results in a given transverse slope for the milled surface.
  • the slope control device can be part of the milling depth control device, which in turn can be part of a central control and processing unit.
  • a sequence of distance data is generated.
  • the profile data determining device 36 is designed such that the height profile data are obtained from the distance data of the second measuring device 33B.
  • Such a milling depth control device which has two measuring devices on the left and right side and a bank control for setting a specific bank slope, is from the DE 10 2006 020 293 A1 known.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Road Repair (AREA)
  • Road Paving Machines (AREA)
EP20180921.7A 2017-05-26 2018-05-18 Train de machines comprenant une fraiseuse routière et une finisseuse de route et procédé de fonctionnement d'une fraiseuse routière et d'une finisseuse de route Active EP3741914B1 (fr)

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DE102017005015.5A DE102017005015A1 (de) 2017-05-26 2017-05-26 Maschinenzug aus einer Straßenfräsmaschine und einem Straßenfertiger und Verfahren zum Betreiben einer Straßenfräsmaschine und eines Straßenfertigers
EP18173127.4A EP3406799B1 (fr) 2017-05-26 2018-05-18 Train de machines composé d'une fraiseuse routière et d'une finisseuse de route et procédé de fonctionnement d'une fraiseuse routière et d'une finisseuse de route

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EP20180921.7A Active EP3741914B1 (fr) 2017-05-26 2018-05-18 Train de machines comprenant une fraiseuse routière et une finisseuse de route et procédé de fonctionnement d'une fraiseuse routière et d'une finisseuse de route

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PL3892777T3 (pl) 2020-04-08 2024-02-26 Joseph Vögele AG Układarka drogowa i sposób z kontrolą profilu poprzecznego
EP4056758B1 (fr) * 2021-03-10 2023-09-13 Joseph Vögele AG Procédé de fabrication d'un revêtement routier et système d'asphaltage
EP4056760B1 (fr) * 2021-03-12 2023-08-09 Joseph Vögele AG Finisseuse de routes à régulation en cascade de nivellement
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CN114150560B (zh) * 2021-12-03 2023-02-03 河南省高远公路养护技术有限公司 一种高精度全幅路面铣刨设备及铣刨方法
CN114197271A (zh) * 2021-12-16 2022-03-18 郭强 一种公路工程用节能型沥青摊铺机
EP4253901A1 (fr) * 2022-03-29 2023-10-04 Volvo Construction Equipment AB Systéme de détection et procédé de surveillance d'irrégularité d'un plan
US20230340736A1 (en) * 2022-04-21 2023-10-26 Wirtgen Gmbh Differential milling and paving
DE102022113273A1 (de) * 2022-05-25 2023-11-30 Wirtgen Gmbh Selbstfahrende Bodenbearbeitungsmaschine und Verfahren zum Steuern einer selbstfahrenden Bodenbearbeitungsmaschine sowie Verfahren zum Bearbeiten des Bodens mit einer oder mehreren selbstfahrenden Bodenbearbeitungsmaschinen

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DE102017005015A1 (de) 2018-11-29
US11629463B2 (en) 2023-04-18
CN108930218A (zh) 2018-12-04
US20180340302A1 (en) 2018-11-29
EP3406799B1 (fr) 2020-07-01
US20220145552A1 (en) 2022-05-12
EP3741914B1 (fr) 2022-04-27
EP3406799A1 (fr) 2018-11-28
CN108930218B (zh) 2021-04-02
US11193245B2 (en) 2021-12-07
CN208701480U (zh) 2019-04-05

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