EP4223932A1 - Système de mise à niveau pour machine de construction - Google Patents

Système de mise à niveau pour machine de construction Download PDF

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Publication number
EP4223932A1
EP4223932A1 EP23154187.1A EP23154187A EP4223932A1 EP 4223932 A1 EP4223932 A1 EP 4223932A1 EP 23154187 A EP23154187 A EP 23154187A EP 4223932 A1 EP4223932 A1 EP 4223932A1
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EP
European Patent Office
Prior art keywords
layer thickness
values
target
construction machine
height
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP23154187.1A
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German (de)
English (en)
Inventor
Alfons Horn
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MOBA Mobile Automation AG
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MOBA Mobile Automation AG
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Filing date
Publication date
Application filed by MOBA Mobile Automation AG filed Critical MOBA Mobile Automation AG
Publication of EP4223932A1 publication Critical patent/EP4223932A1/fr
Pending legal-status Critical Current

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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
    • 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
    • E01C19/22—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 consolidating or finishing laid-down unset materials
    • 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
    • E01C19/22—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 consolidating or finishing laid-down unset materials
    • E01C19/42—Machines for imparting a smooth finish to freshly-laid paving courses other than by rolling, tamping or vibrating
    • 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
    • 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
    • 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
    • E01C23/12—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 taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor
    • E01C23/122—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 taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor with power-driven tools, e.g. oscillated hammer apparatus
    • E01C23/127—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 taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor with power-driven tools, e.g. oscillated hammer apparatus rotary, e.g. rotary hammers
    • 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

Definitions

  • Embodiments of the present invention relate to a leveling system for a construction machine, in particular a road construction machine such as a road finisher or a road milling machine.
  • Preferred exemplary embodiments relate to a leveling system with a layer thickness measuring system.
  • Further exemplary embodiments relate to a construction machine (road construction machine, such as a road finisher or road milling machine) with a corresponding leveling system.
  • a further exemplary embodiment relates to a device for determining a layer thickness profile.
  • Further exemplary embodiments relate to the corresponding methods for leveling and for determining a layer thickness profile and corresponding computer programs.
  • Leveling systems are used, for example, in road construction machines such as road finishers or road milling machines.
  • the height of the paving tool (the paving screed) and the incline are controlled such that the paved layer is paved with the appropriate layer thickness and incline, for example in road finishers.
  • the leveling system levels out any unevenness in the subsurface accordingly.
  • a corresponding actual height of the road finisher or the paving tool (screed) relative to the subsoil or relative to the layer already applied is scanned in order to be able to control the paving tool accordingly depending on subsoil variations.
  • a sensor mount that runs parallel to the direction of travel and extends, for example, over a length of 12 m.
  • a sensor mount is in Fig. 1a shown.
  • Fig. 1a shows a road finisher 10 with a sensor mount 12 and here four sensors 14a-d.
  • the sensor 14b is arranged behind the screed 10b. Waves in the range of 4 to 8 m can be easily sampled and then corrected by means of the sensor mount shown with the four sensors 14a-d.
  • Fig. 1b shows a road finisher 10 with a plank 10b.
  • the height adjustment of the screed is controlled at the towing point 10z via the towing point cylinder 10zz, as is already the case, for example, in connection with Fig. 1a was explained.
  • the height of the screed 10b can also be controlled using the components 14Ia1 and 14Ia2 as well as 14t.
  • An external reference is introduced through the total station 14t, which emits a laser beam at a predetermined height.
  • This laser beam which is emitted parallel to the background or a reference, for example, is then received directly by the height sensor 14Ia1 or indirectly after reflection by the 360° prism 14Ia2.
  • the stationary reference height the actual height is not subject to long-wave fluctuations that are determined by the sensor arrangement 1 cannot be detected.
  • the total station as a virtual reference, it is possible to dispense with other references, such as cords, etc.
  • the disadvantage of using the total station is that it has to be calibrated in a time-consuming process, and one often does not get by with a total station, especially on longer streets. Therefore, there is a need for an improved approach.
  • the object of the present invention is to create a leveling system or, in general, a height regulation system for construction machines that offers a better compromise between ergonomics, accuracy and the ability to regulate long shafts.
  • Embodiments of the present invention create a leveling system for a construction machine, in particular a road construction machine or a road finisher or a road milling machine.
  • the leveling system includes a coating thickness measurement system and a processor.
  • the layer thickness measuring system is designed to measure a layer thickness currently to be applied or removed and to determine corresponding (predicted) actual layer thickness values for a plurality of positions (eg along a direction of travel of the construction machine). In this case, for example, a plurality of current layer thickness values are obtained for a plurality of positions (lined up one behind the other). In other words, this plurality of layer thickness values can be referred to as the actual layer thickness profile.
  • the processor is designed, based on a layer thickness profile (target layer thickness profile), comprising a plurality of target layer thickness values assigned to the plurality of positions, and the (predicted) actual layer thickness values for the corresponding positions control values for each (additional) position for height regulation of a tool of the construction machine, e.g. B. the screed or the milling drum.
  • a layer thickness profile target layer thickness profile
  • the processor is designed, based on a layer thickness profile (target layer thickness profile), comprising a plurality of target layer thickness values assigned to the plurality of positions, and the (predicted) actual layer thickness values for the corresponding positions control values for each (additional) position for height regulation of a tool of the construction machine, e.g. B. the screed or the milling drum.
  • the actual layer thickness value can be predicted based on the currently measured layer thickness, since the individual sensors in front of the screed scan the subsoil without an applied layer.
  • the forecast is based on the measured altitude values for each position. Without control, the predicted actual layer thickness would be generated at the corresponding positions. This is negative when removing layers (road milling machine), for example, and positive when applying layers (road finisher).
  • a variation can be made by appropriate control based on the above target layer thickness values.
  • control values per position for height control of the tool are determined so that the tool is controlled in accordance with the target layer thickness profile.
  • the tool is also controlled by the control values in such a way that a deviation between the actual layer thickness value profile and the target layer thickness value profile or the actual layer thickness value and the target layer thickness value is corrected for each corresponding position.
  • the control values for each position are selected in such a way that when the tool is in the steady state, the actual layer thickness value for each position essentially corresponds to the target layer thickness value.
  • “Essentially” means, for example, ⁇ 20%, ⁇ 10%, ⁇ 5%, ⁇ 3% or ⁇ 1%, which means that a maximum deviation of ⁇ 1%, ⁇ 3%, ⁇ 5%, ⁇ 10% or ⁇ 20% (depending on the variant) is permissible.
  • the control values are derived in such a way that, taking into account the control path (offset between the position of the control and completed adjustment, e.g.
  • a type of correction value is determined for each position based on a deviation between the target layer thickness value and the actual layer thickness value. This correction value is applied, and due to the offset explained, it is not applied to the current position (of the actual layer thickness value), but to a "future" or further position. As such, for the "future" position, the height of the tool is based on the correction value and the target layer thickness value for the corresponding further position.
  • control values for each (further) position are selected in such a way that the tool is/is raised and/or lowered in accordance with the target layer thickness profile when the (further) position is reached, to a position corresponding to the target layer thickness value for each position to be moved.
  • control values for each additional position can be selected in such a way that a current deviation between an actual layer thickness value and a target layer thickness value is compensated for or taken into account.
  • Exemplary embodiments of the present invention are therefore based on the knowledge that instead of or in addition to the regulation to a fixed height value, regulation to varying target height values corresponding to a layer thickness profile is regulated in order to compensate for long-wave unevenness.
  • a target layer thickness profile is scanned, which then forms a flat surface together with the bumps when applied to the bumps.
  • a thinner setpoint layer thickness is provided at the locations of a bumpy peak than at the locations of the valley of the bumps. This applies in particular to pavers or other construction machines that apply a surface.
  • the target layer thickness profile corresponds to the profile that is to be removed from the surface. In this case, more material is removed on a bumpy hill than on a bumpy valley.
  • the result is a surface that is even as far as long-wave bumps are concerned.
  • the continuous (target/actual) comparison avoids drifting.
  • the effort on site is also reduced, since measures such as total stations, etc. can be dispensed with.
  • the processor explained above is designed to derive the control values from the layer thickness profile in such a way that a layer to be smoothed by the tool or a layer to be applied by the tool along a flat surface on an (uneven or wavy) subsurface profile a direction of travel of the construction machine. As just explained, this is advantageously done even in the case of long-wave unevenness.
  • the layer to be applied (installed) or the layer to be smoothed can also have a second dimension transverse to the direction of travel in addition to the first dimension along the direction of travel.
  • the control values are derived from the layer thickness profile in such a way that on the underground profile a layer to be applied (installed) or to be smoothed by the tool forms a flat surface along a spanned plane.
  • the plane extends along the first and second dimensions. According to exemplary embodiments, this takes place, for example, in that the height of the tool can be controlled both on the first side and on the second side of the construction machine (left-right).
  • the tool such as the screed, extends from the first side to the second side of the construction machine or beyond the first and second sides of the construction machine and creates a flat surface.
  • an inclination adjustment takes place depending on the height of the two actuators for the tool or depending on the relative height of the two actuators for the tool.
  • the control values for the two actuators are defined as a function of the target inclination and as a function of the two-dimensional subsurface profile in accordance with further exemplary embodiments.
  • the layer thickness measuring system together with the processor forms a first control loop for a first side (to the left or right of the tool).
  • the layer thickness measuring system (or another layer thickness measuring system) forms a second control circuit with the processor for a second (different) side of the tool.
  • the two control loops interact together in order to correspondingly control the tool for intermediate positions between the first and the second side of the tool, so that the actual layer thickness essentially corresponds to the target layer thickness for intermediate positions in the steady state.
  • the layer thickness measuring system can be formed by two height sensors, with the first height sensor being arranged behind the screed, for example, and also measuring the applied or leveled layer and determining a corresponding height value, while the second height sensor is attached in front of the screed and has a height value determined in relation to the substrate or the not yet leveled layer. If one assumes a comparable attachment height in the simplified case, the layer thickness can be determined, for example, by calculating the difference. In the case of a non-identical attachment height, you can either work with offsets, which then leads to very precise results if the distances along the direction of travel between the sensor and the pivot point are the same.
  • the two height sensors are permanently connected to the screed, with "fixed” being to be interpreted in the sense that that there is a fixed geometric relationship between the screed and the sensors. Due to the suspension, the two sensors move together with the screed, i.e. they rotate together and experience the same lifting movement (as the screed).
  • the sensor arrangement has at least two or even at least three or even at least four sensors, which are arranged on a carrier that extends along the direction of travel of the construction machine.
  • the layer thickness measuring system can be integrated in this sensor arrangement
  • the layer thickness profile is therefore determined as a function of a background profile.
  • the subsurface profile also has a first dimension along the direction of travel and can also have a second dimension transverse to the direction of travel.
  • this background profile is scanned in advance, so that a corresponding determination of the layer thickness profile with the target layer thickness values for each position can also take place (in advance or in real time).
  • the layer thickness profile can then have target layer thickness values that vary over the positions and/or along the direction of travel.
  • each setpoint layer thickness value is assigned to a position for which an actual layer thickness value can also be determined.
  • the corresponding position is determined, for example, with a position sensor or GNSS sensor. According to the exemplary embodiments, this can be coupled to the tool/the screed or, alternatively, to the construction machine.
  • the position sensor or GNSS sensor is designed to determine the positions for the actual layer thickness values, in particular positions along the direction of travel.
  • a minimum layer thickness can be provided in the layer thickness profile. This minimum layer thickness thus defines the target layer thickness value at a crest of the underground profile.
  • the control values are derived according to the specified minimum layer thickness for each position.
  • the approach explained above thus advantageously enables leveling of a layer thickness, e.g. B. a layer to be applied or a layer to be removed, which regulates particularly long-wave bumps.
  • This leveling is required in the basic variant non-conventional leveling technique of a conventional leveling system.
  • the leveling system explained can be combined with a conventional leveling system or can be integrated into a conventional leveling system.
  • this means that the leveling system explained above can have functionalities of a conventional leveling system.
  • the processor of the leveling system explained above has a flatness controller which is designed to determine the control values using sensor values, so that a flat surface is produced.
  • the flatness controller can have, for example, a number of distance sensors which are arranged along the direction of travel of the construction machine and measure a distance from the ground. It is advantageous that the layer thickness measuring system to be used, for example, uses comparable or the same distance sensors. According to exemplary embodiments, the layer thickness measuring system can be based on two distance sensors which are arranged around the center of rotation of the screed, i.e. one in front of the screed and one behind the screed, and determine, for example, the layer thickness by the difference between the two height values. Further implementations with other constellations will be explained later.
  • the processor can have a controlled system which has, for example, a P element and/or an IT element and/or a PT element.
  • the controlled system can also be controlled by means of a prediction model.
  • This prediction model is particularly advantageous for the leveling approach explained above based on the layer thickness values, since there is a time or, in particular, a local offset of a few centimeters or even meters between the control time and the actual change in the applied layer thickness profile. This offset depends on parameters such as the slope angle of the screed, speed of the construction machine, asphalt temperature, asphalt thickness, etc. These dependencies can also be taken into account using the prediction model.
  • a further exemplary embodiment relates to a construction machine or a road construction machine or a road finisher with a corresponding leveling system.
  • a road milling machine or a construction machine with a milling function and a corresponding leveling system can also be created.
  • the device includes a Interface and a calculation unit.
  • the interface is designed to receive a subsurface profile (e.g. a scanned subsurface profile) comprising a plurality of elevation values assigned to a plurality of positions.
  • the at least one target height or target depth is received via this interface or a further interface.
  • the target height can be defined by a target height value or multiple target height values assigned to multiple positions.
  • a minimum layer thickness was specified for conventional leveling systems or layer thickness measuring systems. This corresponds, for example, to the target height.
  • the calculation unit is designed to determine the layer thickness profile on the basis of a difference between the plurality of height values assigned to a plurality of positions and the at least one target height or target depth or a reference by the at least one target height or target depth.
  • the device comprises an output interface for providing or exporting the layer thickness profile to a construction machine.
  • the target height can also be defined by a plurality of target height values assigned to a plurality of positions or the at least one target depth can be defined by a plurality of target depth values assigned to a plurality of positions. This is particularly relevant when there are different setpoint heights for the left and right or along the direction of travel in order to set an incline.
  • the multiple target height values or the one target height value define a plane or 3D planes of a layer to be smoothed or to be produced (installed).
  • the method can be computer-implemented.
  • Embodiments of the present invention provide a leveling system.
  • the leveling system can advantageously be used on a construction machine, in particular a road finisher 10, as is shown in Fig. 1a and 1b is shown to be used.
  • the leveling system 100 is in Figure 2a shown schematically.
  • the leveling system 100 includes a layer thickness measurement system 110 and a processor 130.
  • the layer thickness measurement system 110 is outlined here again as an example. It comprises, for example, a carrier 12 which is arranged on the screed 10b of the construction machine and two distance measuring devices 14a and 14b, e.g. B. ultrasonic sensors carries.
  • the first ultrasonic sensor 14a is arranged in front of the screed as seen in the direction of travel, while the second ultrasonic sensor 14b is arranged behind the screed as seen in the direction of travel. Any of these Sensors 14a and 14b determine the distance A or B from the substrate or from the applied layer.
  • the layer thickness can then be determined by calculating the difference between the two distances A and B.
  • the determined layer thickness values S1, S2, . . . for the positions P1, P2, . . . along the direction of travel are transferred to processor 130.
  • the processor 130 receives a (nominal) layer thickness profile 120.
  • the layer thickness profile 120 includes nominal layer thickness values S soll1 , S soll2 , . . . for the respective positions.
  • the layer thickness profile 120 includes, as here in block 120 or also in Figure 3a shown, difference heights plotted over the individual positions that form a planar layer together with the substrate 122 .
  • the background 122 has, as in Figure 3b shown, waves, here long waves in the range of 15 to 100 m.
  • the wave troughs are marked with 122t, the wave crests with 122b. A larger layer thickness is provided in the area of the wave troughs 122t, while a smaller layer thickness is provided in the area of the wave crests 122b.
  • the processor 130 determines the control values C1, C2 , . .to approach the positions.
  • the control values C1, C2, ... act on the traction point adjustment and thus raise or lower the screed as a result.
  • the control values can, for example, be specific distance information by how much the towing point is to be adjusted. Both positive and negative control values would be conceivable in this case, since the tow point can be both raised and lowered. For example, such a control value can be directly proportional to the determined difference between the desired layer thickness and the actual layer thickness.
  • a transmission ratio must be taken into account since, depending on the geometry of the screed suspension, a traction point adjustment leads to x-length units (screed adjustment x, for example, between 0.1 and 10 or 0.01 and 100).
  • x-length units incremented adjustment x, for example, between 0.1 and 10 or 0.01 and 100.
  • an indirect proportionality can also be provided.
  • the control values only indicate that a raising or lowering of the tractive point is necessary. This is then a binary control or a control with three states (-1 lowering, +1 raising and 0 no change in the towing point).
  • control value can also be combined with the control values explained above, so that, for example, two or three (generally several) possible control values are conceivable for lowering and raising, which specify the degree of change.
  • the height of the towing point 10z is adjusted via the towing point cylinder 10zz, but this only has an indirect influence on the height of the screed 10b and in particular the rear edge 10bk of the screed.
  • the layer thickness profile 120 Starting from the controller 130, taking into account the layer thickness profile 120, a perfect surface is theoretically formed. Since in practice the height of the tool and thus the layer thickness applied also depends on other parameters in addition to the height set on the towing point cylinder 10zz (current towing point setting), the actual layer thickness S1, S2 for each position is also taken into account according to exemplary embodiments. At this point it should be noted that the values referred to as actual layer thickness values are measured against the substrate, for example, before the layer is applied, so that these are predicted actual layer thickness values or height values in general. In this respect, the term actual layer thickness value is to be seen as synonymous with the term actual height value. As distinguished from the arrangement of the measurement system Fig.
  • scanning takes place in relation to the ground in front of the screed, i.e. the position can be assigned to a fixed length offset starting from the screed in the direction of travel or starting from the rear edge of the screed in the direction of travel.
  • the target value S soll1 is stored at a position P1 and the layer thickness height S1 at the position P1 can be compared here, with a control signal C 1+offset then being output.
  • the derived control signal C 1+offset is to be understood as a type of compensation signal, in which case the corresponding setpoint height S soll3 together with the compensation signal C 1+offset is then also taken into account for the further (offset) position P 1+offset (e.g. P3).
  • the control signal for the further position is dependent on the target/actual comparison of the first position P1, with the target height for the further position, e.g. B. S target3 , is also taken into account.
  • the further position here P3, is offset from the first position P1 by an offset that can be constant at least during operation, and is preferably assumed to be constant. As explained above, this offset depends on various parameters such as the speed of the construction vehicle, asphalt temperature, asphalt mixture, angle of attack of the screed, etc.
  • the principle can be used, for example, on road pavers with a layer height to be applied, but can also be transferred to road milling machines with a layer depth to be removed.
  • a target layer thickness / target height is determined for each position, and in the case of the road milling machine a target layer depth / target depth.
  • Figure 2b shows a construction machine 10 with a screed 10b, a layer thickness measuring system 14r, which in this exemplary embodiment comprises a first sensor 14a and a second sensor 14b. These are fastened to the screed 10b by means of a carrier 12 in such a way that the first sensor 14a measures in front of the screed and the second sensor 14b behind the screed. The first sensor 14a measures relative to the substrate, while the second sensor 14b measures relative to the applied layer.
  • another layer thickness measuring system 14l can also be provided, which is constructed analogously to the layer thickness measuring system 14r.
  • the layer thickness measuring system 14r is located, for example, on the right-hand side of the screed 10b, while the layer thickness measuring system 14l is arranged on the left-hand side of the screed 10l.
  • the layer thickness measuring system 14l and 14r in each case measures a height relative to the substrate. Assuming that both sensors 14a and 14b are arranged at the same mounting height, a layer thickness can be determined based on the difference between the two height values. If the plank tilts, the distances also change indirectly proportionally.
  • the layer thickness can still be determined on the basis of the difference.
  • the law of rays can be taken into account according to exemplary embodiments. Different measuring methods for determining the layer thickness using distance sensors are described, for example, in EP2921588 or the EP 3048199 or the EP 3228981 explained.
  • other methods for layer thickness measurement can also be considered. However, it is particularly advantageous in the layer thickness measurement explained above that distance sensors can be used which are also used in conventional leveling systems.
  • the layer thickness is typically determined in the area of the plank.
  • the position is marked with reference number 140 .
  • a position sensor such as e.g. B. a GNSS sensor, may be provided in order to assign a position to the layer thickness, which improves the comparison of the target layer thickness with the actual layer thickness per position.
  • a further position sensor 142 can also be provided, which is provided, for example, in the area of the towing point. As already explained above, the adjustment is made at the towing point for positions that are then approached with the screed at a later point in time, taking the offset into account.
  • the use of two position sensors advantageously enables the positions to be assigned to the offset between the current (screed) position and the further position (position of the traction point adjustment).
  • only one sensor can also be provided and the offset can be calculated on the basis of the driving speed or the like.
  • a further sensor arrangement here the sensor arrangement 24, can also be provided according to exemplary embodiments.
  • the sensor arrangement 24 also has distance sensors that measure the distance to the ground. These sensor assemblies 24 are connected directly to the chassis of the road construction machine 10 and scan for bumps. This sensor arrangement can be provided either on one side of the construction machine or on both sides of the construction machine.
  • the constellation off Figure 2c shows the construction machine 10 with the screed 10b and two layer thickness measuring systems 14l and 14r for the two different sides of the screed 10b. Each side is considered separately, for example, and receives 150 setpoint values S setpoint via a database.
  • the database 150 can, for example, be installed on the notebook 152 or can be accessed via it.
  • the notebook 152 or, in general, a part of the leveling system with communication means or an interface then supplies the setpoint data S setpoint to the two control circuits 130l and 130r. These then control the traction point currently left and right (not shown) according to the target values S set for the future screed positions and the deviations obtained from a current screed position.
  • Fig. 2d shows another variant. It is marked here that one of the second control circuits 130l or 130r acts as a master, while the other operates as a slave. As can also be seen here, the control circuit 130l receives the distance values from the measuring device 14l, while the control circuit 130r receives the distance values from the measuring device 14r.
  • the arrangement 14l ie the measuring arrangement 14r, has three distance sensors 14a, 14b and 14c.
  • 14a is located between 14b and 14c and measures, for example, the height in the area in front of the screed or in the area of the towing point 10z, while 14c measures further ahead in the direction of travel to the ground.
  • the layer thickness measuring system 14l, 14r can either use the two sensors 14a and 14b with difference formation or also the sensor 14c, 14b or alternatively all three sensors.
  • the distance value is measured, averaged using sensors 14a and 14c, and the difference is taken together with the distance value from distance sensor 14b.
  • the entire sensor arrangement 14 can also be expanded, for example by using more than three sensors. This is for example in Figure 2e shown.
  • Figure 2e 1 shows a construction machine 10 with a corresponding control circuit 130 and a sensor arrangement 14.
  • This includes four sensors 14a, 14b, 14c and 14d, which are fastened to a common carrier 12.
  • the sensors shown here can be embodied as so-called superski sensors, each of which has a plurality of sensor heads.
  • the sensors 14a and 14b together form a layer thickness measuring system 14.
  • the sensors 14a, 14b can also be used for determining measured values in functions of a conventional leveling system (for short shaft).
  • additional sensors can also advantageously be used, e.g. in front of the sensors 14a and 14b as viewed in the direction of travel.
  • the sensor arrangement 14 (14l, 14r) in the version with two sensors 14a and 14b each or in the version with more than two sensors 14a to 14d is used both for the conventional leveling system and for the leveling system described for long waves .
  • a layer thickness can of course also be determined directly with the sensors (14a, 14b).
  • the system as described above, is designed to compensate for long-wave unevenness.
  • short bumps can also be leveled out, for example on the basis of conventional leveling techniques.
  • a layer thickness profile 120' for producing a planar surface 125 of the layer to be applied.
  • the z. B. is scanned in advance, peaks and valleys are included. For example, scanning takes place at a distance of 3 m, where, in addition to the height in relation to a reference, the angle of inclination, etc., can also be included.
  • a layer thickness profile (cf. "Thickness left” or “Thickness right”) is then derived, specifically for the two control circuits separately.
  • a deviation from the reference for two points can also be taken into account ( ⁇ h two ).
  • the control circuit 130 is extended by a flatness controller. With the layer thickness control circuit 130, the actual layer thickness S1, . This regulation can then take place as above, taking into account a prediction model 137 .
  • a flatness regulator 142 can be provided. This regulates depending on a height sensor, z. B. the height sensor 14a, in the area of the towing point, the flatness with a P element or a PT element.
  • Figure 5b shows the plank 10b being pulled over the towing point 10z.
  • the flatness is in turn adjusted by means of the flatness controller 142 .
  • This flatness controller 142 controls the tow point cylinder, which behaves like an IT1 member.
  • the height sensor value in the area of the traction point is then determined as a feedback loop and fed back to the flatness controller 142 after optional filtering (cf. filter 144).
  • the evenness control loop includes the P element and the IT1 element. Based on this, the screed, which exhibits PT2 behavior, is then controlled.
  • a height at the rear edge of the screed which can be determined by means of the sensor 14b or the sensor arrangement 14 in general.
  • the actual height value is then compared with a desired height value, so that a traction point adjustment can then take place in a further control loop using the prediction model 137.
  • the sensor arrangement 14 in conjunction with the filter 146 creates a superimposed control loop which corresponds to the control loop 130 as previously explained.
  • this transient process can also be viewed in terms of time.
  • the adjustment of the traction point 10z takes, for example, half a second, here 0.4 s. Based on this, the layer thickness in the area of the screed changes in a time factor of 0.5 s. Even if the system primarily suggests that a rotation takes place around the screed rear edge 10bk, it should be noted at this point that the pivot point is shifted slightly in the direction of the towing point, as shown in the lower half of the schematic representation. The lower half represents the kinematics of the entire system, whereby the position of the pivot point can also vary depending on the current conditions. Even if the conventional leveling control circuit is activated, there will be changes over the distance (time), e.g. B. in the range between 1 and 20 min.
  • FIG. 7a shows the regulation of a road milling machine with a milling drum 10f and two height sensors 14l and 14r. These measure a specific height depending on their offset relative to the substrate 11.
  • the roller 10f removes material from the substrate 11, the measured height is reduced, as shown in FIG Figure 7b is shown. This height therefore provides information about the removed layer and can therefore be referred to as the layer thickness system.
  • a layer thickness to be removed in the sense of a layer to be removed can be determined in advance using the same principle explained above, which is then Can be kept constant using the measurement system shown, in particular to remove long-wave waves.
  • layer thickness values are shown for the individual positions 1-15.
  • the position distances are equidistant.
  • An average desired height, here 5.0, is assumed.
  • the desired average layer thickness is defined as the reference layer thickness and applied essentially parallel to the substrate.
  • the individual layer thickness values are determined in such a way that a minimum layer thickness h min and a maximum layer thickness h max are not fallen below or exceeded. Because layer thickness values are also defined in such a way that a change in layer thickness is possible without changing the background (cf. items 8 and 9), the cross-slope can be adjusted.
  • control units or man-machine interfaces MM2 manual control unit
  • SSI global control SSI
  • a start-up procedure sets the altitude to the correct altitude level and sets this as the reference level. Furthermore, the target set points are fed into the system so that the corresponding layer thickness profile for compensating for long-wave plank unevenness and/or the desired inclination is available to the leveling system.
  • a further exemplary embodiment relates to a method for determining the target layer thickness profile.
  • the subsoil profile is scanned in order to then determine the target layer thickness profile based on this. Minimum and maximum can be taken into account here.
  • the procedure for determining and using the target layer thickness profile is used in particular for the substructure layers. Due to the low thickness of the binder course and surface course, it is usually not possible to compensate for long-wave unevenness in these courses.
  • aspects have been described in the context of an apparatus, it is understood that these aspects also include a description of the corresponding method represent, so that a block or a component of a device is also to be understood as a corresponding method step or as a feature of a method step. 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.
  • a signal encoded according to the invention such as an audio signal or a video signal or a transport stream signal, can be stored on a digital storage medium or can be transmitted on a transmission medium such as a wireless transmission medium or a wired transmission medium, e.g. the Internet
  • the encoded audio signal according to the invention can be stored on a digital storage medium, or can be transmitted on a transmission medium such as a wireless transmission medium or a wired transmission medium such as the Internet.
  • 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.
  • an exemplary embodiment of the method according to the invention is therefore a computer program that has a program code for performing one of the methods described herein when the computer program runs on a computer.
  • 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 exemplary embodiment of the method according to the invention is therefore a data stream or a sequence of signals which represents the computer program for carrying out 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.
  • a further exemplary embodiment according to the invention comprises a device or a system which is designed to transmit a computer program for carrying out 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 on the part of 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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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • Road Paving Machines (AREA)
EP23154187.1A 2022-02-08 2023-01-31 Système de mise à niveau pour machine de construction Pending EP4223932A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102022201294.1A DE102022201294A1 (de) 2022-02-08 2022-02-08 Nivelliersystem für eine Baumaschine

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EP4223932A1 true EP4223932A1 (fr) 2023-08-09

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JPH04179706A (ja) * 1990-11-14 1992-06-26 Niigata Eng Co Ltd 敷均し機械における舗装厚制御方法
US5393167A (en) * 1990-11-14 1995-02-28 Niigata Engineering Co., Ltd. Method for controlling the thickness of pavement and setting the conditions for automatic control of the leveling machine
EP0542297A1 (fr) * 1991-11-15 1993-05-19 MOBA-electronic Gesellschaft für Mobil-Automation mbH Appareil de contrôle pour un finisseur
DE10025462A1 (de) * 2000-05-23 2001-12-06 Moba Mobile Automation Gmbh Schichtdickenbestimmung unter Verwendung eines Neigungssensors
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EP2025811A1 (fr) * 2007-08-16 2009-02-18 Joseph Voegele AG Procédé et système de contrôle pour l'application d'une couche de revêtement
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EP2921588A1 (fr) 2014-03-18 2015-09-23 MOBA - Mobile Automation AG Finisseuse de route dotée d'un dispositif d'enregistrement de l'épaisseur de couche et procédé d'enregistrement de l'épaisseur d'une couche de matériau intégrée
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EP3739122A1 (fr) * 2019-05-14 2020-11-18 Joseph Vögele AG Finisseuse de route et procédé de détermination de l'épaisseur de couche de route

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CN116575288A (zh) 2023-08-11
DE102022201294A1 (de) 2023-08-10

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