EP4303365A1 - Finisseur et procédé de régulation du fonctionnement - Google Patents

Finisseur et procédé de régulation du fonctionnement Download PDF

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Publication number
EP4303365A1
EP4303365A1 EP22182719.9A EP22182719A EP4303365A1 EP 4303365 A1 EP4303365 A1 EP 4303365A1 EP 22182719 A EP22182719 A EP 22182719A EP 4303365 A1 EP4303365 A1 EP 4303365A1
Authority
EP
European Patent Office
Prior art keywords
height
tractor
maximum value
screed
actuating cylinder
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
EP22182719.9A
Other languages
German (de)
English (en)
Inventor
Jens Hermann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Joseph Voegele AG
Original Assignee
Joseph Voegele AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Joseph Voegele AG filed Critical Joseph Voegele AG
Priority to EP22182719.9A priority Critical patent/EP4303365A1/fr
Priority to CN202310776027.9A priority patent/CN117344601A/zh
Priority to BR102023013094-1A priority patent/BR102023013094A2/pt
Priority to US18/217,358 priority patent/US20240003103A1/en
Priority to JP2023109188A priority patent/JP2024007525A/ja
Publication of EP4303365A1 publication Critical patent/EP4303365A1/fr
Pending legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/004—Devices for guiding or controlling the machines along a predetermined path
    • 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

Definitions

  • the invention relates to pavers with automatic leveling and to methods for regulating the operation of such pavers.
  • Road pavers are known that use a screed for compacting paving materials, such as. B. asphalt, and a tractor for towing this screed.
  • the screed is usually mounted on the tractor so that it can pivot around a pulling point.
  • the height of the pull point can be adjustable, for example using a hydraulic cylinder.
  • From the DE 10 2011 001 542 A1 There is a so-called tar machine known there.
  • a screed bar is disclosed that is attached to a towing point on the machine.
  • the stroke of this tow point can be adjusted using a tow point cylinder.
  • the amount of adjustment that can be made over a distance of 5m covered by the machine should be limited to 3mm.
  • a calculated lifting/lowering value should only be set by the cylinder if it is higher than 1mm.
  • the disclosed control is based on the assumption that the drag point cylinder may never be adjusted by more than 3mm over a distance of 5 m.
  • a paver includes a tractor and a material bunker arranged at the front of the tractor in a direction of travel and configured to receive paving material.
  • the paver further includes a screed that is pivotally mounted on the tractor by pull arms about a pull point, whereby the screed can be towed behind the tractor in the direction of travel, and a control system that includes a height detection device configured to generate a height signal , and an actuating cylinder connected to the tractor and to one of the traction arms and configured to adjust a height of the traction point relative to the tractor.
  • the control system is configured to compare the height signal with a setpoint and thereby calculate a control difference, to limit an adjustment path, in particular an actually set adjustment path, of the actuating cylinder to a maximum value based on the control difference, the maximum value being proportional to the control difference, and adjust the actuating cylinder based on the control difference and taking the maximum value into account.
  • the height detection device can be configured to detect vertical movements of the screed relative to a height reference and, in particular, to generate the height signal based on this.
  • the height detection device can be configured to detect the respective height reference and include a height sensor, for example a sensing arm, an ultrasonic sensor, a camera or a laser sensor.
  • a height detection device with a laser sensor can be configured to detect a laser beam as a height reference and/or to detect an edge by emitting and detecting a line laser.
  • the height detection device can also contain its own laser source.
  • the height detection device can comprise one or more inclination sensors.
  • the inclination sensor can be configured to detect an inclination, in particular a transverse inclination, of the screed.
  • Several inclination sensors can be configured, for example, to detect the inclination of screed parts of the paving screed.
  • a length, in particular a length defined transversely to the direction of travel, of the screed or a screed part of the screed, the inclination of which is detected by the inclination sensor can be taken into account. This can serve to convert an angle signal into a, preferably vertical, height signal.
  • the height detection device is not configured to detect vertical movements of the screed relative to a height reference
  • the height of the screed can be manually tracked on one side.
  • the height on the side of the screed opposite in relation to the direction of travel can then be regulated by a height detection device with inclination sensors, as explained in more detail above.
  • the height detection device can comprise a processing unit.
  • the processing unit can be configured to generate the height signal based on an output of one or more of the aforementioned sensors, in particular a height sensor, a probe arm, an ultrasonic sensor, a camera, a laser sensor and an inclination sensor.
  • a height signal can in particular be generated based on an output of a height sensor and one or more inclination sensors, e.g. B. by adding the height signals generated by the individual sensors as explained above.
  • Limiting the travel distance to a maximum value that is proportional to the control difference can enable the maximum value to be automatically adjusted to the respective installation situation.
  • undesirable effects of inertia in the controlled system such as. B. overshoot or excessive vibrations can be avoided. It can happen that a change in the pulling point only has a delayed effect on the height measured by the height detection device. Without a limit on the adjustment path, this could undesirably increase or decrease due to a control difference that persists for a long time.
  • the travel can also be limited to such an extent that the effects on the installation result can be minimized.
  • the control system can contain suitable electronic components and/or assemblies, in particular for calculating, comparing and generating signals. Individual assemblies or components can each carry out one or more of the functions mentioned. It is conceivable that a central control of the paver carries out these functions.
  • the maximum value is defined relative to a reference value.
  • a specific extended position of the actuating cylinder can be viewed as a reference value.
  • the reference value can be set to an extended position that is extended by 160 mm compared to a fully retracted position of the actuating cylinder. If the adjustment path is now limited to a maximum value of 5mm relative to the reference value, the adjustment of the actuating cylinder can be limited to extended positions in a range between 155mm and 165mm.
  • the reference value can be set by an operator. This can be particularly useful at the beginning of an installation journey, for example to specify an initial reference value. It is particularly advantageous if the control system is configured to automatically adjust the reference value. For example, it can be provided that the reference value is automatically adjusted when the control system detects that it is in a steady state. A steady state can be viewed as a state in which the height signal corresponds to the setpoint and/or the control difference is zero, close to zero or less than 2mm. In this way, the reference value can be tracked to a changing extension position.
  • the maximum value is defined by multiplying the control difference by a proportionality factor, for example 2.
  • the proportionality factor can be adjustable, for example by an operator of the paver.
  • an upper limit is defined for the maximum value.
  • This can z. B. an extension range of the actuating cylinder can be taken into account, ie an extension of the actuating cylinder up to its end stops can be counteracted.
  • the upper limit can be defined depending on the reference value, in particular the currently set reference value. For example, with a maximum possible extension position of the actuating cylinder of 200mm and With a currently set reference value of 150mm, the upper limit for the maximum value is 45mm in order to avoid a stop at the end position of the actuating cylinder.
  • the paver includes a tractor, a material bunker which is arranged at the front of the tractor in a direction of travel and is configured to receive paving material, a paving screed which is pivotally mounted on the tractor by pulling arms about a pulling point, whereby the paving screed is mounted behind the tractor in the direction of travel Tractor is towable, and a control system, with a height detection device and an actuating cylinder that is connected to the tractor and one of the towing arms.
  • the method includes generating a height signal by the height detection device, calculating a control difference by comparing the height signal with a setpoint, limiting an actuating path of the actuating cylinder to a maximum value that is proportional to the control difference, calculating a control signal based on the control difference, taking into account the maximum value for the Adjusting travel and setting a height of the pull point based on the actuating signal from the actuating cylinder.
  • the method further comprises detecting a movement of the screed relative to a height reference by the height detection device, wherein the height signal can preferably be generated based on the detected movement of the screed relative to the height reference.
  • control system can contain suitable electronic components and/or assemblies, in particular for calculating, comparing and generating signals. Individual assemblies or components can each carry out one or more of the functions mentioned. It is conceivable that a central control of the paver carries out these functions.
  • the maximum value is defined relative to a reference value.
  • a specific extended position of the actuating cylinder can, for example, be viewed as a reference value.
  • the reference value can be set by an operator. As already explained above, this can be particularly useful at the beginning of an installation journey, for example to specify an initial reference value. It is particularly favorable if the method includes an automatic adjustment of the reference value by the control system. For example, it can be provided that the reference value is automatically adjusted when the control system detects that it is in a steady state. In this way, the reference value can be tracked to a changing extension position.
  • the maximum value is defined by multiplying the control difference by a proportionality factor, for example 2.
  • the proportionality factor can be adjustable, for example by an operator of the paver.
  • an upper limit is defined for the maximum value. As already explained above, this can z. B. an extension range of the actuating cylinder can be taken into account, i.e. H. An extension of the actuating cylinder to its end stops can be counteracted.
  • the upper limit can be defined depending on the reference value, in particular the currently set reference value.
  • a paver 1 is shown in a schematic side view.
  • the paver can include a tractor 2.
  • the paver can include a material bunker 3.
  • the material bunker 3 can be arranged at the front of the tractor 2 in a direction of travel R.
  • the material bunker 3 can also be configured to accommodate installation material 4 (see Figure 2 ).
  • the paver 1 can also include a screed 5.
  • the screed 5 can be mounted on the tractor 2 by pulling arms 6.
  • the screed 5 can be mounted on the tractor 2 so that it can pivot about a pull point 7.
  • the tractor 2 can be configured to tow the screed 5, preferably floating on an asphalt layer to be compacted.
  • the paver can also include an actuating cylinder 8.
  • the actuating cylinder 8 can be connected to the tractor 2 on the one hand. On the other hand, it can be connected to the pulling arm 6, in particular at the pulling point 7. The actuating cylinder 8 can be configured to adjust a height of the pulling point 7 relative to the tractor 2.
  • the paver 1 is shown in a schematic, perspective view from the front and above.
  • Figure 2 also shows schematically a subgrade on which an asphalt layer is to be laid, as well as a height reference 9.
  • the height reference 9 can be a wire reference.
  • the paver 1 may include a height detection device 10.
  • the height sensing device 10 may be an ultrasonic sensor that may be configured to sense the wire reference 9.
  • the height detection device 10 can be firmly connected to the screed 5 and/or to the pull arm 6.
  • the height detection device 10 can be configured to detect essentially vertical movements of the screed 5 relative to the height reference 9.
  • the paver can include a control system 11, which will be described below with reference to Figure 3 will be explained in more detail.
  • the control system 11 may include the height detection device 10.
  • the control system 11 can further include the actuating cylinder 8.
  • the altitude detection device 10 may be configured to generate an altitude signal 12 based on the detection of the altitude reference 9.
  • the height signal 12 can in particular represent a height of the screed 5 above the subgrade.
  • the control system 11 can be configured to compare the altitude signal 12 with a setpoint 13.
  • the control system 11 can further be configured to calculate a control difference 14 based on the comparison of the setpoint 13 with the height signal 12.
  • the control system 11 can further include a computing unit 15.
  • the computing unit 15 can be configured to calculate a raw control signal 16 based on the control difference 14.
  • the control system 11 can be configured to calculate a maximum value 17 based on the control difference 14.
  • the control system 11 can also have a limiter 18.
  • the limiter 18 can be configured to adapt an actuating signal 19 sent to the actuating cylinder 8 in such a way that an actually set actuating path 20 of the actuating cylinder 8 is suitably limited, in particular to the calculated maximum value 17.
  • the limiter 18 can be configured so that the actuating signal 19 based on the raw control signal 18 and the maximum value 17.
  • a reference value 21 can also be taken into account. If the reference value 21 is not taken into account when generating the control signal 19, the control signal 19 can represent an adjustment path of the control cylinder 8 that is to be set. Based on the control signal 19, the control cylinder 8 can then be adjusted by the travel distance to be set. If the reference value 21 is taken into account, the actuating signal 19 can represent an extended position of the actuating cylinder to be set. In the latter case, the actuating cylinder 8 can do this be configured to independently adjust the extended position to be set based on the control signal 19 transmitted to it. In both procedures, the actually set positioning path 20 of the actuating cylinder 8 can be limited to the calculated maximum value 17. There is a difference in the type of control of the actuating cylinder 8.
  • the maximum value 17 can be proportional to the control difference 14 and can preferably be calculated by multiplying it with a proportionality factor 22.
  • the proportionality factor 22 can be adjustable, in particular by an operator of the paver 1.
  • the maximum value 17 can be set, for example. B. correspond to twice the control difference 14.
  • the reference value 21 can be adjustable by an operator.
  • the control system 11 can be configured to automatically adjust the reference value. It is, for example, conceivable that the reference value 21 is set by an operator at the beginning of an installation journey and is continuously adjusted independently by the control system 11 during the installation journey.
  • Figure 3 The units shown are understood as logical units. These can be implemented as electronic circuits, in software or a mixture of both. In particular, the height detection device 10 can be implemented as a combination of electronic circuits and software.
EP22182719.9A 2022-07-04 2022-07-04 Finisseur et procédé de régulation du fonctionnement Pending EP4303365A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP22182719.9A EP4303365A1 (fr) 2022-07-04 2022-07-04 Finisseur et procédé de régulation du fonctionnement
CN202310776027.9A CN117344601A (zh) 2022-07-04 2023-06-28 道路整修机和用于控制其操作的方法
BR102023013094-1A BR102023013094A2 (pt) 2022-07-04 2023-06-29 Acabadora de estrada e método para controlar sua operação
US18/217,358 US20240003103A1 (en) 2022-07-04 2023-06-30 Road finisher and method for controlling its operation
JP2023109188A JP2024007525A (ja) 2022-07-04 2023-07-03 ロードフィニッシャおよびその動作を制御するための方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP22182719.9A EP4303365A1 (fr) 2022-07-04 2022-07-04 Finisseur et procédé de régulation du fonctionnement

Publications (1)

Publication Number Publication Date
EP4303365A1 true EP4303365A1 (fr) 2024-01-10

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP22182719.9A Pending EP4303365A1 (fr) 2022-07-04 2022-07-04 Finisseur et procédé de régulation du fonctionnement

Country Status (5)

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US (1) US20240003103A1 (fr)
EP (1) EP4303365A1 (fr)
JP (1) JP2024007525A (fr)
CN (1) CN117344601A (fr)
BR (1) BR102023013094A2 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
DE10025474A1 (de) * 2000-05-23 2001-12-06 Moba Mobile Automation Gmbh Schichtdickenbestimmung durch relative Lageerfassung zwischen Traktor und Zugarm eines Straßenfertigers
DE102011001542A1 (de) 2010-04-14 2012-12-13 Caterpillar Trimble Control Technologies Llc Steuerung und entsprechendes Verfahren für eine Teermaschine

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
DE10025474A1 (de) * 2000-05-23 2001-12-06 Moba Mobile Automation Gmbh Schichtdickenbestimmung durch relative Lageerfassung zwischen Traktor und Zugarm eines Straßenfertigers
DE102011001542A1 (de) 2010-04-14 2012-12-13 Caterpillar Trimble Control Technologies Llc Steuerung und entsprechendes Verfahren für eine Teermaschine

Also Published As

Publication number Publication date
BR102023013094A2 (pt) 2024-03-12
US20240003103A1 (en) 2024-01-04
JP2024007525A (ja) 2024-01-18
CN117344601A (zh) 2024-01-05

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