EP4353907A1 - Verfahren und system zur steuerung eines strassenfertigen zuges - Google Patents
Verfahren und system zur steuerung eines strassenfertigen zuges Download PDFInfo
- Publication number
- EP4353907A1 EP4353907A1 EP22200584.5A EP22200584A EP4353907A1 EP 4353907 A1 EP4353907 A1 EP 4353907A1 EP 22200584 A EP22200584 A EP 22200584A EP 4353907 A1 EP4353907 A1 EP 4353907A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- paving
- end quality
- compaction
- train
- compactor
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 72
- 239000000463 material Substances 0.000 claims abstract description 36
- 238000005056 compaction Methods 0.000 claims abstract description 29
- 238000004590 computer program Methods 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 claims description 4
- 239000010426 asphalt Substances 0.000 description 15
- 238000005259 measurement Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000009658 destructive testing Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Images
Classifications
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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
- E01C19/48—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
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
- E01C19/28—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows
- E01C19/288—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows adapted for monitoring characteristics of the material being compacted, e.g. indicating resonant frequency, measuring degree of compaction, by measuring values, detectable on the roller; using detected values to control operation of the roller, e.g. automatic adjustment of vibration responsive to such measurements
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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
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
Definitions
- the present invention relates to a method for controlling a paving train comprising at least a paving system and a compaction system.
- the end result of the paving process is measured by a sensor system arranged at the end of the paving train, and is used to determine if the end result is within an end quality specification range.
- the road surface is paved using a paving train comprising at least a paving machine and a compactor, where the paving machine spreads and compacts the road material, e.g. asphalt, in an even layer and where the compactor further compresses the asphalt to form the final road surface.
- the evaluation of the end result is normally carried out after the road surface is completed and the asphalt has cooled down.
- a measurement is carried out with a separate unit, e.g. a surface scanner after the job has been completed in order to evaluate e.g. cross-fall, smoothness, texture of the surface, density and compaction degree.
- the quality of the result is largely based on experience and know-how of the operators of the paving machine and the compactor.
- a skilled operator may e.g. take account of environmental conditions such as temperature and humidity, and the temperature and quality of the material used.
- the surface may be evaluated, either by measuring or by visual inspection. Should some problems be detected, part of the surface may have to be repaved or repaired.
- Compaction evaluation is done through destructive testing where core-samples are drilled in a random/pre-defined pattern. This is time consuming, bad for overall quality and shows the quality only in those specific spots with no way of knowing the result on the rest of the surface.
- US 10480131 B1 discloses a method for controlling a paving process, where the paving process is performed by several participating units terminated by a compactor.
- the end result of the paving process is measured by a sensor system arranged on the compactor that measures e.g. material smoothness, stiffness and temperature. Based on the measured end result, the speed of paving machine units may be adjusted.
- Such a paving method may function in some cases, but there is still room for an improved method for controlling a paving process.
- An object of the invention is therefore to provide an improved method for controlling a paving process.
- a further object of the invention is to provide a control system for controlling a paving process in real time.
- a further object of the invention is to provide a paving train comprising such a control system.
- An object is also to provide a computer program and a computer program product adapted to perform the steps of the method.
- the end result of the paving process can be evaluated directly, and a parameter of the paving process can be adjusted based on the determined end result, if the end result is outside of an end quality specification range.
- the process can be evaluated and adjusted in real-time, such that the quality specification requirements can be met. If the system determines that the determined end quality is outside of the end quality specification range and that the adjustment of one or more parameters cannot achieve the end quality specification, the system may trigger an alarm. In this way, a paving process that will give a non-satisfactory end result can be stopped before any damage is done.
- the determination of the end quality is performed by a control system that receives measurements from a sensor system comprising one or more sensors arranged at the rear of the paving train.
- the sensor system may be arranged on the compactor or on another vehicle at the end of the paving train, e.g. a separate truck, a measuring vehicle or a drone.
- the sensor system sends the measured values to a control system comprising a control unit arranged e.g. on the compactor.
- the used sensors may e.g. be a temperature sensor, a heat camera sensor, a laser sensor, an ultrasonic sensor, a ground radar sensor, etc.
- the control system may also receive environmental condition data, such as weather condition data, material temperature, information regarding the material production, and information regarding the material logistics.
- the end result is represented by the surface geometry of the finished surface.
- the surface geometry may include at least one of surface texture, slope, surface smoothness, density, compaction degree, and longitudinal evenness of the surface.
- the control system evaluates the measured values and determines an end quality result of the finished surface.
- the determined end quality is compared to an end quality specification, and if the determined end quality is outside of an end quality specification range, a parameter of the paving process is adjusted based on the determined end quality.
- the parameter that is adjusted in the paving process may e.g. be the speed of the paving system and/or the compaction system. It is also possible to adjust the amount of compaction by the compactor.
- the surface material is in one example asphalt, but hydraulically bound material (RCC/CBM) could also be used.
- the determined end result will provide traceability by providing continuous data over the entire surface, which may also be saved in a database for later reference. This will reduce the need for core-samples and instead give the possibility of testing in risk-areas where results may be more uncertain.
- Figs. 1 and 2 show a schematic paving train 1 comprising a paving system 3 and a compaction system 4.
- the paving system 3 comprises at least one paving machine 6 and the compaction system 4 comprises at least one compactor 7.
- the paving machine 6 and the compactor 7 may be combined in one unit that comprises both a paving function and a compaction function.
- Some paving machines comprises a screed that flattens the material, but a compactor is still used to achieve the final end result with regards to the compaction degree and surface smoothness.
- the paving train receives paving material such as asphalt from a transporting unit, e.g. a truck 2, driving in front of the paving machine 6. It is also possible to connect the truck to the paving machine, or to push the truck by the paving machine.
- the paving machine distributes a layer of surface material 11 on the ground 10, and may also partially flatten the material.
- the thickness of the layer is predefined but could be changed slightly in dependency of the determined end result.
- the speed of the paving machine is e.g. set depending on the type of surface material, the temperature of the surface material and/or the thickness of the material layer.
- the paving machine is driven by a constant and continuous speed, but it is possible to adapt the speed to the requirements. Should e.g. a truck delivering surface material be late, the paving machine may slow down temporarily.
- the compaction system 4 comprises one or more units that have compaction capability, such as a compactor 7, a roller or a paver, which will compact the surface material to a predefined density and smoothness.
- the compactor normally drives in a predefined pattern that should give the surface its final shape. Depending on e.g. the surface temperature, the compacting pattern can be adjusted. By constantly measuring the end result, it is e.g. possible to control the position of the roller in relation to the border between cold and hot surface material. This will minimize errors in the stiffness measurement in the layer being compacted.
- the different machines such as a paving machine and a compactor, comprise various sensor that constantly measures different parameters of the paving process and adapts each machine to the measured values.
- the sensor values may also be sent to other machines for feedback puposes.
- a sensor system 9 comprising one or more sensors is arranged in order to measure the end result of the paving process.
- the sensor system may be arranged on the compactor 7, or may be arranged on a specific measuring vehicle 12 or on a drone.
- the sensor system sends the measured end result values to a control system 5 comprising e.g. an electronic control unit (ECU) 8 running a computer program, which will determine an end quality value.
- the control system may also comprise a distributed computer system comprising several processors arranged either on-board or off-board the paving train.
- the control system compares the end quality value with a predefined end quality specification range. If the end quality value is outside of the end quality specification range, a parameter of the paving process or the surface material property is adjusted in order to bring the end quality back into the end quality specification range.
- the sensors used in the sensor system may e.g. include a thermal camera, IR sensors, surface scanners, radar, etc. and may be arranged on the compactor, on another vehicle, on a drone or may be handheld.
- the sensors may be connected to the control unit by cables or may be wireless.
- the control unit may be positioned on the compactor or may be arranged at a remote location.
- the control unit may communicate with the other parts of the paving train directly or through an external server.
- the sensor system is adapted to measure e.g. cross-fall of the surface, compaction grade of the surface material, texture of the surface, smoothness of the surface, heat of the surface and a heat profile of the surface, and geo-positioning of the compactor.
- the paving machine 5 distributes the surface material 11, in this case asphalt, on the ground 10 in an even layer, where the thickness of the layer is set by the screed of the paving machine.
- a compactor 7 follows and compacts the asphalt to a final density.
- the compactor drives in a predefined pattern that is adapted to provide a desired compaction grade of the asphalt.
- the compactor is provided with a sensor system 9 that measures the end result of the compaction.
- the measured end result is processed in an ECU 8 that determines an end quality of the paving process and compares this end quality to an end quality specification. If the determined end quality is within an end quality specification range, the paving process can continue as it is. If the determined end quality is outside of the end quality specification range, one or more parameters of the paving process are adjusted in order to bring the determined end quality within the end quality specification range. Depending on the type of inconsistency or fault, different parameters may be adjusted.
- the compaction grade is outside the desired range. In this case, it may suffice to drive the compactor over the surface one more time, or to use a vibrating compactor to bring the compaction grade within the desired range if the compaction grade is below the desired range. If the compaction grade is above the desired range, i.e. if the density is too high, it is possible to use less compaction or to increase the thickness of the asphalt layer. It may also be possible to change the paving speed.
- control unit can send a message to the asphalt plant to increase the temperature of the delivered asphalt.
- the end result is measured by an additional vehicle, e.g. a measuring vehicle 12 or a drone.
- the measuring vehicle drives after the compactor and measures the end result of the surface.
- One advantage with using a separate measuring vehicle is that it is possible to attach more and different sensors to a separate vehicle, and that the sensors are not subjected to vibrations in the same way as when mounted on e.g. a compactor. Even if the paving train comprises several compactors, only one vehicle provided with sensors is required.
- the measured end result is sent to a control unit arranged e.g. in the measuring vehicle, where the end quality is determined.
- the control unit may also be arranged at a remote location.
- the control unit sends adjustment messages if a parameter of the paving process should be adjusted.
- Fig. 3 shows a schematic flow chart of the method for controlling a paving process.
- step 100 the end result of the paving process is measured by a sensor system arranged at the end of the paving train.
- the end result can be measured by one or more sensors, and the sensors may measure different values relevant to the end result.
- step 110 the end quality of the paving process is determined by a control unit.
- the control unit may be arranged at the same vehicle as the sensor, e.g. a compactor, or may be arranged at a remote location.
- step 120 the determined end quality is compared to an end quality specification.
- the end quality may be defined by one or more measurement values.
- step 130 at least one parameter of the paving process or paved material properties is adjusted based on the determined end quality, if the determined end quality is outside of an end quality specification range. In this way, the end result can be adjusted directly in real-time, which increases the quality and minimizes the need for rework of the finished surface.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP22200584.5A EP4353907A1 (de) | 2022-10-10 | 2022-10-10 | Verfahren und system zur steuerung eines strassenfertigen zuges |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP22200584.5A EP4353907A1 (de) | 2022-10-10 | 2022-10-10 | Verfahren und system zur steuerung eines strassenfertigen zuges |
Publications (1)
Publication Number | Publication Date |
---|---|
EP4353907A1 true EP4353907A1 (de) | 2024-04-17 |
Family
ID=83689736
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP22200584.5A Pending EP4353907A1 (de) | 2022-10-10 | 2022-10-10 | Verfahren und system zur steuerung eines strassenfertigen zuges |
Country Status (1)
Country | Link |
---|---|
EP (1) | EP4353907A1 (de) |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10480131B1 (en) | 2018-06-29 | 2019-11-19 | Caterpillar Paving Products Inc. | System and method for controlling paving machine speed |
EP3680833A1 (de) * | 2019-01-08 | 2020-07-15 | TF-Technologies A/S | System und vorrichtung zur unterstützung bei der verbesserung einer asphaltierungsarbeit |
-
2022
- 2022-10-10 EP EP22200584.5A patent/EP4353907A1/de active Pending
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10480131B1 (en) | 2018-06-29 | 2019-11-19 | Caterpillar Paving Products Inc. | System and method for controlling paving machine speed |
EP3680833A1 (de) * | 2019-01-08 | 2020-07-15 | TF-Technologies A/S | System und vorrichtung zur unterstützung bei der verbesserung einer asphaltierungsarbeit |
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