US20170044726A1 - Road paver with a radar-based leveling device and control method - Google Patents

Road paver with a radar-based leveling device and control method Download PDF

Info

Publication number
US20170044726A1
US20170044726A1 US15/235,874 US201615235874A US2017044726A1 US 20170044726 A1 US20170044726 A1 US 20170044726A1 US 201615235874 A US201615235874 A US 201615235874A US 2017044726 A1 US2017044726 A1 US 2017044726A1
Authority
US
United States
Prior art keywords
radar sensor
sensor unit
road paver
positions
ground positions
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.)
Abandoned
Application number
US15/235,874
Other languages
English (en)
Inventor
Martin Buschmann
Ralf Weiser
Achim Eul
Tobias Noll
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
Assigned to JOSEPH VOEGELE AG reassignment JOSEPH VOEGELE AG ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: BUSCHMANN, MARTIN, NOLL, TOBIAS, EUL, ACHIM, WEISER, RALF
Publication of US20170044726A1 publication Critical patent/US20170044726A1/en
Abandoned legal-status Critical Current

Links

Images

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
    • E01C19/004—Devices for guiding or controlling the machines along a predetermined path
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/004—Devices for guiding or controlling the machines along a predetermined path
    • E01C19/006—Devices for guiding or controlling the machines along a predetermined path by laser or ultrasound
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/22—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
    • 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
    • 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
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications

Definitions

  • the present disclosure relates to the technical field of road pavers.
  • the disclosure relates in particular to road pavers with a screed for compacting paving material and a method for controlling such road pavers.
  • the screed is advantageously not rigidly connected to the chassis but suspended thereon by towing arms.
  • the screed is there floatingly supported by the paved material or the material to by paved.
  • an inclination angle of the screed can be changed in a known manner via the towing arms.
  • road pavers can be equipped with suitable control systems for the position of the screed relative to the chassis, so-called leveling systems. In such a control system, the relative position of the screed relative to a reference, for example an already paved part of the pavement or a roadbed that is to be provided with the pavement, must be determined.
  • a road paver with ultrasonic sensors mounted on a support is known. At least three ultrasonic sensors are provided for determining the distances between the sensors and a reference surface. To compensate for local unevenness of the reference surface, the sensors should be spaced as far apart as possible in the direction of travel of the road paver.
  • the associated large size of the support for the ultrasonic sensors extending in the direction of travel of the road paver is disadvantageous both in terms of handling the road paver as well as the relatively high effort for the installation and removal of the support.
  • An alternative height sensor for a road paver is known from DE 100 60 903 A1.
  • three laser measuring heads are each directed towards spaced measuring points on a reference surface.
  • the distance of the laser measuring heads relative to the reference surface is determined by way of the signals that are emitted by the laser measuring heads and again detected after being reflected from the reference surface, and the screed is actuated based thereupon.
  • a road paver comprises a material hopper which is in the direction of travel of the road paver preferably located toward the front for receiving the paving material.
  • the paving material can by way of a conveyor device provided on the road paver be brought in front of a screed that is towed behind the road paver.
  • the paving material can there by way of a typically provided distribution auger be distributed perpendicular to the direction of travel of the road paver in order to obtain a uniform amount of paving material over the entire paving width.
  • the screed of the road paver according to the disclosure is provided for compacting the paving material and is held with towing arms on a chassis of the road paver.
  • the road paver furthermore comprises a radar sensor unit which is configured to measure the distances between the radar sensor unit and at least two ground positions.
  • the ground positions are positions that are not located on the road paver.
  • the ground positions can be positions on the stretch intended for paving or also be located adjacent to the stretch.
  • the road paver also comprises a control unit which is configured to adjust a position of the screed relative to the chassis based on the distances measured.
  • the control unit can for this purpose be configured to actuate one or more hydraulic cylinders for adjusting a pivot point of the towing arms on the chassis.
  • the radar sensor unit can measure the distances between the radar sensor unit and the at least two ground positions in that it emits radar beams directed toward each one of the ground positions and detects the beams that are reflected back.
  • the distance to the respective ground position can be determined with a pulsed radar due to the time difference between emission and detection. It is also conceivable to provide a non-pulsed radar with continuous emission of radar beams, where distance measurement is possible, for example, by way of evaluating a Doppler effect.
  • a radar sensor unit also works very well over long distances, whereas, for example, ultrasonic sensors must be located as close as possible (about 30 cm) from the ground position to be measured for sufficiently accurate measurements. It is therefore in the present disclosure not required that a projecting support for sensor units be provided at the road paver for measuring ground positions that are spaced far apart. On the contrary, different ground positions at great distances to each other can be measured even with a compact and localized radar sensor unit. For example, two consecutive ones of said at least two ground positions can have a minimum distance of less than 10 cm, 20 cm, 50 cm, 1 m, 2 m, 5 m, 10 m or 20 m.
  • the entire measuring range of the radar sensor unit i.e., the greatest distance between two of the at least two ground positions can be, for example, more than 10 m, more than 15 m or more than 20 m.
  • the distances specified between the ground positions can relate to a stationary road paver or a road paver during a paving process.
  • the distances are detected more reliably and accurately than with a laser system.
  • the at least two ground positions are preferably located on a common straight line parallel to the paving direction of travel of the road paver.
  • the course of the ground level over a certain distance can thereby be taken into account for adjusting the position of the screed and local unevenness has less influence on the outcome of the leveling process.
  • This outcome can be further improved if the distances are measured between the radar sensor unit and more than two, in particular more than five, more than 10, more than 20, more than 30, more than 50, more than 100 or more than 150 ground positions.
  • the radar sensor unit can be mounted in a compact manner to a mast, preferably to a vertical mast, attached to the chassis, a towing arm or the screed or any other part of the road paver.
  • Measuring the distances between the radar sensor unit and the at least two ground positions can be performed, for example, simultaneously or temporally sequentially.
  • a time interval between the measurement of the distances between the radar sensor unit and two consecutive ones of said at least two ground positions can in particular be smaller, preferably by a factor of 20, a factor of 10, a factor of 5 or a factor of 2, than the quotient of the distance between the consecutive ground positions and the velocity of the road paver. It is also conceivable that the time interval between the measurement of the distances between the radar sensor unit and two consecutive ones of said at least two ground positions is less than 50 ms, 1 s, 5 s, 10 s or 30 s.
  • the radar sensor unit can comprise a radar sensor that is pivotable between at least two measuring positions for measuring the distance between the radar sensor unit and the at least two ground positions.
  • the at least two ground positions can be measured temporally consecutively. Due to such an arrangement, measuring a plurality of ground positions is possible with only one radar sensor. The temporal delay between measurements has no negative effect due to the slow paving speed of road pavers of a few meters per minute.
  • the radar sensor unit can comprise a radar sensor with an antenna and a radome.
  • the radome can be configured to focus beams emitted by the antenna and can be pivoted between at least two measuring positions in which the beams are each focused to different ones of the at least two ground positions.
  • only a single radar sensor is needed for measuring the different ground positions. Due to the focusing function of the radome, it is sufficient to pivot the radome so that the radar sensor as a whole does not need to be pivotable.
  • the radome can at the same time also act as a protective cover for the radar sensor and as focusing element.
  • the radar sensor unit comprises a radar sensor with an antenna and a dielectric lens.
  • the dielectric lens can be configured to focus beams emitted by the antenna and can be pivoted between at least two measuring positions in which the beams are each focused to different ones of the at least two ground positions.
  • only a single radar sensor is necessary to measure several ground positions.
  • the radar sensor unit can comprise at least two radar sensors being at fixed angles to each other which are each adapted to measure the distance between the radar sensor unit and one of the at least two ground positions.
  • Each ground position can be assigned its own radar sensor. In such a configuration, all ground positions can be measured simultaneously. However, ground positions can of course also be measured successively by different radar sensors. There are no actuators necessary for pivoting the radar sensors.
  • the control unit of the road paver can from the measured distances and the known position of the radar sensor unit determine vertical distances between the radar sensor unit and the ground positions. Since furthermore preferably the position, in particular the height position of the radar sensor unit relative to the screed is known, suitable control values for actuators changing the position of the screed can be calculated in order to obtain a desired position of the screed relative to the ground positions. In order to obtain a defined layer thickness, for example, the vertical distance between a trailing edge of the screed and the ground positions can be controlled to a constant and/or a user-predefined value.
  • the control unit of the road paver can, for example, by use of an average value, take into account all distances measured. A vertical distance can for this be calculated for every distance measured. The vertical distances can then be averaged and the average value can be used for calculating the control value for the position of the screed. Alternatively, a separate control value can be calculated from every calculated vertical distance and an average of the control values can then be determined, where the average value is then used to adjust the screed.
  • control unit can from the distances measured and the respectively known alignment of the radar sensor unit determine a straight line which describes the position of the ground positions as best possible, for example, by calculating a linear regression line. Based on the regression line and the known position, in particular the height position, of the radar sensor unit relative to the screed, a suitable control value for the position of the screed can be calculated.
  • the disclosure also relates to a method for controlling the road paver according to the disclosure described above.
  • the distances between the radar sensor unit and at least two ground positions are measured with the radar sensor unit provided on the road paver.
  • the position of the screed is adjusted relative to the chassis by the control unit of the road paver based on the distances measured. Further embodiments of the method according to the disclosure will be evident to the person skilled in the art from the above description of the road paver.
  • FIG. 1 shows a schematic view of a road paver according to the disclosure
  • FIG. 2 shows a schematic representation of the incorporation of the radar sensor unit and the control unit into the system of the road paver
  • FIG. 3A shows a schematic representation of the radar sensor unit of the road paver of the disclosure according to one embodiment
  • FIG. 3B shows a schematic representation of the radar sensor unit of the road paver of the disclosure according to another embodiment
  • FIG. 3C shows a schematic representation of the radar sensor unit of the road paver of the disclosure according to a further embodiment.
  • FIG. 3D shows a schematic representation of the radar sensor unit of the road paver of the disclosure according to yet a further embodiment.
  • FIG. 1 shows a road paver 1 according to the disclosure that moves in the direction of travel F on a ground level.
  • road paver 1 comprises a material hopper 2 for receiving the paving material.
  • a respective towing arm 4 is in relation to the direction of travel F supported on both sides of road paver 1 via a height-adjustable pivot point 5 on chassis 3 of road paver 1 .
  • Pivot point 5 is preferably adjustable in height on chassis 3 by way of a pivotable hydraulic cylinder 6 .
  • towing arms 4 are again respectively mounted on both sides via a height-adjustable rear hydraulic cylinder 7 to chassis 3 .
  • Screed 8 of road paver 1 is suspended at the rear ends of towing arms 4 .
  • An operator station 10 of road paver 1 accommodates an operator and comprises control and display units 12 via which entries can be made to control road paver 1 and system data can be displayed to inform the user.
  • Road paver 1 comprises a radar sensor unit 20 . It is configured to measure distances d 1 , d 2 , d 3 , d 4 , d 5 between radar sensor unit 20 and at least two ground positions P 1 , P 2 , P 3 , P 4 , P 5 . As shown in FIG. 1 , ground positions P 1 -P 5 are preferably located on a common straight line parallel to the paving direction of travel F of road paver 1 .
  • Radar sensor unit 20 can be mounted on a mast 22 attached to a towing arm 4 . It is alternatively conceivable that the mast 22 with the radar sensor unit 20 is attached to chassis 3 or screed 8 or another part of road paver 1 . It is also conceivable to directly mount radar sensor unit 20 to road paver 1 without any mast 22 .
  • road paver 1 comprises a control unit 30 which via a control line 32 receives the measured distances from radar sensor unit 20 .
  • Control unit 30 can then via a further control line 36 actuate pivotable hydraulic cylinder 6 and thereby via towing arms 4 adjust the inclination angle of screed 8 .
  • control unit 30 additionally or alternatively can actuate rear hydraulic cylinders 7 in order to change the position of screed 8 .
  • Control unit 30 is via a third control line 34 connected to input unit 12 and can receive setpoint values for the paving thickness or the like. It is also conceivable that control unit 30 receives such setpoint values from other sources, for example from a storage unit.
  • control unit 30 Based on the measured distances d 1 -d 5 as well as the setpoints received from input unit 12 , control unit 30 calculates control values to be outputted to pivotable hydraulic cylinders 6 . According to a preferred embodiment, fully automatic leveling can be achieved in which a setpoint value must be defined only once. However, the setpoint value can also be changed during the paving process.
  • FIGS. 3A to 3D show various embodiments of radar sensor unit 20 .
  • radar sensor unit 20 comprises several (at least two) radar sensors 24 being at fixed angles to each other. They are arranged such that they measure distance d 1 -d 5 between radar sensor unit 20 and respectively one of ground positions P 1 -P 5 to be measured.
  • radar sensor unit 20 comprises a radar sensor 24 which is pivotable between several measuring positions M 1 , M 2 (two shown) for measuring distances d 1 -d 5 between radar sensor unit 20 and ground positions P 1 -P 5 .
  • a measuring position M 1 , M 2 respectively corresponds to a ground position P 1 -P 5 to be measured.
  • the latter can be attached by way of a pivot joint 50 which is preferably controlled by control unit 30 .
  • radar sensor unit 20 comprises a radar sensor 24 with an antenna 26 and a dielectric lens 28 .
  • Antenna 26 is configured to emit the radar beams.
  • the same antenna 26 is preferably used to again detect the radar beams reflected from the respective ground positions P 1 -P 5 .
  • Dielectric lens 28 is designed and positioned to focus the radar beams emitted by antenna 26 .
  • Dielectric lens 28 can be pivoted between several measuring positions M 1 ′, M 2 ′ (two shown), wherein the radar beams emitted by antenna 26 are focused to different ground positions P 1 -P 5 to be measured in the various measuring positions M 1 ′, M 2 ′.
  • Pivoting dielectric lens 28 can be accomplished by a suitable mechanical actuator 50 ′ which is preferably controlled by control unit 30 .
  • control unit 30 To protect antenna 26 and dielectric lens 28 from external influences and fouling, they are preferably housed in a radome 40 that is most permeable to the radar beams.
  • radar sensor unit 20 comprises a radar sensor 24 with an antenna 26 for emitting the radar beams.
  • antenna 26 is employed for detecting the reflected radar beams.
  • no dielectric lens is provided. Focusing the radar beams to the respective ground position P 1 -P 5 is effected via radome 40 ′ covering antenna 26 .
  • this radome 40 ′ is povitable between several measuring positions M 1 ′′, M 2 ′′ (two shown) corresponding to ground positions P 1 -P 5 to be measured, preferably in a manner controlled by control unit 30 .
  • antenna 26 is protected by radome 40 ′ from external influences and fouling.
  • radar sensors 24 of radar sensor units 20 shown in FIGS. 3 a and 3 b each comprise an antenna for emitting the radar beams.
  • the same antenna is additionally used for detecting the reflected radar beams.
  • any of the above described units may include suitable hardware and/or software, such as one or more processors (e.g., one or more microprocessors, microcontrollers and/or programmable digital signal processors) in communication with, or configured to communicate with, one or more storage devices or media including computer readable program instructions that are executable by the one or more processors so that the respective unit may perform particular algorithms represented by the functions and/or operations described herein.
  • processors e.g., one or more microprocessors, microcontrollers and/or programmable digital signal processors
  • Any of the above described units may also, or instead, include one or more application specific integrated circuits, programmable gate arrays or programmable array logic, programmable logic devices, or digital signal processors.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Road Paving Machines (AREA)
US15/235,874 2015-08-13 2016-08-12 Road paver with a radar-based leveling device and control method Abandoned US20170044726A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP15180954.8 2015-08-13
EP15180954.8A EP3130939A1 (de) 2015-08-13 2015-08-13 Strassenfertiger mit einer radarbasierten nivelliereinrichtung und steuerverfahren

Publications (1)

Publication Number Publication Date
US20170044726A1 true US20170044726A1 (en) 2017-02-16

Family

ID=53836491

Family Applications (1)

Application Number Title Priority Date Filing Date
US15/235,874 Abandoned US20170044726A1 (en) 2015-08-13 2016-08-12 Road paver with a radar-based leveling device and control method

Country Status (5)

Country Link
US (1) US20170044726A1 (zh)
EP (1) EP3130939A1 (zh)
JP (1) JP2017036660A (zh)
CN (1) CN106522065A (zh)
BR (1) BR102016018573A2 (zh)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180210079A1 (en) * 2016-12-21 2018-07-26 Infineon Technologies Ag Radar systems for vehicles and methods for operating radar systems of vehicles
US10435066B2 (en) 2017-05-11 2019-10-08 Joseph Voegele Ag Road paver with steering compensation and control method
WO2021151511A1 (de) * 2020-01-31 2021-08-05 Moba Mobile Automation Ag Messsystem und steuerung
CN114382264A (zh) * 2020-10-19 2022-04-22 广东博智林机器人有限公司 一种铺料设备及其控制方法、装置、存储介质
CN114961290A (zh) * 2021-02-20 2022-08-30 广东博智林机器人有限公司 一种卷材的铺贴设备
US11560675B2 (en) 2019-05-14 2023-01-24 Joseph Voegele Ag Road finisher and method for determining the layer thickness of a paving layer produced

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020203475A1 (ja) * 2019-03-29 2020-10-08 住友建機株式会社 アスファルトフィニッシャ
EP3981918B1 (de) * 2020-10-08 2024-03-13 Joseph Vögele AG Strassenfertiger sowie verfahren zum nivellieren der einbaubohle eines strassenfertigers
EP4056760B1 (de) * 2021-03-12 2023-08-09 Joseph Vögele AG Strassenfertiger mit nivellierkaskadenregelung
CN113671951B (zh) * 2021-07-28 2024-05-28 湖南三一中益机械有限公司 摊铺机控制系统、摊铺机和摊铺机控制方法
CN117188268B (zh) * 2023-11-07 2024-01-02 山东创元建设集团有限公司 一种道路工程施工用平整度检测装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5752783A (en) * 1996-02-20 1998-05-19 Blaw-Knox Construction Equipment Corporation Paver with radar screed control
US5921708A (en) * 1996-10-01 1999-07-13 Joseph Voegele Ag Pavement-vehicle convoy
US6088644A (en) * 1998-08-12 2000-07-11 Caterpillar Inc. Method and apparatus for determining a path to be traversed by a mobile machine
US6452684B1 (en) * 1998-06-10 2002-09-17 Road Ware B.V. Device for determining the contour of a road surface
US9290894B2 (en) * 2011-08-22 2016-03-22 Joseph Vogele Ag Road paver with measuring device
US9447552B2 (en) * 2013-06-11 2016-09-20 Joseph Voegele Ag Paving screed for a road finisher

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9214769U1 (zh) 1991-11-15 1993-04-01 Moba - Electronic Gesellschaft Fuer Mobil-Automation Mbh, 6254 Elz, De
JP2612666B2 (ja) * 1993-05-14 1997-05-21 日本無線株式会社 アスファルトフィニッシャ
JPH11325892A (ja) * 1998-05-18 1999-11-26 Tokimec Inc 路面形状測定装置
DE10060903C2 (de) 2000-12-07 2002-10-31 Moba Mobile Automation Gmbh Laser-Höhenregeleinrichtung für eine Baumaschine
DE10154635A1 (de) * 2001-11-07 2003-05-22 Bosch Gmbh Robert Verfahren zur Erfassung einer Geländekontur und eine Regelvorrichtung für ein Bodenbearbeitungsfahrzeug
JP3908226B2 (ja) * 2004-02-04 2007-04-25 日本電産株式会社 スキャニング型レンジセンサ
JP4816078B2 (ja) * 2005-12-28 2011-11-16 住友電気工業株式会社 電波レンズアンテナ装置
CN2873863Y (zh) * 2006-01-25 2007-02-28 何英明 基于精密激光测距原理的摊铺机反射式自动找平装置
DE102011078641A1 (de) * 2011-07-05 2013-01-10 Robert Bosch Gmbh Radarsystem für Kraftfahrzeuge sowie Kraftfahrzeug mit einem Radarsystem
CN204356623U (zh) * 2014-11-12 2015-05-27 沈阳德川建筑工程有限公司 一种混凝土精密整平振捣系统

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5752783A (en) * 1996-02-20 1998-05-19 Blaw-Knox Construction Equipment Corporation Paver with radar screed control
US5921708A (en) * 1996-10-01 1999-07-13 Joseph Voegele Ag Pavement-vehicle convoy
US6452684B1 (en) * 1998-06-10 2002-09-17 Road Ware B.V. Device for determining the contour of a road surface
US6088644A (en) * 1998-08-12 2000-07-11 Caterpillar Inc. Method and apparatus for determining a path to be traversed by a mobile machine
US9290894B2 (en) * 2011-08-22 2016-03-22 Joseph Vogele Ag Road paver with measuring device
US9447552B2 (en) * 2013-06-11 2016-09-20 Joseph Voegele Ag Paving screed for a road finisher

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180210079A1 (en) * 2016-12-21 2018-07-26 Infineon Technologies Ag Radar systems for vehicles and methods for operating radar systems of vehicles
US10884118B2 (en) * 2016-12-21 2021-01-05 Infineon Technologies Ag Radar systems for vehicles and methods for operating radar systems of vehicles
US10435066B2 (en) 2017-05-11 2019-10-08 Joseph Voegele Ag Road paver with steering compensation and control method
US11560675B2 (en) 2019-05-14 2023-01-24 Joseph Voegele Ag Road finisher and method for determining the layer thickness of a paving layer produced
WO2021151511A1 (de) * 2020-01-31 2021-08-05 Moba Mobile Automation Ag Messsystem und steuerung
EP4220070A1 (de) * 2020-01-31 2023-08-02 MOBA Mobile Automation AG Messsystem und steuerung
CN114382264A (zh) * 2020-10-19 2022-04-22 广东博智林机器人有限公司 一种铺料设备及其控制方法、装置、存储介质
CN114961290A (zh) * 2021-02-20 2022-08-30 广东博智林机器人有限公司 一种卷材的铺贴设备

Also Published As

Publication number Publication date
EP3130939A1 (de) 2017-02-15
CN106522065A (zh) 2017-03-22
BR102016018573A2 (pt) 2017-10-10
JP2017036660A (ja) 2017-02-16

Similar Documents

Publication Publication Date Title
US20170044726A1 (en) Road paver with a radar-based leveling device and control method
CA2693146C (en) Optical guidance system for a paving train for producing a concrete or asphalt surface layer
US20120321384A1 (en) Road paver with layer thickness measuring device
US9290894B2 (en) Road paver with measuring device
US9033611B2 (en) Road paver with layer thickness measuring device
US9534349B2 (en) Road paver having layer thickness detecting device and method
US11560675B2 (en) Road finisher and method for determining the layer thickness of a paving layer produced
CA2882583C (en) Automotive milling machine, as well as method for unloading milled material
US9702096B2 (en) Automotive construction machine and method for controlling an automotive construction machine
US9176057B2 (en) Apparatus and method for measuring retroreflectivity of a surface
US20060198700A1 (en) Method and system for controlling construction machine
AU2014202002B2 (en) Apparatus and Method for Determining a Vehicle Feature
US20110299926A1 (en) Road Construction Machine, As Well As Method For Controlling The Distance Of A Road Construction Machine Moved On A Ground Surface
JP2008524473A (ja) 道路舗装機械の監視方法及びその監視装置
JP2015229101A5 (zh)
EP3310964B1 (en) Correction unit
NO169309B (no) Maaling av jevnhet av veioverflate
CN111102941B (zh) 使用激光形状确定声波传感器角度
WO2015175247A2 (en) Optical sensing a distance from a range sensing apparatus and method
CN219992116U (zh) 道路整修机
UA121495U (uk) Спосіб калібрування та видалення паразитних відбиттів при неруйнівному контролі верхнього шару асфальтобетону за допомогою георадара

Legal Events

Date Code Title Description
AS Assignment

Owner name: JOSEPH VOEGELE AG, GERMANY

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:BUSCHMANN, MARTIN;WEISER, RALF;EUL, ACHIM;AND OTHERS;SIGNING DATES FROM 20160912 TO 20160913;REEL/FRAME:039866/0223

STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION