Measurement system and controller

Abstract

The invention relates to a measuring system for a construction machine, which measuring system has a carriage comprising several parts, to a measuring system for a construction machine, which measuring system comprises a calculation unit determining a regression line and a controller having two control loops.

Description

[0001] manual

[0002] Embodiment (Aspect 1) relates to a measurement system and a construction machine including the measurement system. A preferred embodiment of this first aspect relates to a measurement system and a construction machine including the measurement system. A preferred embodiment of this first aspect relates to a measurement system comprising a bracket having attached or integrated sensor heads.

[0003] Another embodiment (Aspect 2) relates to a measurement system, a corresponding method, and a construction machine. A preferred embodiment of this second aspect relates to a measurement system comprising a calculation unit for determining a regression line.

[0004] Another embodiment (aspect 3) relates to a controller for a construction machine, a scraper control system, and a corresponding method. A preferred embodiment of this third aspect is a controller having two control loops, particularly for controlling the scraper of a road finishing machine.

[0005] Figure 4 A known road finishing machine, such as that described in EP0542297A1, is shown. The road finishing machine is generally indicated by reference numeral 1 and includes tracks 2 by which the road finishing machine 1 travels on prepared ground 4. A height-adjustable scraper 10 is arranged at the rear end of the road finishing machine 1 in the direction of travel, and is turned at the road finishing machine 1 by a traction arm 12 at a traction point 14ZP. The height of the traction point 14ZP can be adjusted by a cylinder 14 (not shown). An asphalt material supply device 3 is located in front of the scraper 10 and is kept substantially constant across the entire width of the scraper 10 by appropriate control of the rotational speed (known per se) of the helical conveyor 4. The scraper 10 floats on the asphalt of the road surface 16 to be produced. The thickness of the road surface to be finished before its final consolidation by the roller is adjusted by controlling the height position of the rear edge 10k of the scraper 10. This height control is caused by changing the tilt angle of the scraper 10, and is typically achieved by controlling an actuating cylinder engaged with the front end of the traction arm 12. The road finishing machine includes three ultrasonic sensors 5a, 5b, and 5c attached to a retainer 5h. The retainer 5h is attached to the traction arm 12. The three ultrasonic sensors 5a, 5b, and 5c are used to scan a reference surface, which may be formed, for example, by an existing paved road surface or an old trail.

[0006] Aspect 1

[0007] In construction machinery, such as road construction machines, especially when measuring distances to the ground or reference points at one or more points, such as tensioned ropes or curbs or adjacent layers already laid, as in combination Figure 4Explanation. For this purpose, ultrasonic sensors have been developed on the market in recent years, which are cantilevered to, for example, the scraper of a road screed machine, the towing arm of a road screed machine, and / or the chassis of a road screed machine. In some applications, so-called sonic-skis are used, which combine several parallel measuring heads to form a distance sensor.

[0008] In another existing technical solution (Big Sonic-Ski, or Big Ski for short), multiple distance sensors, such as ultrasonic measuring heads or sensors based on another measurement principle (e.g., lasers), are attached to the traction arm via a common linkage mechanism. The linkage mechanism extends approximately along or even beyond the length of the machine in the direction of travel and is arranged such that the distance to the ground can be measured at two, three, or more measuring points along this linkage mechanism or the direction of travel. For example, one sensor may be aligned with the applied layer, while another sensor is aligned with the ground to which the layer is to be applied. Therefore, two or more sensor heads are provided, one in front of the scraper and one behind the scraper.

[0009] This so-called Big Sonic-Ski (or Big Ski) application has many advantages, such as the fact that measurement results caused by system errors due to stones on the ground may be attenuated or balanced. The disadvantage of this so-called Big Sonic-Ski is the significant amount of work required for installing the linkage mechanism and individual sensor heads. Given the fact that this measurement system is often removed overnight to prevent potential theft, this installation work is unavoidable in daily operations. Therefore, an improved method is needed.

[0010] The object of the present invention is to provide a concept that enables measurements to be taken at at least two locations relative to the ground, wherein the overall trade-off between installation work, measurement range (in the sense of long distances between individual measurement points) and reliability is improved.

[0011] This objective is achieved by the independent claim of the first aspect.

[0012] One embodiment provides a measuring system or apparatus for construction machinery such as a road finishing machine or a milling machine. The measuring system includes a bracket connectable to the construction machinery (or components, such as a scraper (or plate) or traction arm), for example, such that the bracket extends along the ground. For example, the bracket may extend transversely to the longitudinal axis of the construction machinery. The bracket includes at least a first portion having a plurality of sensor heads attached to or integrated with the first portion for non-contact measurements of the ground or, generally, a reference object. These are aligned, for example, in parallel, i.e., having scanning areas extending parallel or substantially parallel. The first portion has a second connecting element at a second end face, which can be connected to the first connecting element, thus forming both a mechanical and an electrical connection.

[0013] According to the implementation method, electrical connection is understood as direct contact, inductive connection or non-contact connection.

[0014] According to another embodiment, the measurement system includes a second portion of a bracket, wherein the second portion further includes a plurality of attached / integrated (parallel) sensor heads. The second portion has a first connecting element at a first end face, such that a second connecting element of the first portion can be connected to the first connecting element of the second portion. According to an embodiment, the second portion may have a second connecting element at a second end face and / or the first portion may have a first connecting element at a first end face. In this respect, the two portions may be formed identically, such that not only can two portions be inserted together to form a bracket, but multiple portions can also be inserted together to form a bracket.

[0015] The embodiments of the present invention are based on the discovery that using fastened / integrated sensor heads in a bracket subdivided into one or more parts can significantly reduce assembly work. Since the connecting elements simultaneously form mechanical and electrical connections, wiring is unnecessary. According to an embodiment, the connection between the part and the construction machine can also be made via corresponding connecting elements. For example, a first part can be connected to the construction machine (which has a corresponding second part as a mating piece) via its first connecting element. Here, in addition to mechanical connections, electrical connections can also be formed. According to an embodiment, the measurement system can be extended by additional parts with attached / integrated sensor heads to enable simultaneous scanning of large areas. Therefore, when a measurement system with two parts per bracket is set up in this way, only two connections are required (one to the machine, and one between the two parts), instead of attaching and wiring individual sensor heads. This saves a significant amount of time compared to conventional methods. The fact that all sensor heads are also aligned with each other also means that no further adjustments are needed, which ensures overall measurement quality.

[0016] Different methods exist for mechanical connections. Three variations of the implementation are explained below; other variations are also possible.

[0017] According to a variation of the first embodiment, a type of hook connection can be used. According to the embodiment, the first connecting element and / or the second connecting element may have hooks such that the first and second connecting elements can engage by rotational movement. According to another embodiment, the hook of the first connecting element or the hook of the second connecting element, or the hooks of the first and second connecting elements, may have engagement surfaces that are open substantially perpendicular to the longitudinal direction of the respective portions. Here, the rotational movement is defined by end stops that require the first end face or end surface and the second end face or end surface to contact. According to another embodiment, the first connecting element and / or the second connecting element may include an electrical connector that extends substantially along the longitudinal direction of the respective portions.

[0018] According to another embodiment, shearing movement of two portions or one portion relative to another connecting element can also form a connection. In this embodiment, the first connecting element and / or the second connecting element may include a profile extending substantially perpendicular to the longitudinal direction of the respective portions and having end stops, such that the two connecting elements can be connected by translational movement substantially perpendicular to the longitudinal direction of the respective portions. According to an embodiment, the first connecting element includes a lever mechanism, such as an eccentric member, for translatorily securing the first connecting element to the second connecting element. According to one embodiment, the first connecting element and / or the second connecting element may each include an electrical connector extending substantially perpendicular to the longitudinal direction of the respective portions.

[0019] According to another embodiment variation, it is also conceivable that the two parts can be translated relative to each other to form a connection. Therefore, according to an embodiment, the first connecting element may include a sleeve extending substantially in the longitudinal direction of the respective part, and wherein the two connecting elements can be connected by inserting a second connecting element into the sleeve. According to an embodiment, the first connecting element and / or the second connecting element may include respective electrical connectors extending substantially along the longitudinal direction of the respective part.

[0020] According to another embodiment, the measuring system has fastening elements. This can be connected to a construction machine or a component of the construction machine, and has a first connecting element and / or a second connecting element. This can be accomplished, for example, in such a way that a first portion can be connected to the construction machine or a component of the construction machine.

[0021] According to the implementation, the first part and / or the second part may have sensor heads aligned on a longitudinal side perpendicular to the longitudinal axis of the first part and the second part. In other words, the sensor heads are aligned with the ground (in the installed state), that is, the sensor heads are aligned with the applied layer or with the ground of the layer to be applied.

[0022] As described above, the sensor head has multiple (i.e., at least three) sensor heads attached or integrated, and each part has these multiple sensor heads attached / integrated. The higher the number or density of sensors, the better the compensation for non-uniformity at a certain wavelength (e.g., 5m).

[0023] According to the implementation, the measurement principle of the sensor head can be different; that is, the sensor head can be designed as, for example, an ultrasonic sensor, a laser sensor, or a radar sensor. According to a preferred variation, the sensor heads are spaced apart from each other, for example, 10cm, 20cm, 33cm, 40cm, or typically in the range of 5cm to 50cm or 2cm to 100cm. This distance can be adjusted accordingly based on the measurement principle of the sensor head. For example, this distance can be selected such that there is an equal distribution on the corresponding segments or on the bracket. Furthermore, the distance from sensor / sensor head to sensor / sensor head can be changed, for example, increased. This is advantageous when compensating for non-uniformity in a layer applied at a certain frequency / wavelength.

[0024] According to another embodiment, for each first and / or second portion of the bracket, the measuring system may include at least one first additional sensor head aligned parallel to the longitudinal axis and / or disposed at a first end face and / or a second end face; and / or wherein the first additional sensor head is configured to perform a reference measurement. Here, according to an embodiment, for each first and / or second portion, the measuring system may include a second sensor head disposed along the longitudinal axis of the respective first and / or second portion of the bracket and located at an end face opposite to the first additional sensor head. To determine a reference object, according to another embodiment, the measuring system may include a reflector (e.g., parallel to the longitudinal axis) or an angled reflector (e.g., angled 135° relative to the longitudinal axis) at the first and / or second end faces. The reflector may also be integrated / formed within a container of one and / or more sensor heads.

[0025] According to another embodiment, it is also conceivable for the measuring system that each first part and / or second part or each bracket includes at least one additional sensor head aligned and / or arranged parallel to the longitudinal axis at the first end face and / or the second end face; the additional sensor head is configured to determine the distance to an object performing relative motion with respect to the construction machine or a component of the construction machine.

[0026] According to the implementation, the sensor head measurements are performed substantially simultaneously, i.e., within time windows of, for example, 3s, 1s, 0.5s, 0.1s, or less. Measurements to the ground (referencing the applied or to-be-applied layer) and / or to the object and / or as a reference measurement are performed substantially simultaneously (as described above, synchronously within the time window). That is, all sensor heads arranged in the measurement system can perform measurements substantially simultaneously. This is advantageous for the measurement accuracy of the system because simultaneous measurements, in principle, provide a snapshot of, for example, the ground or reference profile and the reference measurement under the same conditions (e.g., environmental conditions). In contrast to asynchronous measurements (not performed simultaneously, e.g., one after another), changes in distance or external conditions, such as those triggered by mechanical vibrations (oscillations) of a machine or tool or machine parts, or by temperature fluctuations, are irrelevant in substantially simultaneous measurements because at the moment of (simultaneous) measurement, for example, the ground or reference profile is detected by the measurement system at the correct distance, and the reference measurement is also performed under the same conditions. Therefore, the correct reference profile or correct ground profile is detected by all sensor heads in all parts and all brackets of the measurement system. Furthermore, simultaneous measurement is advantageous for high measurement rates (scanning rates), such as those required for leveling in road construction (e.g., scraper height leveling).

[0027] According to another embodiment, the first and / or second portion includes a display, such as an LED or an LED display. The display or LED display is configured to show the connection status between the first and second portions or each additional portion, or to display information about the measurement system or the adjustment and / or control system connected to the measurement system, such as information about deviations. LCD displays and the like are also conceivable here as displays that display, for example, text and / or symbols.

[0028] According to another embodiment, the measurement system may include a GNSS sensor, a tilt sensor, an infrared sensor, a temperature sensor, a position sensor (inertial measurement unit), or other sensors. According to an example, each component may also include an illumination device.

[0029] According to another embodiment, the measuring system has a first connecting element on a (first) end face, the first connecting element being connected to a second connecting element attached to a machine, for example, attached to a second end face, where another measuring system (e.g., a distance measuring system) is attached.

[0030] According to another embodiment, the calculation unit is configured to use a first measurement value and a second measurement value to determine the regression line and the slope of the regression line relative to the ground or a reference object, and based on the slope, to determine the slope describing the regression line and the angle of the position of the components of the construction machine relative to the ground or reference object.

[0031] Another embodiment relates to a construction machine, such as a road construction machine that includes the surveying system explained above.

[0032] Aspect 2

[0033] The position of components of construction machinery, such as scrapers, is monitored. For example, angle sensors or tilt sensors are present to determine the rotation of the scraper about its longitudinal axis, i.e., the tilt of the scraper relative to the ground. Because the scrapers or components of construction machinery are often subject to considerable disturbances, such as vibrations, mechanisms are needed to compensate for these disturbances.

[0034] In existing technologies, for example, different measurement principles are used to determine the tilt angle in order to combine the advantages of different measurement principles in terms of "anti-interference ability", accuracy, etc.

[0035] The object of this invention is to provide an alternative concept for determining the location of components of a construction machine or the construction machine itself.

[0036] This objective is addressed by the independent claim of the second aspect.

[0037] Embodiments of the present invention provide a measurement system for construction machinery, wherein the measurement system has a bracket for connection to components of the construction machinery. In a basic implementation, the measurement system includes at least a first sensor head, a second sensor head, and a third sensor head, as well as a computing unit. The first, second, and third sensor heads are connected to the bracket. Preferably, the alignment may again be parallel; the system may also be used according to an embodiment according to aspect 1. Typically, the sensor heads are configured to measure a first distance from the first sensor head to the ground or a reference object to obtain a first measurement value, or to measure a second distance from the second sensor head to the ground or a reference object to obtain a second measurement value, or to measure a third distance from the third sensor head to the ground or a reference object to obtain a third measurement value. The computing unit is configured to determine a regression line and its slope relative to the ground or a reference object based on the first, second, and third measurement values, and to determine, based on the slope, an angle describing the slope of the regression line and thus the position of a component of the construction machinery relative to the ground or a reference object.

[0038] According to an embodiment, the component may include a traction arm or a scraper or a scraper fixedly connected via a traction arm, which is rigidly and / or at least rigidly connected during operation, i.e., in particular having a fixed limiting relationship or at least a fixed limiting relationship during operation.

[0039] The embodiments of the present invention are based on the discovery that regression lines (particularly the position of regression lines in space) can be determined by three measurements. Assuming sensors (e.g., spaced apart from each other) are arranged on a bracket that is positioned or fixed relative to the component in a known or fixed location, regression lines at a fixed angle relative to the component can be determined by three measurements. For example, the regression lines can be arranged parallel to the component.

[0040] Starting from an initial state where the component's position is known, the change in the component's position can be concluded by observing the change in the position of the regression line. Knowing the position of the regression line or the position of the sensor head relative to the component (e.g., the distance and offset along the bracket) may also determine the position of the regression line (relative to a reference object or the ground), and therefore may also determine the position of the component (relative to a reference object or the ground). Since the regression line is generally not very dependent on individual measurements, very accurate and very robust measurements can be performed.

[0041] Using more than two sensor values, or particularly more than two measurement points, in a temporally continuous measurement sequence makes the regression line (calculated) results particularly stable and robust. Furthermore, due to the rigid connection, the values ​​change uniformly across the bracket, allowing for advantageous position detection even in the presence of disturbances (objects on the ground or vibrations). By determining the position of the regression line, the position of components, such as their tilt, can be robustly detected.

[0042] According to one embodiment, the bracket may be positioned behind the scraper, for example, securely attached to the scraper. The bracket is then directed toward the layer just applied and used as a reference point to determine the position of the scraper. For example, it is conceivable that the bracket extends along a longitudinal axis to determine the rotation of the scraper about its longitudinal axis (note: the longitudinal axis of the scraper extends transversely to the direction of travel of the road finishing machine, as described at the beginning). If the bracket is transversely to the longitudinal direction or arranged at an angle (e.g., 45°), the profile and / or additional lateral tilt (in addition to the profile) can be determined.

[0043] According to another embodiment, a measurement system can also be considered around another bracket having additional (three) sensors. For example, it could be arranged behind the scraper. Using this method, two regression lines are then determined, where the lateral offset of the first regression line relative to the second regression line corresponds to the layer thickness. This layer thickness measurement system is robust to scraper rotation because, for example, assuming the two brackets are in a straight line or parallel to each other, the regression lines are also parallel. The parallel offset corresponds to the layer thickness regardless of how the regression lines are in a solid angle.

[0044] In this regard, another embodiment provides a layer thickness measurement system. The layer thickness measurement system for a construction machine includes a bracket and an additional bracket connectable to a scraper of the construction machine, such that the bracket extends in front of the scraper and the other bracket extends behind the scraper. It also includes a first sensor head, a second sensor head, and a third sensor head, which are connected to the bracket and configured to measure a first distance from the first sensor head to the ground or a reference object to obtain a first measurement value; measure a second distance from the second sensor head to the ground or a reference object to obtain a second measurement value; and measure a third distance from the third sensor head to the ground or a reference object to obtain a third measurement value. Additionally, a third, second, and third sensor head are provided, connected to another bracket and configured to measure additional first, second, and third distances from the additional sensor head to the ground / reference object to obtain additional first, second, and third measurement values. A calculation unit is configured to determine a regression line based on the first, second, and third measurement values, and to determine another regression line based on the additional first, second, and third measurement values. The calculation unit is configured to determine the layer thickness based on the position of this regression line relative to the other regression line.

[0045] According to an implementation, the ply thickness measurement system can be configured such that the relative positions of one bracket and another are known, and therefore the regression lines and another regression line can be aligned such that they extend in parallel. As already mentioned, the offset between the regression lines indicates or corresponds to the ply thickness, or in general, allows for the conclusion to be drawn.

[0046] According to another variant, the measuring system can also be attached to another component, such as the chassis itself, in order to determine the location there.

[0047] According to another embodiment, the measurement system may include, for example, four sensor heads arranged on a common bracket. According to another embodiment, the computing unit may be configured to define a regression line starting from the point cloud to determine a first measurement value, a second measurement value, a third measurement value, and a fourth measurement value. The regression line is arranged in space such that the distance is minimized, for example, for points in the point cloud.

[0048] Since the relative tilt to a reference object or to the ground is always determined by a regression line, the measurement system can be extended to include a tilt sensor. In this case, the calculation unit is configured, for example, to determine the absolute tilt of the components of the construction machine based on the absolute tilt determined by the tilt sensor and the angle determined by the regression line.

[0049] Starting with driving conditions (e.g., speed < 2 km / h), several measurements are continuously determined for each sensor head. To determine the regression line, after repeatedly determining these parameters, a time averaging or a time averaging of the regression parameters is performed for each measurement point. According to another implementation, this averaging may also be performed locally or in different ways.

[0050] In a first and second sensor head, or in a multi-sensor head implementation, the sensor heads are typically spaced apart. According to one implementation, the computing unit can be configured to consider the distance between the sensor heads. This is particularly important for determining the slope of the regression line. Furthermore, the computing unit can be configured to use a velocity signal, which can be generated from a path signal or a position signal, such as a GNSS signal, to generate path-related / position-related measurements from time-related measurements. Therefore, it can respond to stationary disturbances.

[0051] Another embodiment provides a construction machine, such as a road construction machine, particularly one with a measurement system or a layer thickness measurement system.

[0052] Another embodiment provides a method for determining the position of components of a construction machine using a measurement system having a bracket that can be attached to the components of the construction machine. The method includes the steps of: determining a regression line and its slope relative to the ground based on a first measurement, a second measurement, and a third measurement; and determining an angle describing the slope of the regression line and the position of the construction machine components relative to the ground based on the slope.

[0053] Assuming there is another sensor head on another bracket, the method may further include the following steps: determining another regression line and its slope relative to the ground based on another first measurement, a second measurement, and a third measurement; determining, based on the slope, the angle describing the slope of the other regression line and the position of a component of the construction machine relative to the ground; and determining the layer thickness based on the regression line and the other regression line.

[0054] Another approach involves determining the slice thickness. This approach includes three steps: determining a regression line based on a first, second, and third measurement; determining another regression line based on additional first, second, and third measurements; and determining the slice thickness based on the position of this regression line relative to the other regression line.

[0055] This method can also be implemented by a computer according to the embodiments. Therefore, another embodiment relates to a computer program for performing the method according to any of the foregoing aspects.

[0056] Aspect 3

[0057] If we consider the primary task of road paving machines, that primary task is to ensure continuous uniformity during the paving process. However, due to numerous and varied disturbances, there exists an effect that at least compromises the desired uniformity.

[0058] A decisive drawback of scraper height leveling is that the measurement of scraper height information does not occur near the rear edge of the scraper, but rather within the area of ​​the scraper auger. This is ultimately a compromise solution, allowing for a necessary dynamic response at the traction point whenever a height control deviation exists, despite the scraper's very inactive behavior. The height leveling system adjusts the scraper's traction point in such a way that it compensates for the height deviation from the reference at the height sensor location (within the scraper auger area) as quickly as possible. At this location, the height relative to the reference is thus precisely maintained. However, the decisive height at the rear edge of the scraper can be changed at this point (the height sensor within the scraper auger area), resulting in a different height at the rear edge of the scraper over time compared to the desired height reference value. Therefore, the height of the rear edge of the scraper varies relative to the reference, which in turn indicates a deviation from the desired height that cannot be compensated for by the leveling system.

[0059] For example, a measurement system for a leveling system is shown in US 5,356,238.

[0060] Practical experience also shows that, using currently used leveling systems, undesirable height deviations sometimes occur in the scraper. Therefore, an improved method is needed.

[0061] The object of this invention is to provide a controller, particularly for road finishing machines or leveling systems with improved adjustment.

[0062] This objective is addressed by the independent claim of aspect 3.

[0063] Embodiments of the present invention provide a controller for a road machine having a scraper with a traction point configured to adjust the scraper. The controller includes a first control loop and a second control loop. The first control loop changes the traction point based on a first sensor value, while the second control loop changes the traction point in response to a second sensor value. The first sensor value represents the distance (from the sensor) in the area of ​​the scraper to the ground or a reference object, while the second sensor value represents the distance (from the sensor) in the area of ​​the traction point to the ground or a reference object.

[0064] According to the implementation method, the first control loop considers a first set value during the change period, while the second control loop considers a second set value during the change period.

[0065] The embodiments of the present invention are based on the discovery that dividing the controller into two control loops takes into account different disturbance variables acting on the leveling. For example, the control loop controlling the area of ​​the traction point compensates for disturbance variables acting directly on the chassis. For example, this control loop can be made more active than other control loops to correspondingly counteract the disturbance variables. The control loop that determines its measured value in the area of ​​the scraper essentially compensates for the disturbance variables acting on the scraper. These disturbance variables interact not only between the chassis and the traction point, as in the case of the second control loop, but also via the scraper, which includes the "asphalt" mechanism, making it possible to use a less active control loop as a basis here. Dividing the controller into two loops increases the complexity of the controller, but allows for more individual and significantly better control of the disturbance variables.

[0066] According to one embodiment, the first control loop is configured to be less active than the second control loop. For example, according to one embodiment, each control loop may include a filter (a first filter for the first control loop and / or a second filter for the second control loop). According to one embodiment, the first control loop is implemented for low-frequency control and has, for example, a low-pass filter with a low cutoff frequency. The second control loop may be implemented, for example, for high-frequency or higher-frequency control and includes a low-pass filter with a higher cutoff frequency.

[0067] In the first control loop, a model is used to represent the transmission behavior of the scraper according to an embodiment. According to an embodiment, this model may take into account the speed or distance traveled by the construction machine. According to another embodiment, the model may take into account the rotation of the scraper about its longitudinal axis, the weight of the scraper, and / or the vibration frequency of the scraper. According to another embodiment, the model may take into account the viscosity and / or temperature of the layer or pavement to be applied. Furthermore, factors such as the rest angle or the material height in front of the scraper may also be considered. In this respect, the first control loop according to the embodiment uses a model with speed, scraper rotation about its longitudinal axis, viscosity, and / or temperature as input variables.

[0068] According to another embodiment, the first control loop and the second control loop are configured to take into account the transmission behavior of traction point adjustment and / or the transmission behavior of the scraper. According to this embodiment, the transmission behavior of traction point adjustment can be described by IT behavior (integral behavior with respect to the time component). For example, the transmission behavior of the scraper can be approximately described by PT2 behavior (behavior proportional to the time component and a second-order delay).

[0069] Regarding the sensors, it should be noted that, depending on the implementation, these sensors can be implemented as ultrasonic sensors, laser sensors, radar sensors, or, quite generally, as distance sensors, which in their simplest case measure the distance to the ground or an applied layer. Of course, measurements relative to a reference object (e.g., a rope, edge or curb, line) are also conceivable. It is also conceivable to use a total station as the sensor system or a laser receiver combined with a central transmitter (3D controller).

[0070] Another embodiment relates to a scraper control system having a controller as described above and an actuator for adjusting the traction point.

[0071] According to the implementation, the scraper control system has or is connected to a first sensor in the scraper area and a second sensor in the traction point area.

[0072] Another embodiment relates to a construction machine, particularly a road construction machine with a corresponding controller or scraper controller.

[0073] Another embodiment provides a method for controlling a road construction machine with a scraper. The method includes the steps of: adjusting the traction point of the scraper using a first control loop and a second control loop, changing the traction point in the first control loop according to a first sensor value; and changing the traction point in the second control loop according to a second sensor value. The first sensor value represents the distance to the ground or to a reference point. The second sensor value represents the distance to the ground or to a reference point.

[0074] According to another implementation, the method can be implemented by a computer.

[0075] Before explaining embodiments of the invention below with reference to the accompanying drawings, it should be noted that, according to preferred variations, all the above aspects can be used in combination. For example, the above-described measurement system can be used as a sensor device for a controller. Similarly, this measurement system can be used as a sensor device for the measurement method (see above). Advantageously, the measurement method can be connected to a controller, since the same points on the substrate are typically scanned here. Of course, according to another preferred embodiment, all three aspects can be combined. All three aspects pursue the common goal of improving the leveling and / or control of road construction machinery (especially road finishing machines or road milling machines).

[0076] Embodiments of the present invention will be explained with reference to the accompanying drawings, wherein:

[0077] Figure 1a A schematic diagram of a portion of a measuring device having a sensor head, according to an embodiment, is shown;

[0078] Figure 1bA schematic diagram illustrating the cascading of multiple brackets in a measuring device according to another embodiment is shown;

[0079] Figures 1c to 1e A schematic diagram of applying measuring equipment to a road repair machine according to another embodiment is shown;

[0080] Figure 1f A schematic diagram showing a portion of an embodiment is illustrated in detail;

[0081] Figure 1g A schematic diagram of a sensor head for integration according to an embodiment is shown;

[0082] Figures 1h to 1j A schematic diagram illustrates the connection options between a part or connector and a part;

[0083] Figures 1k to 1n A schematic diagram showing the distance between sensor heads at a certain point is provided.

[0084] Figure 1o and Figure 1p A schematic diagram of the ripples produced by the applied layer is shown to illustrate different numbers of sensors;

[0085] Figures 1q to 1v A schematic diagram of the device used for reference measurement is shown;

[0086] Figure 2a A schematic diagram of a layer thickness measurement system using regression lines according to an embodiment is shown;

[0087] Figure 2b A schematic diagram is shown for interpreting the three-dimensional space used to determine the regression line with multiple distance points;

[0088] Figures 2c to 2e A schematic diagram of a layer thickness measurement system based on regression lines is shown.

[0089] Figure 3a A schematic diagram of a typical control circuit for scraper leveling is shown;

[0090] Figure 3b A schematic diagram of the controlled system for the scraper-traction arm system is shown;

[0091] Figure 3c A schematic diagram of a control loop structure for scraper leveling according to a basic embodiment is shown.

[0092] Figure 3d A schematic diagram of a control loop structure for scraper leveling according to an extended embodiment is shown.

[0093] Figure 3eA schematic diagram illustrating the disturbance variables acting on the scraper-traction arm system is shown to explain the implementation method;

[0094] Figure 3f A schematic diagram of the track-to-track installation is shown;

[0095] Figure 3g A schematic diagram of a rope scan using two sensors is shown;

[0096] Figure 3h The diagram shows rope scanning using a scraper sensor and a large soundboard for traction point control.

[0097] Figure 3i A schematic diagram of the setup of a 3D system with a total station and a large soundboard is shown.

[0098] Figure 3j A schematic diagram of a leveling system with a total station and two prisms is shown.

[0099] Figure 3k A schematic diagram of laser-based leveling is shown; and

[0100] Figure 4 A known road maintenance machine is shown.

[0101] Embodiments of the present invention will now be explained with reference to the accompanying drawings. Here, the same reference numerals will be used for elements and structures having the same effect, so that their descriptions can be applied to or interchanged with each other.

[0102] Aspect 1

[0103] The sensor device 100 is explained below with reference to aspect 1. In its simplest implementation, it includes a bracket 110 comprising at least one portion 111. At least two sensors 121, 122 are integrated (typically attached) in this portion 111. These sensors are arranged spaced apart from each other. Furthermore, the bracket 110 includes a second connecting element 132 connectable to a first connecting element (not shown). The connecting element 132 and the first connecting element (not shown) are configured to first form a mechanical connection and then an electrical connection. The electrical connection is understood to represent, for example, a contact connection, a non-contact connection, such as an inductive connection. The bracket 110 and therefore the portion 111 may, for example, have a square shape (see [reference]). Figure 1f (The bracket portion 111). If it is possible to specifically... Figure 1f As can be seen, the integrated sensor elements 121, 122, etc. are integrated in the bracket and all are aligned in the same direction.

[0104] Assuming that the bracket 110 is mounted parallel to the ground, and further assuming that the sensor device 100 will be used to measure the distance to the ground, all sensor heads 121, 122, etc., are oriented towards the ground. In other words, it has a scanning range extending perpendicular to the longitudinal axis of the bracket 110 or portion 111.

[0105] By integrating sensors 121 and 122, integration means that they can be fully embedded in the tube of part 111 or simply connected to it. Since only part 111, rather than the individual sensor heads, is installed on-site, assembly work is significantly reduced. In other words, this means that sensor heads 121 and 122 can be transported together with part 111. For example, as... Figure 1b As shown, portion 111 of the bracket can be connected to a container device on a construction machine or connected to another portion via interface 132.

[0106] Figure 1b A bracket 110' with portions 111 and 112 is shown. Each portion includes embedded sensor heads 121 and 122. The connection between the two portions 111 and 112 is achieved via connecting elements 131 and 132, which are compatible with each other and arranged on their respective end faces. For completeness, it should be noted that, according to an alternative embodiment, each portion 111 and 112 may also have additional connecting elements 131 and 132 on their respective opposite end faces.

[0107] refer to Figure 1a and Figure 1b It should be noted that the bracket 110 may, for example, consist of one part 111 or multiple parts 111 and 112. See below for reference. Figure 1c and Figure 1d Explain the different installation scenarios.

[0108] Figure 1c Part 111 is shown, which includes a connecting element 131. Connecting element 131 connects to a connector 135 including connecting element 132. Connector 135 is coupled to the machine. In this embodiment, it connects to a scraper 10. In this embodiment, connector 135 extends longitudinally in an S-shape along the direction of travel below the foot pedal 10t of scraper 10. Sensor heads 121 and 122 are shown by way of embodiment. As can be seen, these are oriented in such a way that scanning of the ground 16' is performed, or in this case, scanning of the applied material layer 16' is performed.

[0109] For example, portion 111 may be one or two meters long, or typically on the order of 50cm to 300cm. According to another embodiment, in order to scan an entire longer area, the bracket 110 may be cascaded by connecting two portions 111 and 112. This is in Figure 1dAs shown in the image.

[0110] Figure 1d Part 111 is shown connected to part 112 in an aligned manner. Together, parts 111 and 112 form a bracket 110 for the sensor device. The sensor device 110 is connected to the scraper 10 via connector 135', such that the sensor device 110 extends rearward from the scraper in approximately the direction of travel. By combining the two parts 111 and 112, a longer area can be scanned while optimizing processing, particularly during assembly and disassembly. This is achieved by the fact that parts 111 and 112 are separate from each other and can therefore be loaded individually. When such a long sensor device 110 is configured, only part 111 needs to be connected to element 135, and part 112 needs to be connected to part 111. As already combined... Figure 1a and Figure 1b As explained, connecting elements 131 and 132 are configured in such a way that an electrical connection is formed in addition to a mechanical connection. In this respect, no additional wiring is required to contact part 112, which significantly reduces assembly work.

[0111] Figure 1d Another exemplary installation at the traction arm 12 is shown. Another retainer 135' is arranged at the traction arm 12, having a first connecting element 131 and a second connecting element 132. The sensor device 110' includes two parts 111 and 112, wherein part 111 is connected to the connector 135' via its connecting element 132, and part 112 is connected to its connecting element 131. In other words, the element 135', securely connected to the traction arm 12 of the machine or apparatus, is located between the two parts 111 and 112 of the bracket. The two parts are oriented in the same manner, as in... Figure 1d In the case of sensor device 110, scanning of the ground or the applied layer is performed.

[0112] Therefore, this embodiment has shown that cascading is possible not only via series connection as in device 110, but also via common connection to common connector 135'. Through such cascading, it is also possible, of course, for the measurement system to have a third part, for example, arranged in series. Furthermore, this embodiment has shown that different attachment locations are possible, for example, on the scraper 10 itself or on the traction arm 12. It is important that each element 135' is securely connected to either the scraper 10 or the traction arm 12. Threaded connections, welded connections, or other connections are all suitable for this purpose. For example, this element 135' can remain directly connected to the machine, while the technical carrier sensor elements / parts 111 and 112 are removed at night. Element 135' of sensor device 110' is... Figure 1e As shown in the image. Figure 1eElement 135' is shown, with portion 111 connected to a first side and portion 112 connected to a second side. In this embodiment, the connecting element 135 is formed as a sleeve whose cross-sectional shape corresponds to the cross-section of profiles 111 and 112 (here, rectangular, or other, such as circular, cross-sections), wherein the dimensions (particularly the internal dimensions) of the sleeve of element 135' are formed in such a way that elements 111 and 112 can be inserted. Elements 111 and 112 are secured by screws 135 shown here. Electrical connections are not shown.

[0113] According to the embodiment, element 135' can rotate relative to the traction arm 12 or be rotatable relative to the traction arm 12 to align sensor device 110 or 110' parallel to the ground. It should be noted that this is not absolutely necessary, as calculations can also be performed here using the principle of regression lines, which will be explained in conjunction with aspect 2.

[0114] According to the implementation, portions 111 and 112 extend substantially aligned with both sensor devices 110 and 110', such that all sensors 121 and 122 have substantially parallel scanning lobes.

[0115] refer to Figure 1f The section 111, with its sensor arrangement, is explained. Section 111 may have multiple sensor heads 121 and 122, for example, six sensor heads in this case. These are labeled with reference numerals 121 to 126. For example, the arrangement may be equidistant, although another arrangement may also be practical, as will be referenced below. Figure 1m The quantity can also vary accordingly (see combination). Figure 1k and 1l (Explanation).

[0116] Sensor heads 121 to 126 are embedded in one side of a profile, in this case, the profile is rectangular, such as... Figure 1f and Figure 1g As shown. Figure 1g An exemplary 60×80mm profile is shown, in which the sensor head 126 is embedded in the narrower side 60. This can be, for example, snapped or screwed into place. According to an embodiment, the sensor head 126 is approximately flush with the surface of the profile, i.e., + / -3mm, + / -10mm, or + / -20mm.

[0117] According to the implementation, the sensor head is an ultrasonic sensor, but other sensor technologies, such as laser or capacitive sensors, may also be used. Different measurement principles may also be used for the different sensor heads of each part 111 or each sensor device 110.

[0118] Figure 1hTwo portions 111 and 112 are shown connected to each other via connector 138. Portions 111 and 112 are simple profiles that insert into connector 138 and are connected on each side by an eccentric member 138e. The profiles have connecting elements 131 and 132 on corresponding end faces, at which connection with connector 138 is achieved. Connector 138 has corresponding mating parts to form an electrical connection in addition to a mechanical connection. In this embodiment, the electrical connector can be implemented, for example, by a plug integrated into connector 138 and closed in the longitudinal direction of portions 111 and 112.

[0119] Another implementation of the slide-in connector is in Figure 1i As shown in the diagram. Here, a modified connecting element 138' with an eccentric member 138e is shown, into which part 111 is inserted. Connecting element 138' may, for example, be part of another part of the bracket or may be permanently attached to the machine.

[0120] According to another embodiment, it is also conceivable to use knurled screws instead of eccentric member 138e to perform screw connections, such as... Figure 1e As shown. A common feature is that profiles 111 or 112 are inserted and secured by additional means (e.g., an eccentric member or a screw). A quick-release fastener, such as those commonly found in bicycles, or a bayonet-type fastener may also be used. It should be noted that part 111 may be implemented, for example, with a closing cap 111v on one end face.

[0121] Figure 1j Another connection concept is illustrated. In this embodiment, portion 112 has a hook 131h' as ​​a connecting element 131', such that the hook can be connected to the engagement portion of connecting element 132'. The engagement portion of component 132' is provided with reference numeral 132e'. The two components are mechanically connected by performing rotor movement of portion 112 relative to the other component to which portion 112 is connected. In this rotor connection, an electrical connection can also be performed, for example, through contact at the end faces. The end faces restrict rotor movement.

[0122] Component 112 has a cap on its opposite end face. The cap is marked with reference numeral 112v.

[0123] It should also be noted that other connection options are also conceivable. For example, the corresponding connecting element could also have a guide extending orthogonally to the longitudinal direction, thus forming a dovetail connection.

[0124] What all these connections have in common is that one or more parts at the fastening element can be connected to each other, forming an electrical connection in addition to a mechanical connection. Furthermore, the angular orientation of the longitudinal portion is fixed by the connector.

[0125] As described above, each part may include multiple sensor elements 121, etc. Figure 1k In this context, assume that part 100 has a length of 2m (200cm) and sensor heads 121-126 (here, six sensor heads) are evenly distributed. This results in a distance of 33cm between the sensor heads, with 33 / 2cm provided from the end face to the first sensor head 121 and to the last sensor head 126. Figure 11 A section 100 with a length of 2m (200cm) is shown, in which five sensor heads 121-125 are provided. The distance is also equidistant, resulting in a distance of 40cm between the sensor heads and a distance of 20cm from the end face to the first sensor head 121 or the last sensor head 125.

[0126] like Figure 1o and Figure 1p As shown, the number of sensor heads has a significant impact on the possible control. Figure 1o A comparison is shown between classic large soundboards (referred to as large boards) with a 12m extension using three, four, and five sensors. As can be seen, the large soundboard with three sensors has problems within a 6m range, the large soundboard with four sensors has problems within a 4m range, and the large soundboard with five sensors has problems within a 3m range. The large soundboard with three sensors also encountered the same problems. By increasing the sensor density, these high-frequency problems (compared to vibration) can be reduced within a range of 20m, etc. Figure 1p An improvement is illustrated by using the sensor device described in Figure 1 (and according to the invention). Here, it is assumed that the 8m bracket has three to six sensors. As the number of sensors increases, the control gap becomes more frequent, but this is less critical because the possibility of high-frequency interference is lower.

[0127] In summary, the increased sensor density in the longitudinal direction provides a quality advantage. Generally, the preferred embodiment is considered to have a sensor device with a length of at least 4m, i.e., comprising two parts. Even better quality can be achieved with a 6m or 8m sensor device.

[0128] To further improve the high-frequency gap, or the gap typically caused by resonance, according to another implementation, sensor patterns with non-equidistant spacing in each section can also be used. Figure 1m This embodiment, with five sensor heads 121-125, is shown. Here, the distance between the end face and the first sensor 121 increases from 20 cm. For example, the distances are 32 cm, 40 cm, 46 cm, and 58 cm, as well as 4 cm.

[0129] Figure 1nAnother illustration is shown, in which an equidistant sensor with a distance of 44 cm is used again, but the distance between the end face and the first sensor 121 is chosen in such a way that equidistance is maintained in both parts. Here, the portion between the end face and the first sensor is chosen in such a way that half the distance exists between the other sensor, or specifically sensors 121 and 122.

[0130] The following is for reference. Figures 1q to 1v The implementation methods of possible reference sensors are explained. Ultrasonic sensors often deviate, for example, due to ambient temperature, and a reference measurement must be performed on them. For example, a reference measurement is performed by measuring a known distance with the ultrasonic sensor and using this reference signal as a calibration value based on the measured signal (typically the time interval between the transmission and reception of the response signal). Figure 1q A portion 111, including a sensor head 121, is shown. One or each sensor head has a bracket 171 disposed at a defined distance in front of the sensor 121. This bracket 171 is at least partially located throughout the measurement area and may be foldable or rigid depending on the embodiment. The bracket 171 reflects the measurement signal, as shown here by dashed lines.

[0131] Figure 1r Another variation is shown. Here, a bracket is also positioned at the sensor, which is sensor 125. The bracket has a reflector 172. According to an embodiment, the bracket is integrated into a retainer 131', which is a hook retainer (see [link]). Figure 1j The reflector 172 is located at a defined distance from the sensor 126 and is therefore used for reference measurements.

[0132] Figure 1s Another variation is shown in which another reflector 173 is disposed in a laterally arranged bracket that extends substantially perpendicular to the longitudinal extension of portion 111. This reflector 173 is positioned at a distance from sensor 126, but serves not only as a reference to the nearest sensor 126, but also as a reference to the sensors 125,...121 arranged adjacent to it. According to an embodiment, reflector 173 may be arranged at an angle, for example, 45°, relative to the measurement direction of each sensor head 121 to 126. According to another embodiment, reflector surface 173 may be bent to serve as a reflector for all channels 121 to 126. As shown herein, the bracket for connecting reflector 173 to portion 111 may be directly attached to portion 111, or it may be integrated into a connecting element, for example, by combining... Figure 1r As shown.

[0133] Figure 1t Basically similar Figure 1sIn the implementation described above, although the reflector 174 here has an active reflector that aligns itself accordingly depending on which channel (sensor head) is to be calibrated.

[0134] refer to Figure 1s and Figure 1t In implementing this method, it should be noted that, for example, sensor heads 121 to 126 can be calibrated one after another so as not to interfere with each other.

[0135] According to another embodiment, it is also conceivable that the active reflector 174 is an active transmitter unit that then guides the ultrasonic signal to the receivers 121 to 126.

[0136] exist Figure 1u In this implementation, it is assumed that the ultrasonic sensor 176 is used for reference measurements via a bracket 175 arranged below the sensor heads 121 to 126. Here, "below" refers to the area between the bracket / part 111 and the road surface. The ultrasonic sensor 176 is arranged parallel to the bracket / part 111 and can be arranged, for example, on the other end face via an additional reflector 177 or also between the end faces, for example, at the center (see dashed element 177').

[0137] according to Figure 1v In another variation shown, an active transmitter 176 arranged on a bracket 175 can cooperate with an active receiver 178 arranged on a bracket 175 on the other end face.

[0138] What all implementations have in common is that the reference measurement occurs in the region of ultrasonic sensors 121 to 126. This has the advantage that the environmental conditions, such as ambient temperature and infrared radiation, are largely the same.

[0139] All possible reference measurements (e.g., via reflectors arranged on the end face, via active transmitters or receivers arranged on the end face, or via transmitters or receivers arranged on the end face, forming parallel signals) can be implemented in such a way that connecting elements welded to the profile or typically arranged on the profile, for example, integrate these reflectors or transmitters. In this context, reference Figure 1h It demonstrates integration with profile connectors. Figure 1r The reflector 172 is a corresponding reflector. In this respect, the element used to perform the reference measurement is not part of part 111 or 112 at all, but part of connector 138. Figure 1i The example shown is following Figure 1vAnother variation of the measurement principle shown has an active transmitter 176 and an active receiver 178. The active transmitter 176 is integrated into element 138', while the receiver 178 is integrated into enclosure 111v. In this embodiment, it is of course conceivable to use a reflector 177 instead of receiver 178. Figure 1j A similar variation is shown. Transmitter 176 is integrated into element 131', while receivers or reflectors 177 and 178 are integrated into the enclosure 112v. Of course, it is also conceivable that 176 and... Figure 1i and 1j The 177 / 178 are interchanged in the implementation method.

[0140] In all implementations, it is advantageous to perform sensor head measurements substantially simultaneously (synchronous measurements within a time window, such as 3s, 1s, 0.5s, 0.1s, or less). That is, it is advantageous to perform measurements substantially simultaneously for all sensor heads arranged in the measurement system. This means that simultaneous measurements, in principle, provide a snapshot of the ground or reference profile (the ground of the applied layer or the layer to be applied) and the reference measurement under the same conditions (e.g., environmental conditions such as ambient temperature). Thus, the correct reference profile or correct ground profile is obtained from all sensor heads in all parts and all brackets of the measurement system. Substantially simultaneous measurements are also advantageous for high measurement rates (sampling rates), which are currently required for leveling (e.g., screed height leveling) in road construction.

[0141] refer to Figure 1g This explains another feature. Figure 1g The diagram also shows end-face LEDs 181. These can, for example, indicate the correctness of electrical connections between parts or from part to machine via color coding or flashing. Furthermore, they can display information such as required readjustment. Additionally, it is conceivable that when LEDs are arranged, for example, in measuring equipment 110... Figure 1d At the end face of the vehicle, the LED provides a signal about the distance to a vehicle (e.g., a road roller) traveling behind it. For this purpose, according to an embodiment, similar to the distance sensor 176 used for reference measurement, another distance sensor can also be aligned in another direction at the end face, and then it measures the distance to the next vehicle.

[0142] According to another implementation, a complex display such as an LCD can be provided instead of LEDs, for example, to display text and / or symbols.

[0143] Aspect 2

[0144] The following explains the measurement system 200 that uses regression lines to determine location.

[0145] like Figure 2a As in the embodiment described, the measuring system 200 includes, for example, a bracket 210 arranged on a component such as a scraper 10 of a construction machine. As shown here, the component 10 is tilted, for example, at an angle α. Exemplarily, the bracket extends backward or even forward (not shown) from the component 10. The bracket 10 is further secured to the component and thus changes its angular orientation in space according to the angle α.

[0146] Three sensor heads 221, 222, and 223 are mounted on the bracket 210. While not crucial for the initial calculations, it should be noted that sensor head 221 is closer to the scraper edge 10k than sensor 223, which represents the scraper's pivot point 10. Sensor head 222 is located in the middle or between these points. For example, the distance to the vertical foot point on the scraper edge 10k can be denoted by A, while the distance from the vertical foot point of the scraper edge 10k to sensor 223 is denoted by B. Generally, it should be noted that, as an alternative to the pivot point around the rear edge 10k of the scraper, the scraper 10 may also have a different pivot point, for example, in front of the rear edge 10k (especially if it rests on hot asphalt). In this case, for example, the distance to the pivot point is then taken into account accordingly.

[0147] Sensors 221, 222, and 223 are arranged substantially in parallel and measure the distance from bracket 110 to the ground, in this case, the applied layer 16'.

[0148] Based on angle α, distance H1 is greater than distance H3. Sensor values ​​can be recorded, for example, in two-dimensional space, representing the relationship between height and distance. Based on the sensor values, it can be seen that the regression line RG also extends according to angle α. If it is in two-dimensional space, the regression line RG can be determined in such a way that angle α can be determined by calculation. By determining angle α, the position of component 10 relative to the ground is also known.

[0149] It should be noted that position α does not have to be an absolute position, but can be a relative position, especially with respect to the ground.

[0150] Regarding reference distances A and B, it should be noted that if there are two sensor values, these values ​​are irrelevant; what is more important is that the positions of sensors 221, 222, and 223 relative to each other are known. Of course, the same applies to more than two sensors determining height values ​​in two-dimensional space.

[0151] For example, if the scraper height changes, the values ​​H1 and H3 also change, where the angle α remains constant from the beginning of the parallel displacement. Therefore, if there are slight variations in the values ​​due to vibration, these values ​​can be plotted in a common space, for example, and a regression line RG can be determined. This represents the average. Using more than three sensors also results in averaging if all sensors are precisely arranged on bracket 210.

[0152] refer to Figure 2b This section explains the determination of the regression line RG for the point cloud. In this embodiment, it is assumed that more than two sensors are provided. For example, the sensor array of aspect 1 can be used. As shown here, the deviation based on the height points H1 to Hn can be caused, for example, by uneven ground. However, in reality, the height values ​​increase from a to n, so that this can be reflected in the regression line RG. For example, the regression line RG is placed in such a way that the overall distance between the regression line RG, indicated here by the small arrow, and the measurement point is minimized.

[0153] Here, the regression line also forms an angle with respect to the distance axis, for example, angle α. This position can be determined, and from this position, the angle of the component can be concluded.

[0154] For example, if Figure 2a If a bracket with sensors 221, 222, and 223 is attached to the scraper and arranged in the longitudinal direction, the roll angle of the scraper about its longitudinal axis can be determined. If a lateral component exists in addition to the longitudinal component, the combination of the roll angle and the lateral tilt angle is determined. Knowing the lateral and longitudinal components, these two angles can be separated. If... Figure 2a If a bracket with sensors 221, 222 and 223 is arranged in the longitudinal direction of the scraper (i.e., transverse to the direction of travel of the machine), the transverse component can be determined, for example, using the bracket.

[0155] According to one embodiment, the bracket extends relative to the component without any angular offset. Offset may also be considered. To determine the offset, for example, calibration may be performed at the beginning, or adjustment may be made using an optional angle sensor (e.g., a tilt sensor).

[0156] According to one embodiment, instead of attaching the bracket to the scraper, the scraper can also be attached to, for example, a traction arm. Embodiments of this attachment are explained in aspect 1 because they involve attaching a bracket comprising multiple parts. This bracket has multiple integrated sensors, which then correspond to... Figure 2b The mean regression line of the implementation method.

[0157] refer to Figure 2c The following explains the layer thickness determination using regression lines.

[0158] Figure 2cThe use of sensors 221 and 223 via bracket 210 and another bracket 215 for accommodating sensors 225 and 227 are shown. Figure 2a As shown, sensor array 210 is arranged behind the scraper, while sensor array 215 is arranged in front of the scraper. Of course, an interchangeable arrangement is also conceivable. Assume that both extend in the longitudinal direction.

[0159] exist Figure 2d In the diagram, the obtained sensor values ​​H1, H3, H4, and H6 are plotted in two-dimensional space. This produces two regression lines RG1 and RG2. If regression lines RG1 and RG2 are now both tilted around the scraper's rotation center (i.e., 10k from the scraper's rear edge), the regression lines are mapped to the corresponding RG1' and RG2', as shown below. Figure 2e As shown. Figure 2e The axis distance is parallel to the ground or a reference point for measurement. The sloping regression lines RG1' and RG2' are no longer as... Figure 2d Instead of being straight lines, they have an offset V. This offset V arises from the fact that the array 210 associated with the regression line RG1 measures the layer 16' to be applied, while the sensor array 215 measures the ground 17. In this respect, this offset depends on the thickness of the layer 16' to be applied. Conversely, this means that the layer thickness can be determined (i.e. calculated) by this method.

[0160] According to the implementation, the distances A, B, C, and D between each sensor 221, 223, 225, and 227 and the vertical foot point on the scraper edge 10k during rotation are used to perform the rotation.

[0161] In the above embodiments, it must be remembered that when using ultrasonic measurement, the measurement is taken perpendicular to the ground, not perpendicular to the ground relative to the bracket. In other words, the variation shown represents a measurement performed, for example, using a laser.

[0162] For all the measurement systems described above, it is assumed that there are comparable (identical) installation heights, where it should be noted that these installation heights may also vary, and then corrections are made by backward calculations.

[0163] Aspect 3

[0164] Figure 3a A common control circuit 300 (uniformity control circuit) for leveling a scraper 10 pulled by a traction arm 12 is shown. The traction arm 12 is fixedly, or at least during operation, connected to the scraper 10. The scraper is pulled by a traction machine (not shown), for which the traction arm 12 is connected to the traction machine via a traction point. The traction point is typically height-adjustable, as indicated here by arrow 14. This height adjustment is controlled by the uniformity control circuit 300.

[0165] For completeness, it should be noted that the scraper smooths the asphalt or material to be applied to layer 16', which is supplied by the auger 18 in front of the scraper (see material 16).

[0166] The uniformity control loop 300 includes a uniformity controller 310, which controls the front-end cylinder (see reference numeral 14) based on a setpoint-to-actual-point comparison 320. The result is a changed height, which is detected by a height sensor 330. The height sensor signal from the height sensor 330 is then supplied to the setpoint-to-actual-point comparison 320. Optionally, a filter 335 may also be provided. This filter is implemented as a low-pass filter, a low-pass filter with a low / increasing cutoff frequency, a band-pass filter, or a high-pass filter, depending on how the drive behavior is corrected. Other frequency filters, such as Chebyshev filters or similar filters, are also conceivable in this case.

[0167] The drive behavior is influenced by the traction cylinder and the scraper itself. The drive behavior of the traction cylinder can be described using the IT1 control loop (see block 342). The drive behavior of the scraper can be described as follows: represented by P behavior at the sensor position (see 344). The scraper itself can be represented by the PT2 element (see 346).

[0168] In this respect, it should be noted that when using control loop 300 for direct height control, drive behaviors 342 and 344 are considered, but 346 is not considered because it is very inactive. In this respect, behavior 346 must be readjusted over time. Therefore, drive behavior 344 is also considered because the change in height position at the front point 14ZP (see reference numeral 14) also results in a change in height position at the scanning point in the area of ​​the auger 18.

[0169] Previous grading systems for road finishing machines attempted to compensate for all disturbance variables via a single control loop. However, the problem here is that there are two main and significantly different time constants in the scraper-traction arm control loop, which must be responded to separately and differently in order to optimally compensate for the amount of influential disturbance. While the scraper itself has very inactive behavior and therefore a fairly high time constant in the range of several seconds, the traction point, typically controlled by a hydraulic cylinder, has a very small time constant in the range of milliseconds.

[0170] As mentioned above, the transmission behavior of the scraper-traction arm system can be described as a series connection of transmission elements:

[0171] • Traction point cylinder with IT1 behavior

[0172] • Height sensor position represented by behavior P

[0173] • The scraper itself, as described by the PT2 component

[0174] Figure 3b The transmission behavior of the controlled system from the trailing edge of the scraper to the cylinder, as explained in this way, is shown. Figure 3b The scraper 10 is shown again, which is pulled or its height adjusted at the traction point 14ZP via the traction arm 12 and the traction point cylinder 14.

[0175] Figure 3b It also aims to illustrate that, from a control perspective, the commonly used scan point relative to the reference does not reflect the behavior of the entire controlled system 342-346. This also makes it clear that, using the current control system, there is no direct height control of the rear edge of the scraper 10k. As a result, due to a slight tilt above the scan point between the rear edge 10k and the traction point 14ZP caused by disturbance variables acting over a certain time period, a height change occurs at the rear edge of the scraper 10k.

[0176] Based on this common control loop structure used in practice for the height leveling of scraper 10, the following explains the improvements and optimizations to scraper leveling.

[0177] The basic idea for optimizing the height leveling of scraper 10 is to directionally monitor the road finishing machine scraper, particularly the rear edge of the scraper, through an additional control loop or by superimposing a control loop onto the existing height leveling implementation. The control loop used for normal height leveling serves as an auxiliary control loop. This new control loop structure can be applied to all height leveling tasks and will be considered in detail below.

[0178] Figure 3c The control loop structure is shown here. The control loop 350 shown here includes two separate control loops 360 and 370. Control loop 360 is referred to as the first control loop or superimposed control loop. Control loop 370 serves as the second control loop. Control loop 370 is similar to the reference... Figure 3a The control loop 300 is explained, although the location of sensor 330 is different (see reference numeral 331). Sensor 331 is located in the area of ​​traction point 14ZP, but no longer in the area of ​​auger 18 (see reference numeral 331). Figure 3b (The arrangement). Otherwise, control loop 370 corresponds to control loop 300, which includes comparator 320, uniformity controller 310, and optional filter 335. The significant difference starting from the positioning of the height sensor is that in control loop 370, the drive behavior of scraper 344 must no longer be considered, but only the drive behavior of the traction point cylinder (see reference numeral 342). The behavior of the scraper described by PT2 (see reference numeral 346) is also considered in control loop 360.

[0179] The control loop 360 also includes a height sensor 362 and an optional filter 364. The sensor 362 is located in the region of the scraper 10, or, for example, in the region of the rear edge of the scraper 10. The response of point 10k to height changes at the traction point 14ZP (see reference numeral 14) is relatively insensitive. This becomes quite clear when observing the arrangement of the scraper 10, the traction arm 12, and the traction point 14ZP, as the height cylinder 14 shifts the traction point 14ZP around the pivot point 10k, causing height changes to occur only gradually. This behavior is reproduced by model predictive control 365. The input variable of MPC 365 is the result of comparing the setpoint with the actual value (see reference numeral 367), where the same signal from sensor 362 is used as the actual signal. The result of MPC is the target signal used as the input variable for comparison 320. Now that the structure has been explained, the functional modes will be discussed.

[0180] Based on these facts, the control loop 370 shown in Figure 3A is extended by the superimposed control loop 360 shown in Figure 3D. This measure alters the structure of the control loop 350 in such a way that disturbance variables acting on the traction point 14ZP and the scraper 10 can be compensated separately. The superimposed control loop compensates for disturbance variables acting on the scraper 10, and the auxiliary control loop 360 compensates for disturbance variables that change the height of the traction point. The control system 350 constructed in this way can be optimized independently, resulting in improved overall control behavior.

[0181] Further optimization of the control loop structure is achieved by the fact that the scanning point tends to shift from the height sensor used in the auxiliary uniformity control loop 370 toward the traction point 14ZP.

[0182] Based on this complex implementation method, reference will now be made to Figure 3d Discuss simplified variations.

[0183] Figure 3d A control loop 350 consisting of two control loops 370 and 360 is shown. Each control loop includes at least one sensor, which is a height sensor 362 in the case of control loop 360, and a traction point sensor 331 in the case of control loop 370.

[0184] As the name suggests and as stated above, the sensors are located in the area of ​​the traction point (see sensor 331) and at the scraper (see sensor 361).

[0185] Each control loop also includes a corresponding processor that outputs a control signal for the traction cylinder based on the actual values ​​and setpoints of sensors 331 and 362. The processors are indicated by 379 and 369. According to an embodiment, processors 369 and 379 can also be combined to form a single processor that then receives the actual signals from the two sensors 331 and 362 and processes these signals separately before outputting a common control signal.

[0186] The separate consideration of the disturbance variables of the scraper-traction arm in the controlled system 346 is also of decisive importance for the setting of the control loop 350. Figure 3e Different disturbance variables in the scraper-traction arm system are shown.

[0187] When the disturbance variable at the traction point is compensated by the auxiliary control loop 370 (uniformity control loop), the disturbance variable of the scraper 10 is compensated by the superimposed control loop 360. This is due to the different transfer functions of the traction point (IT1) and the scraper (PT2) in part of the control loop (see also...). Figure 3b The controllers used for this purpose are also designed and optimized differently due to their structure.

[0188] For the auxiliary control loop 370, the control deviation is compensated extremely quickly, while the controller used for the superimposed control loop 360 performs control deviation compensation considerably slower, taking into account knowledge of the influencing disturbance variables. As an implementation of the disturbance variable affecting the floating behavior of the scraper 10, the effect of material temperature variation can be mentioned here. If the material temperature variation is known before the temperature-dependent effect on the scraper height appears, the controller can avoid or reduce the scraper height deviation based on a model. The model of the scraper 10 must be known, which describes the correlation of height variation caused by material temperature variation. This is also a typical implementation of the MPC controller used for the superimposed control loop 360.

[0189] The following explains the different applications of the control loop structure 350.

[0190] based on Figure 3d The control loop structure 350 is described below, and various application scenarios will be examined through implementation methods. However, the basic structure of the control loop remains the same for all applications. Only the sensor implementation for the rear edge of the scraper or the traction point can be changed. Different installation scenarios can be named as follows:

[0191] • Track to track

[0192] • Scan at the curb

[0193] • Rope scanning

[0194] • Scan along a line (tunnel)

[0195] • No reference installation (large speaker board)

[0196] • Utilizing the 3D equipment of a total station

[0197] 3D installation using GNSS

[0198] • Lateral tilt scraper

[0199] • Using laser scanning

[0200] Of course, different scan groups can be selected for the corresponding opposite sides, allowing multiple installation scenarios to be represented using the optimized control loop 350. Furthermore, further optimization can be achieved using a new control loop structure 350. These include:

[0201] • Starting the road repair machine after it has stopped

[0202] • Start each day (a new beginning)

[0203] Integrated Model Predictive Control

[0204] In the following sections, some applications of the new control loop structure 350 will be described as implementation methods.

[0205] If a height scan is performed from an existing or previously laid asphalt track (track-to-track), the following sensors can be used at the rear edge of the scraper:

[0206] Sonic ski

[0207] • Single-headed acoustic waves with and without reference signals

[0208] Laser scanner

[0209] Mechanical rotary encoder

[0210] A referenceless single-head acoustic wave can be used because it minimizes the measurement distance to the existing asphalt track at the rear edge of the scraper. This significantly reduces measurement error compared to larger distances. Minimizing the measurement distance is possible because the measurement distance to the ground is always approximately the same. In this application, the sensor / all sensors are focused on observing the ground as closely as possible.

[0211] Preferably, the following sensors are used for the traction point:

[0212] Sonic-Ski

[0213] Laser scanner

[0214] • Big Sonic-Ski (abbreviated as: Big Ski)

[0215] Figure 3f The installation area is shown, and therefore also the possible and useful scanning locations for implementing the control loop structure are shown.

[0216] Figure 3f The road finishing machine shown above has a scraper 10, an applied layer 16' or an existing layer 16*, an auger 18, and a tractor 11. The scraper is connected to a traction point 14ZP via a traction arm 12.

[0217] According to the first variant, the so-called large sound plate (abbreviated as: large plate, see aspect 1) 100 can be connected to the traction arm 14 or also to the scraper 10 (not shown). For example, the large sound plate has a sensor 361 disposed in the region of the rear edge of the scraper 10k. At the height of the traction point, the sensor 331 can also be arranged on the large sound plate 100.

[0218] According to another embodiment, scanning of the scraper rear edge for the scraper control circuit and scanning for the traction point control circuit can also be performed on one side of the existing asphalt track 16*.

[0219] Here, at the height of traction point 14ZP, a sound plate 331* is set via a side plate 10s for scanning. A scraper trailing edge sensor 361* is also set on the side plate. As shown, the sound plate 331* is slightly offset so that its scanning area is outside the ground in order to scan the existing asphalt track 16*.

[0220] The purpose of arranging sensor 331* on the side of the existing asphalt track 16* is to use the existing asphalt track as a reference. In this regard, sensor 331* is used to scan the distance to the existing asphalt track 16*. The purpose of using the traction point control loop to scan the existing asphalt track 16* is to directly compensate for disturbance variables acting on the traction point (e.g., material under the track of the traction machine). Conversely, sensor 361* is preferably positioned against the existing asphalt layer 16* and monitors the height of the scraper relative to the existing asphalt track 16*, compensating for deviations from the set target value of the superimposed control loop 360.

[0221] refer to Figure 3g Now, let's explain the rope scanning system. Figure 3gA road finishing machine with a traction arm 11, a scraper 10, and a scraper rear edge 10k is shown. The scraper 10 is connected to the road finishing machine 11 via a traction arm 12. A large sound plate 100 with three sensors is disposed on one of the traction arms 12. The sensors are indicated by reference numeral 110 in one embodiment, and depending on the application, they can be evenly distributed along the large sound plate 100, or arranged in the area of ​​the traction point 14ZP, or in the area of ​​the rear edge of the scraper 10k. As an alternative to or supplement to the large sound plate, the sensor system can also be disposed above the side plates 10s of the scraper 10. For example, scraper sensors 361* and traction point sensors 331* can be disposed. Both involve the rope 16s to scan the rope 16s.

[0222] Rope scanning at the rear edge of the scraper 10k can be performed without contact using an ultrasonic sensor (Sonic-Ski) or a mechanical encoder, which is the common practice in currently used scanning methods.

[0223] Sensors 331* and 361* are guided above reference rope 16s using the corresponding sensor holder 10k. The systematic deviation measured relative to the reference rope 16s at the rear edge of scraper 10k also provides information about the uniformity of installation when observed along the path.

[0224] For the area starting from traction point 14ZP, there are several ways to obtain the height information of the control loop. Two possibilities are shown below.

[0225] A second height sensor (sound board) can be guided above the rope via another sensor retainer. Alternatively, a large sound board system (referred to as the large board) can be used as the traction arm sensor. See Figure 3h .

[0226] Figure 3h It shows the relationship with Figure 3g The setup is similar to that of a road finishing machine 11 with scraper 10. Sensor 361* is used as a scraper sensor on the left side. A large sound plate 100R is used on the left side as a traction point sensor. As already explained, it is permanently connected to the traction arm 12 and has multiple sensors 110.

[0227] Regarding the large soundboard 100, it should be noted that, as explained in conjunction with aspect 1, one or more sensors (e.g., uniformly distributed) are preferably arranged in front of and behind the scraper 10. For further details in this regard, refer to the explanation of aspect 1.

[0228] refer to Figure 3i Now let's explain how to use a total station for 3D leveling. Figure 3iA scraper 10 with a scraper rear edge 10k is shown, along with a traction arm 12 connected to a traction cylinder 14 at a traction point 14ZP. Additionally, a large sound plate 100 is provided connected to the traction arm 12. The large sound plate 100 includes three distance sensors 110, which together determine the distance at the traction point 14ZP in this embodiment. The scraper rear edge 10k is monitored using a total station 50 and a reflector 52 attached to the scraper. This sensor, composed of elements 50+52, is referred to as a 3D sensor.

[0229] The advantage of using 3D sensors 50+52 to determine the height at the rear edge of the scraper is that it also allows for monitoring the absolute height position of the asphalt track to be laid. 3D leveling using a total station 50 involves mounting a prism 52, visible to the total station 50, on the road finishing machine 11 or the scraper 10. The total station 50 then determines the 3D position of the prism in space and transmits this information wirelessly to the 3D control system on the road finishing machine.

[0230] The main drawback of 3D control is the need for repeated checks of the installation height level. In practice, this task is performed by a surveyor who uses an attached total station 50 to check the installation height level and, if necessary, manually make appropriate corrections. This is necessary because the prism's installation position (a 3D point in space, precisely determined by the total station via the reflection of the laser beam) is not located at the rear edge of the scraper, but rather, as is typical with other height sensors, at the traction arm at the height of the scraper auger. This causes the height at the rear edge of the scraper to vary over time, requiring the surveyor to then readjust the height.

[0231] If we consider the improved control loop structure 350, there is also the possibility of optimization for 3D control using a total station.

[0232] By placing a height sensor (prism) on the rear edge 10k of the scraper, control over the built-in height measurement is avoided. Here, the sensor serves as the scraper's height sensor and thus as a supplier of height information in the superimposed control loop 360. For example, the large soundboard system (referred to as the large board) is then located at the traction point, which provides the height value to the auxiliary control loop 370.

[0233] If you want to level both sides of the scraper 10 using the total station 50 connected to the prism 52 (see...) Figure 3iThis would yield additional advantages. Without the extended and optimized control loop structure 350, two total stations 50 are required for leveling (one on each side). This is necessary because, in this case, the scan rate for 3D height measurement must be high to compensate for all influencing variables. With the extended and optimized control loop structure 350, the scan rate can be reduced to a level where one total station is sufficient for both sides, which then continuously and successively determines the positions of the left prism 52l and right prism 52r at the rear edge 10k of the scraper.

[0234] refer to Figure 3k ,replace Figure 3j The left large soundboard 100L, used for traction point control, is now also controlled by a laser sensor. The laser emitter 54 plots a height reference, which can be received at the scraper 10 via the receiver 56z at traction points 14ZP and 56b.

[0235] In principle, a new control loop structure 350 can also be applied when using a laser plane as a height reference. In this case, the laser receiver is attached to both the rear edge of the traction arm and the scraper, operating as a height sensor in both cases. In this group, the projected laser plane accurately represents the desired position of the road with a corresponding height offset.

[0236] Figure 3k The basic setup for leveling on the left side using a laser height reference is shown. In this embodiment, the right side is leveled using a large soundboard system 100. Alternatively, depending on the installation, other measuring elements (such as tilt sensors or soundboards) can be used to level the scraper.

[0237] refer to Figure 3d Note that model predictive control extends the control loop structure as described below.

[0238] Further improvements to the control system arise from the fact that the controller used for superimposing the control loop also considers the corresponding process states, and the relevant sensors of this controller are mounted near the rear edge of the scraper. In principle, a control value is assigned to each state, which is also responsible for calculating the controller output. Furthermore, the process states are predetermined using a process model.

[0239] Process models are the practical basis of model predictive control (MPC), in which the model comprehensively captures process dynamics and thus can calculate predictions of future process states. Process models are necessary for calculating predicted output variables under future conditions. Various MPC strategies can use numerous models to demonstrate the relationship between output variables and measurable input variables.

[0240] Although some aspects have been described in the context of the apparatus, it should be understood that these aspects also represent a description of the corresponding method, such that blocks or components of the apparatus should also be understood as corresponding method steps or features of method steps. Similarly, aspects described in conjunction with or as method steps also constitute a description of the corresponding blocks, details, or features of the corresponding apparatus. Some or all of the method steps can be performed by (or using) hardware devices, such as microprocessors, programmable computers, or electronic circuits. In some embodiments, some or more critical method steps can be performed by such devices.

[0241] Depending on specific implementation requirements, embodiments of the present invention can be implemented in hardware or software. This implementation can be executed using digital storage media, such as floppy disks, DVDs, Blu-ray discs, CDs, ROMs, PROMs, EPROMs, EEPROMs, or FLASH memories, hard disks, or any other magnetic or optical storage media storing electrically readable control signals that can interact with or be interacted with by a programmable computer system to perform a specific method. Therefore, the digital storage medium can be computer-readable.

[0242] Therefore, some embodiments of the invention include a data tray with electronically readable control signals that can interact with a programmable computer system to perform any of the methods described herein.

[0243] Typically, embodiments of the present invention can be implemented as a computer program product with program code that, when run on a computer, is operable to perform any method.

[0244] For example, program code can also be stored on machine-readable media.

[0245] Other implementations include a computer program for performing any of the methods described herein, wherein the computer program is stored on a machine-readable medium.

[0246] In other words, the implementation of the method of the present invention is therefore a computer program having program code that, when run on a computer, performs any of the methods described herein.

[0247] Therefore, another embodiment of the method of the present invention is a data tray (or digital storage medium or computer-readable medium) on which a computer program for performing any of the methods described herein is recorded. The data tray, digital storage medium, or computer-readable medium is generally tangible and / or non-transitory or non-temporary.

[0248] Therefore, another embodiment of the method of the present invention represents a data stream or signal sequence for performing any of the methods described herein. For example, the data stream or signal sequence may be configured to be transmitted via a data communication link (e.g., via the Internet).

[0249] Another implementation includes a processing means, such as a computer or programmable logic device, configured or adapted to perform any of the methods described herein.

[0250] Another implementation includes a computer on which a computer program for performing any of the methods described herein is installed.

[0251] Another embodiment of the invention includes an apparatus or system configured to transmit to a receiver a computer program for performing at least one of the methods described herein. This transmission may be, for example, electronic or optical. The receiver may be, for example, a computer, a mobile device, a storage device, or a similar device. The apparatus or system may include, for example, a file server for transmitting the computer program to the receiver.

[0252] In some implementations, a programmable logic device (e.g., a field-programmable gate array, FPGA) can be used to perform some or all of the functions of the methods described herein. In some implementations, a field-programmable gate array can interact with a microprocessor to perform any of the methods described herein. Typically, in some implementations, the method is performed as part of any hardware device. This can be general-purpose hardware, such as a computer processor (CPU), or hardware dedicated to the method, such as an ASIC.

[0253] The apparatus described herein can be implemented using, for example, hardware devices, or using a computer, or a combination of hardware devices and a computer.

[0254] The apparatus described herein, or any component thereof, may be implemented, at least in part, in hardware and / or in software (computer program).

[0255] For example, the methods described herein can be implemented using hardware devices, computers, or a combination of hardware devices and computers.

[0256] The methods described herein, or any component thereof, may be performed, at least in part, by hardware and / or software.

[0257] The above embodiments are merely illustrative of the principles of the invention. It should be understood that modifications and variations of the arrangements and details described herein will be readily apparent to those skilled in the art. Therefore, the invention is intended to be limited only by the scope of the appended claims, and not by the specific details presented through the description and explanation of the embodiments herein.

Claims

1. Construction machinery, including a surveying system (100), wherein, The measuring system (100) includes a bracket (110) connectable to the construction machine, such that the bracket extends along the longitudinal axis of the construction machine. The measuring system includes: The bracket (110) includes at least a first portion (111); wherein the first portion (111) includes a plurality of sensor heads (121-126) attached to or integrated with the first portion for non-contact measurement of a reference object, and wherein the first portion (111) includes a second connecting element (132) at a second end face, the second connecting element (132) being connectable to a first connecting element (131) to form a mechanical and electrical connection; The second part (112) of the bracket (110) includes a plurality of attached or integrated sensor heads (121-126), wherein the second part (112) includes the first connecting element (131) at a first end face, wherein the second connecting element (132) of the first part (111) can be connected to the first connecting element (131) of the second part (112) to form a mechanical and electrical connection.

2. The construction machine according to claim 1, wherein, The second part (112) includes a second connecting element (132) at the second end face, and / or the first part (111) includes a first connecting element (131) at the first end face.

3. The construction machine according to claim 1, wherein, The first connecting element and / or the second connecting element (132) includes a hook (131h) such that the first connecting element (131) and the second connecting element (132) can be engaged by rotational movement.

4. The construction machine according to claim 3, wherein, The hook (131h) of the first or second connecting element (131, 132) has an engagement surface (132e') that is open substantially perpendicular to the longitudinal direction of the corresponding portion; and / or The rotational motion is defined by an end stop that brings the first end face into contact with the second end face.

5. The construction machine according to claim 2, wherein, The first connecting element and / or the second connecting element (131, 132) includes an electrical connector that extends substantially along the longitudinal direction of the respective portion.

6. The construction machine according to claim 1, wherein, The first connecting element and / or the second connecting element (131, 132) includes a profile with end stops that extend substantially perpendicular to the longitudinal direction of the respective portion, such that the first connecting element and / or the second connecting element (131, 132) can be connected by a translational movement substantially perpendicular to the longitudinal direction of the respective portion.

7. The construction machine according to claim 6, wherein, The first connecting element and / or the second connecting element (131, 132) each include an electrical connector extending in a longitudinal direction substantially perpendicular to the respective portion.

8. The construction machine according to claim 1, wherein, The first connecting element (131) includes a sleeve (138, 138') extending substantially in the longitudinal direction of the respective portion, and wherein the first connecting element and the second connecting element (131, 132) are connectable by inserting the second connecting element (132) into the sleeve (138, 138').

9. The construction machine according to claim 8, wherein, The first connecting element and / or the second connecting element (131, 132) includes a corresponding electrical connector that extends substantially along the longitudinal direction of the respective portion.

10. The construction machine according to claim 8, wherein, The first connecting element (131) includes a lever mechanism (138e) for translatively fixing the first connecting element (131) to the second connecting element (132).

11. The construction machine according to claim 8, wherein, The first connecting element (131) includes a lever mechanism (138e) with an eccentric member for translatively fixing the first connecting element (131) to the second connecting element (132).

12. The construction machine according to claim 1, wherein, The measuring system (100) includes attachment elements (135', 135) that can be connected to components of the construction machine and include a first connecting element and / or a second connecting element (131, 132).

13. The construction machine according to claim 1, wherein, The first portion and / or the second portion (111, 112) includes sensor heads (121-126) aligned on a longitudinal side perpendicular to the longitudinal axis of the first portion and the second portion (111, 112); or The first part and / or the second part (111, 112) include a sensor head (121-126) located on the longitudinal side, the sensor head pointing towards the reference object.

14. The construction machine according to claim 1, wherein, The first part and / or the second part (111, 112) each include a plurality of attached or integrated sensor heads (121-126).

15. The construction machine according to claim 1, wherein, The sensor heads (121-126) differ from each other in their measurement principles.

16. The construction machine according to claim 1, wherein, In the corresponding first part (111), the first sensor heads (121-126) are spaced apart from each other.

17. The construction machine according to claim 16, wherein, The sensor heads (121-126) are evenly distributed in the corresponding first and / or second portions (111, 112) or evenly distributed across the bracket (110).

18. The construction machine according to claim 1, wherein, The measurement system (100) includes at least one additional first sensor head for each of the first and / or second portions (111, 112) or across the bracket (110), the additional first sensor head being aligned and / or arranged parallel to the longitudinal axis at the first end face and / or the second end face; and / or wherein the additional first sensor head is configured to perform a reference measurement.

19. The construction machine according to claim 18, wherein, The measurement system (100) includes a second sensor head for each first part and / or second part (111, 112), the second sensor head being arranged along the longitudinal axis of the respective first part and / or second part (111, 112) or the bracket (110), and on the opposite end face of the other first sensor head.

20. The construction machine according to claim 1, wherein, The measurement system (100) includes a reflector or tilt reflector at the first end face and / or the second end face.

21. The construction machine according to claim 1, wherein, The electrical connection includes contact connection or non-contact connection.

22. The construction machine according to claim 1, wherein, The measurement system (100) includes at least one additional third sensor head for each first part and / or second part (112) or across the bracket (110), the additional third sensor head being aligned and / or arranged parallel to the longitudinal axis on the first end face and / or the second end face; and / or wherein the additional third sensor head is configured to determine the distance to an object performing relative motion with respect to the components of the construction machine.

23. The construction machine according to claim 1, wherein, The measurements by the sensor heads (121-126) occur essentially simultaneously.

24. The construction machine according to claim 1, wherein, The first part (111) includes a display. The display is configured to show the connection status between the first part and the second part (112), or to show information about the deviation of the measurement system (100) or the control system connected to the measurement system (100).

25. The construction machine according to claim 1, wherein, The measurement system (100) includes a GNSS sensor, a tilt sensor, an infrared sensor, a temperature sensor, and a position sensor.

26. The construction machine according to claim 1, wherein, The measurement system (100) includes a third part, which includes a first connecting element (131) at a first end face, wherein the first connecting element (131) can be connected to a second connecting element (132) to form a mechanical connection and an electrical connection.

27. The construction machinery according to claim 1, including road construction machinery.

28. A measurement system (200) for construction machinery, wherein, The measuring system (200) includes a bracket for connecting to components of the construction machine, and the measuring system (200) includes: A first sensor head, a second sensor head, and a third sensor head are connected to the bracket (210) and configured to measure a first distance from the first sensor head to a reference object to obtain a first measurement value, measure a second distance from the second sensor head to the reference object to obtain a second measurement value, and measure a third distance from the third sensor head to the reference object to obtain a third measurement value; The calculation unit is configured to determine a regression line (RG) and the slope of the regression line relative to the reference object based on the first measurement value, the second measurement value, and the third measurement value, and to determine, based on the slope, the slope describing the slope of the regression line (RG) and the angle describing the position of the components of the construction machine relative to the reference object; The first sensor head, the second sensor head, and the third sensor head are oriented in a substantially parallel manner, thereby forming a scanning area that extends in parallel or substantially parallel.

29. The measurement system (200) according to claim 28, wherein, The component includes a traction arm (12) or a scraper (10).

30. The measurement system (200) according to claim 29, wherein, The bracket (210) extends in front of the scraper (10).

31. The measurement system (200) according to claim 29, wherein, The measurement system includes another first sensor head, another second sensor head, and another third sensor head, connected to another bracket (215) and configured to measure another first distance from the other first sensor head to the reference object to obtain another first measurement value, and configured to measure another second distance from the other second sensor head to the reference object to obtain another second measurement value, and configured to measure another third distance from the other third sensor head to the reference object to obtain another third measurement value; The calculation unit is configured to determine another regression line (RG2) and the slope of the other regression line (RG2) relative to the reference object based on the other first measurement value, the other second measurement value and the other third measurement value, and to determine the slope describing the other regression line (RG2) and the angle (α) of the position of the component of the construction machine relative to the ground based on the slope.

32. The measurement system (200) according to claim 31, wherein, The other bracket (215) extends behind the scraper (10).

33. The measurement system (200) according to claim 31, wherein, The bracket (210) extends in front of the scraper (10), and / or the calculation unit is configured to determine the layer thickness based on the regression line (RG) and the other regression line (RG2).

34. The measurement system (200) according to claim 28, wherein, The bracket (210) extends along the longitudinal axis of the construction machine.

35. The measurement system (200) according to claim 34, wherein, The measuring system is configured to determine the angle (α) relative to the ground in the longitudinal direction of the measuring system, the rotation of the scraper (10) about the longitudinal axis of the scraper (10), and / or the longitudinal tilt of the chassis of the construction machine.

36. The measurement system (200) according to claim 29, wherein, The bracket (210) or another bracket (215) extends to the longitudinal axis of the scraper (10) in an inclined or translated manner.

37. The measurement system (200) according to claim 36, wherein, The measuring system (200) is configured to determine the angle (α) relative to the ground in the lateral direction, the tilt of the scraper (10) and / or the lateral tilt of the chassis of the construction machine.

38. The measurement system (200) according to claim 28, wherein, The measurement system (200) includes one or more additional sensor heads.

39. The measurement system (200) according to claim 38, wherein, The computing unit is configured to determine the regression line (RG) based on a point cloud defined by the first measurement, the second measurement, the third measurement, and the fourth measurement.

40. The measurement system (200) according to claim 28, wherein, The measurement system (200) includes a tilt sensor for determining the absolute tilt, and / or The calculation unit is configured to determine the absolute tilt of the components of the construction machine and the angle (α) based on the absolute tilt.

41. The measurement system (200) according to claim 28, wherein, The measured values ​​are averaged and / or averaged over time.

42. The measurement system (200) according to claim 28, wherein, The first sensor head (221) and the second sensor head (222) are spaced apart along the bracket (210).

43. The measurement system (200) according to claim 28, wherein, The computing unit is configured to take into account the distance between the first sensor head and the second sensor head and / or the third sensor head during the calculation.

44. The measurement system (200) according to claim 28, wherein, The spatial arrangement of the first sensor head, the second sensor head, and the third sensor head relative to the component is known to the computing unit.

45. Layer thickness measurement system, used in construction machinery, wherein, The layer thickness measurement system includes a bracket (210) and another bracket (215) connectable to the scraper (10) of the construction machine, such that the bracket (210) extends in front of the scraper (10) and the other bracket (215) extends behind the scraper (10). The layer thickness measurement system includes: A first sensor head, a second sensor head, and a third sensor head are connected to the bracket (210) and configured to measure a first distance from the first sensor head to a reference object to obtain a first measurement value, measure a second distance from the second sensor head to the reference object to obtain a second measurement value, and measure a third distance from the third sensor head to the reference object to obtain a third measurement value; Another first sensor head, another second sensor head, and another third sensor head are connected to another bracket (210) and configured to measure another first distance from the other first sensor head to the layup to obtain another first measurement value, and to measure another second distance from the other second sensor head to the layup to obtain another second measurement value, and to measure another third distance from the other third sensor head to the layup to obtain another third measurement value; The calculation unit is configured to determine a regression line (RG) based on the first measurement value, the second measurement value, and the third measurement value (H1, H2, H3), and to determine another regression line (RG2) based on the other first measurement value, the other second measurement value, and the other third measurement value. The calculation unit is configured to determine the layer thickness based on the position of the regression line (RG) relative to the other regression line (RG2).

46. ​​The layer thickness measurement system according to claim 45, wherein, The bracket (210) and the other bracket (215) extend in parallel or are oriented in the same direction or are fixed to each other; and / or wherein the regression line (RG) and the other regression line (RG2) extend in parallel or are aligned such that the regression line (RG) and the other regression line (RG2) extend in parallel.

47. The layer thickness measurement system according to claim 45, wherein, The offset of the regression line (RG) relative to the other regression line (RG2) corresponds to the layer thickness or allows for conclusions regarding the layer thickness.

48. A construction machine, including the measurement system (200) or layer thickness measurement system according to claim 45, wherein the construction machine is a road construction machine.

49. A method for determining the position of components of a construction machine using a measuring system (200), wherein, The measurement system (200) includes a bracket (210) connectable to a component of the construction machine, comprising a first sensor head, a second sensor head, and a third sensor head, connected to the bracket (210) and configured to measure a first distance from the first sensor head to the ground to obtain a first measurement value (H1), measure a second distance from the second sensor head to the ground to obtain a second measurement value (H2), and measure a third distance from the third sensor head to the ground to obtain a third measurement value (H3), wherein the first sensor head, the second sensor head, and the third sensor head have a substantially parallel orientation, thereby forming a scanning area extending in parallel or substantially parallel. The method includes: The regression line (RG) and its slope relative to the ground are determined based on the first, second, and third measurements (H1, H2, H3); and The slope is used to determine the slope of the regression line (RG) and the angle (α) of the position of the components of the construction machine relative to the ground.

50. The method according to claim 49, wherein, The measurement system includes another first sensor head, another second sensor head, and another third sensor head, connected to another bracket (215) and configured to measure another first distance from the other first sensor head to the ground to obtain another first measurement value, and configured to measure another second distance from the other second sensor head to the ground to obtain another second measurement value, and configured to measure another third distance from the other third sensor head to the ground to obtain another third measurement value; The method includes: Based on the other first measurement, the other second measurement, and the other third measurement, determine another regression line (RG2) and the slope of the other regression line (RG2) relative to the ground; and Based on the slope, determine the slope describing the other regression line (RG2) and the angle (α) of the position of the construction machine component relative to the ground. The layer thickness is determined based on the regression line (RG) and the other regression line (RG2).

51. A method for determining layer thickness using a layer thickness measurement system, said layer thickness measurement system comprising a bracket (210) connectable to a scraper (10) of a construction machine and another bracket (215), such that the bracket (210) extends in front of the scraper (10) and the other bracket (215) extends behind the scraper (10), wherein, The layer thickness measurement system further includes a first sensor head, a second sensor head, and a third sensor head, connected to the bracket (210) and configured to measure a first distance from the first sensor head to a reference to obtain a first measurement value, and measure a second distance from the second sensor head to the reference to obtain a second measurement value; and measure a third distance from the third sensor head to the reference to obtain a third measurement value; wherein, the layer thickness measurement system includes another first sensor head, another second sensor head, and another third sensor head, connected to another bracket (215) and configured to measure another first distance from the other first sensor head to the layup layer to obtain another first measurement value, and measure another second distance from the other second sensor head to the layup layer to obtain another second measurement value; and measure another third distance from the other third sensor head to the layup layer to obtain another third measurement value; the method includes: Based on the first measurement, the second measurement, and the third measurement (H1, H2, H3), a regression line (RG) is determined; and Another regression line (RG2) is determined based on the other first measurement, the other second measurement, and the other third measurement. The layer thickness is determined based on the position of the regression line relative to the other regression line (RG2).

52. A computer program product having program code, wherein when the program is run on a measurement system of a construction machine according to claim 1, or on a measurement system according to claim 28, or on a layer thickness measurement system according to claim 45, the program code is used to perform the method according to claim 49 or 51.

53. A construction machine, said construction machine being a road construction machine (11), said construction machine including a scraper (10) and a scraper control system, said scraper control system including a controller (350) and at least one actuator for adjusting the traction point, wherein, The controller (350) is connected to a first sensor in the region of the scraper (10) and to a second sensor in the region of the traction point (14 ZP), wherein the controller (350) is configured to adjust the traction point (14 ZP) of the scraper (10). The controller (350) includes a first control loop and a second control loop (360, 370). The first control loop (360) changes the traction point (14 ZP) according to the first sensor value, and the second control loop (370) changes the traction point (14 ZP) according to the second sensor value. Wherein, the first sensor value measured by the first sensor represents the distance to the reference object in the area of ​​the scraper (10), and wherein, the second sensor value measured by the second sensor represents the distance to the reference object in the area of ​​the traction point (14ZP), wherein the reference object in the area of ​​the scraper (10) and the reference object in the area of ​​the traction point (14ZP) includes an already laid layer, or the ground for the layer to be laid, or a rope along the ground, or the edge of the ground, or a curb or line extending along the ground, or a reference object relative to the center transmitter or relative to the total station or relative to the projected laser plane, or wherein, the reference object in the area of ​​the traction point (14ZP) includes an already laid layer, or the ground for the layer to be laid, or a rope along the ground, or the edge of the ground, or a curb or line extending along the ground, or a reference object relative to the center transmitter or relative to the total station or relative to the projected laser plane.

54. The construction machine according to claim 53, wherein, The first control loop (360) considers a first set value for the first control loop (360) during the change, and / or wherein the second control loop (370) considers a second set value for the second control loop (370) during the change.

55. The construction machine according to claim 53, wherein, The first control loop (360) is configured to be less active than the second control loop (370).

56. The construction machine according to claim 53, wherein, The first control loop (360) includes a first filter (364) and / or the second control loop (370) includes a second filter (335).

57. The construction machine according to claim 53, wherein, The first control loop (360) is configured for low-frequency regulation; and / or wherein the second control loop (370) is configured for high-frequency regulation.

58. The construction machine according to claim 53, wherein, The first control loop (360) takes into account the travel speed and / or travel distance of the construction machine.

59. The construction machine according to claim 53, wherein, The first control loop (360) takes into account the rotation of the scraper about the longitudinal axis, the weight of the scraper (10), and / or the frequency of the scraper (10).

60. The construction machine according to claim 53, wherein, The first control loop (360) takes into account the viscosity and / or temperature of the road surface to be paved, and / or the angle of repose, and / or the material height.

61. The construction machine according to claim 53, wherein, The first control loop (360) uses a model when mapping transmission behavior, the model including speed and / or scraper rotation about the longitudinal axis and / or viscosity and / or temperature as input quantities.

62. The construction machine according to claim 53, wherein, The first control loop (360) and the second control loop (370) take into account the transmission behavior of the traction point adjustment and / or the transmission behavior of the scraper (10); or The first control loop (360) and the second control loop (370) take into account the transmission behavior of the traction point adjustment and / or the transmission behavior of the scraper (10); wherein the transmission behavior of the traction point adjustment can be described by integral behavior with time component, and wherein the transmission behavior of the scraper (10) can be approximated by behavior proportional to time component and second-order delay behavior.

63. The construction machine according to claim 53, wherein, The reference object is formed by a rope, edge, line, or total station.

64. A method for controlling a road construction machine (11) including a scraper (10), comprising: The traction point (14ZP) of the scraper (10) is adjusted by using the first control loop and the second control loop (360, 370). The traction point (14 ZP) in the first control loop (360) is changed according to the first sensor value; and The traction point (14 ZP) in the second control loop (370) is changed according to the value of the second sensor. Wherein, the first sensor value represents the distance to the reference object in the area of ​​the scraper (10), and wherein, the second sensor value represents the distance to the reference object in the area of ​​the traction point (14 ZP), wherein the reference object in the area of ​​the scraper (10) and the reference object in the area of ​​the traction point (14 ZP) include the already laid layer, or the ground for the layer to be laid, or the rope along the ground, or the edge along the ground, or the curb or line extending along the ground, or the reference object relative to the center transmitter or relative to the total station or relative to the projected laser plane.

65. A method for controlling a road construction machine (11) including a scraper (10), comprising: The traction point (14ZP) of the scraper (10) is adjusted by using the first control loop and the second control loop (360, 370). The traction point (14 ZP) in the first control loop (360) is changed according to the first sensor value; and The traction point (14 ZP) in the second control loop (370) is changed according to the value of the second sensor. Wherein, the first sensor value represents the distance to the reference object in the area of ​​the scraper (10), and wherein, the second sensor value represents the distance to the reference object in the area of ​​the traction point (14 ZP), wherein the reference object in the area of ​​the traction point (14 ZP) includes an already laid layer, or the ground for the layer to be laid, or a rope along the ground, or the edge of the ground, or a curb or line extending along the ground, or a reference object relative to the center transmitter or relative to the total station or relative to the projected laser plane.

66. A computer program product including program code, wherein when the program is run on the construction machine according to claim 53, the program code is used to perform the method according to claim 65.

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