Edge collapse control

Abstract

A method and apparatus for controlling edge collapse in a newly formed concrete structure formed by a slipform paver. The edge height sensor generates an edge height signal corresponding to an edge height of the newly formed concrete structure to detect a collapse degree of the edge of the newly formed concrete structure behind the slipform paver mold. The controller receives the edge height signal, determines whether any collapse of the newly formed concrete structure edge exceeds a set collapse limit, and automatically controls the actuator assembly to adjust the height of the lateral edge portion of the mold floor relative to the interior portion of the mold floor in response at least in part to the edge height signal, and the edge height of the newly formed concrete structure is adjusted.

Description

Technical Field

[0001] The present invention relates to methods and apparatus for slipform paving and, more particularly, to methods and apparatus for controlling the collapse of the outer edges of newly formed concrete structures. Background Art

[0002] Figure 1-7 The figure shows a prior art slipform paver and illustrates the prior art approach to solving the problem of controlling edge collapse in slipformed concrete structures. Figure 1 In the drawings, a slipform paving machine apparatus is shown and generally indicated by the reference numeral 10. Figure 2 As schematically shown in FIG. 1 , the apparatus 10 is configured to move across a ground surface 14 in a paving direction 12 for spreading, smoothing and processing concrete into a newly formed concrete structure 16 having a concrete surface 18 generally exposed upwardly and terminating in lateral concrete sides (such as 20).

[0003] The slipform paver apparatus 10 includes a main frame 22 and a slipform paver mold 24 supported from the main frame 22. A left mold assembly 26 and a right mold assembly 28 are connected to the slipform paver mold 24 so that the slipform paver mold 24 is closed on the left and right sides to form the lateral concrete sides 20 of the finished concrete structure 16, etc. Figure 3 As best seen in FIG. 1 , one or more trailing side molds 44 may follow each side mold assembly 26 and 28 .

[0004] The main frame 22 is supported from the ground surface by a plurality of ground engaging units such as 30. In the illustrated embodiment, the plurality of ground engaging units are tracked ground engaging units 30. Each ground engaging unit 30 is connected to the main frame 22 by a lifting column such as 32, which is attached to a swing arm such as 34. An operator platform 36 is located on the main frame 22. A plough or spreader device 38 is supported from the main frame 22 in front of the slipform paver mold 24. There is also an array of vibrators 25 in front of the mold 24, which helps to consolidate the concrete material to be formed. Behind the slipform paver mold 24, a dowel rod inserter device 40 may be provided. Behind the dowel rod inserter device 40, an oscillating beam 41 and a super-leveler device 42 may be provided.

[0005] Figure 4A Shown along Figure 2 Schematic cross section of the newly formed concrete structure 16 taken along the center line 4-4. Assuming that the top surface 18 is horizontal, then in an ideal situation, each lateral edge (such as 46) of the concrete structure 16 is at the same elevation as the rest of the top surface 18. However, due to the physical properties of newly formed concrete structures that have not yet hardened, the concrete structure 16 may experience some "collapse" near its edges, which may occur at the edges of the concrete structure 16. Figure 4B This is schematically shown in FIG. Figure 4B In the embodiment of the present invention, due to the collapse, the elevation of edge 46 drops by a distance 48. The practice in the prior art is to manually measure the distance 48 by placing a long straight edge 50 (e.g., a 2 by 4 board) on the top surface 18 so that it protrudes above the edge 46, and measure the distance 48 with a ruler or tape measure. The typical engineering specification suitable for allowing for collapse is that if the edge 46 is the free edge of the finished structure, the distance 48 should be no greater than 3 / 8 inch (1 cm). If the edge 46 is to be connected by another slab cast near the structure 16, the distance 48 can be limited to no more than 1 / 4 inch (6 mm). These specifications can vary depending on the requirements of the specific structure 16 being created. These specifications may also vary depending on the national standards applicable to the country of use.

[0006] In addition, in the field of airport runway paving, the flatness requirements are higher, because airport paving requires both longitudinal and transverse flatness. For this reason, many countries still stipulate that fixed paving forms are used for airport operations instead of slipform paving.

[0007] The problem of collapse depends on many factors. The "wetness" of the concrete mix being slipformed is an important factor, as is the speed at which the structure 16 is formed. A wetter concrete mix is ​​more susceptible to collapse. The faster the slipform paver is moved to form the structure, the greater the likelihood that the finished structure will collapse. Another factor is the distance behind the slipform mold 24 where the side walls 20 of the structure 16 are supported by physical supports such as the trailing side forms 44. The longer the distance that the newly formed structure 16 is supported by the trailing side forms 44, the less collapse will occur as the trailing slipform 44 moves past the already formed structure 16. Other factors include whether the concrete is properly vibrated by the vibrator 25.

[0008] Prior art slipform pavers include manually adjustable form floors that allow structure 16 to be initially formed with excess concrete material in lateral edge portions of structure 16 to counteract anticipated collapse of the concrete. Figure 5-7 The diagram shows such a prior art mechanism which has been previously used by the applicant of the present invention.

[0009] Figure 5 1 is a rear perspective view of the left end portion of the slipform mold 24. The mold 24 includes a mold frame 52, which is structurally attached to the main frame 22 of the apparatus 10. The left side plate assembly 26 can be seen, and the left side guide plate 54 can also be seen, which helps to guide the unformed concrete material into the mold 24. The mold 24 includes a mold bottom plate 56 that forms the top surface 18 of the concrete structure 16. The bottom plate 56 is designed to have a small area 58 ( Figure 5The relatively flexible region 58 is created by providing reinforcing gussets 60 and 62 in other portions of the bottom plate 56 (but not in the region 58). The relatively flexible region 58 divides the bottom plate 56 into lateral edge portions 56a ( Figure 7 ) and the inner portion 56b of the bottom plate 56 ( Figure 7 ).

[0010] Mounted within the mold frame 52 is an actuator assembly 63 which includes an actuator shaft 64 rotatable about its longitudinal axis. An actuator input arm 66 extends radially from the shaft 64. A conventional "dumb" hydraulic cylinder 68 has one end 70 connected to the mold frame 52 and another end 72 connected to the outer end of the actuator input arm 66. A series of shorter actuator output arms 74 are distributed along the length of the shaft 64. Each actuator output arm 74 is connected by an actuator link 76 to one of the reinforcing gussets 60 at a pivot connection 77 near the lateral outer edge 78 of the base plate 56. In other prior art systems, one or more hydraulic cylinders have been connected directly to the lateral edge portion 56a without having the shaft 64 and other related components between the actuator and the lateral edge portion 56a.

[0011] The lateral outer edges 78 of the bottom plate 56 are free to move vertically relative to the side mold assemblies 26 . Figure 5 and Figure 6 The lateral edge portions 56a of the bottom plate 56 are shown aligned with the inner portion 56b of the bottom plate 56 so that there is no collapse correction. Figure 7 In the embodiment shown in FIG. 1 , the hydraulic actuator 68 has been extended to slightly rotate the shaft 64 in a clockwise direction to pull up the link 76 and lift the lateral edge portion 56a and rotate the lateral edge portion 56a about an axis approximately located in the center of the flexible region 58. Figure 7 When the adjustment is made as shown, the mold 24 will form a structure 16, which immediately exits the mold 24 with a raised edge 46. Then, after the structure 16 collapses, the height of the edge 46 is manually checked, as shown. Figure 4B The slump is then adjusted based on what is seen in the paving operation and the manual adjustment and measurement process is repeated until the slump is adjusted appropriately. This process of checking and adjusting is ongoing during the paving operation because factors such as paving speed and the wetness of the concrete delivered to the paving site may change over time.

[0012] There is a continuing need for improvements in these processes. Summary of the invention

[0013] In a first embodiment, a slipform paver apparatus is configured to move across a ground surface in a paving direction for forming concrete into a newly formed concrete structure. The apparatus includes a main frame and a slipform paver mold supported by the main frame. The slipform paver mold includes a mold base configured to form a top surface of the newly formed concrete structure, the mold base including an inner portion and a lateral edge portion, the lateral edge portion being deflectable up and down relative to the inner portion. The mold also includes at least one side mold assembly configured to close the slipform paver mold on at least one side adjacent to the lateral edge portion of the mold base, and the mold also includes an actuator assembly connected to the lateral edge portion of the mold base for deflecting the lateral edge portion of the mold base up and down relative to the inner portion of the mold base. At least one edge height sensor is configured to generate an edge height signal corresponding to an edge height of the newly formed concrete structure and thereby detect collapse of an edge of the newly formed concrete structure behind the slipform paver mold. A controller is communicatively coupled to the at least one edge height sensor and the actuator assembly. The controller is configured to receive the edge height signal, determine whether any collapse of the edge of the newly formed concrete structure exceeds a set collapse limit, and automatically control the actuator assembly in response at least in part to the edge height signal to adjust the height of the lateral edge portion of the mold base relative to the inner portion of the mold base, and thereby adjust the height of the edge of the newly formed concrete structure, so that any collapse of the edge of the newly formed concrete structure is within the set collapse limit.

[0014] The at least one edge height sensor may be configured to detect a change in height of an edge of the newly formed concrete structure relative to the main frame or relative to any other part of the slipform paver equipment having a constant height relative to the main frame.

[0015] The at least one edge height sensor may be configured to detect a difference in height of an edge of the newly formed concrete structure relative to a height of an interior portion of the newly formed concrete structure.

[0016] The at least one edge height sensor may comprise a sensor array extending transversely to the paving direction.

[0017] The sensor array may extend substantially perpendicular to the paving direction.

[0018] The at least one edge height sensor may include a scanning sensor configured to scan along a scanning direction extending transversely to the paving direction.

[0019] The scanning sensor may be oriented to scan substantially perpendicular to the paving direction.

[0020] The slipform paving apparatus may include at least one trailing side plate trailing behind the at least one side form assembly, wherein the at least one edge height sensor is located behind the at least one trailing side plate.

[0021] The slipform paving apparatus may include an actuator assembly position sensor configured to detect a position of the actuator assembly.

[0022] The controller can be configured to: when it is determined that the collapse exceeds the set collapse limit, raise the height of the lateral edge portion of the mold base relative to the inner portion of the mold base by a first increment; after raising the height of the lateral edge portion of the mold base by the first increment, after a predetermined time interval has passed or after the slipform paver equipment has traveled a predetermined distance, again determine whether the edge collapse of the newly formed concrete structure exceeds the set collapse limit; if it is determined that the collapse still exceeds the set collapse limit, raise the height of the lateral edge portion of the mold base relative to the inner portion of the mold base by another increment.

[0023] The predetermined time interval may be a time at least sufficient for the slipform paving machine apparatus to move a distance equal to the distance of the at least one edge height sensor behind the slipform paving machine mould.

[0024] The actuator assembly may include an intelligent hydraulic cylinder including an integrated extension sensor for detecting an extension value of the intelligent hydraulic cylinder, the integrated extension sensor being an actuator assembly position sensor.

[0025] The actuator assembly position sensor may also include any form of smart linear actuator or smart rotary actuator. In addition, a "dumb" actuator may be used and the actuator position sensor may be separated from the actuator.

[0026] The controller can be configured to: determine a desired change in height of a lateral edge portion of the mold base relative to an interior portion of the mold base to correct collapse of an edge of a newly formed concrete structure behind a slipform paver mold based at least in part on the edge height signal; and instruct the actuator assembly to effect a change in the position of the actuator assembly corresponding to the desired change in height of the lateral edge portion of the mold base relative to the interior portion of the mold base.

[0027] The controller can also be configured to send a warning to an operator of the slipform paver equipment if the collapse of the edge of the newly formed concrete structure still exceeds the set collapse limit after adjusting the height of the lateral edge portion of the mold base relative to the inner portion of the mold base to or beyond a predetermined limit.

[0028] The controller may also be configured to reduce the vibration frequency of one or more vibrators in the vibrator array in front of the slipform mold if, after adjusting the height of the lateral edge portion of the mold bottom plate to or exceeding a predetermined limit, the collapse of the edge of the newly formed concrete structure still exceeds the set collapse limit.

[0029] In another embodiment, a method of operating a slipform paving apparatus may include: monitoring the height of a lateral edge of a newly formed concrete structure formed by the slipform paving apparatus with at least one edge height sensor; automatically determining with a controller whether any lateral edge of the newly formed concrete structure has any collapse that exceeds a set collapse limit; and if any lateral edge of the newly formed concrete structure has any collapse that exceeds the set collapse limit, automatically adjusting with the controller the height of a lateral edge portion of a mold base plate of the slipform paving apparatus relative to an inner portion of the mold base plate, thereby adjusting the height of the lateral edge of the newly formed concrete structure, so that any collapse of the edge of the newly formed concrete structure is within the set collapse limit.

[0030] The monitoring step may further comprise detecting changes in height of lateral edges of the newly formed concrete structure relative to a main frame of the slipform paver apparatus or relative to any part of the slipform apparatus supported in a constant position relative to the main frame.

[0031] The monitoring step may further include detecting a difference in height of a lateral edge of the newly formed concrete structure relative to an interior portion of the newly formed concrete structure.

[0032] The automatically adjusting step may include adjusting an actuator assembly coupled to a lateral edge portion of the mold base.

[0033] The automatically adjusting step may include sensing the position of the actuator assembly with an actuator assembly position sensor.

[0034] The automatic adjustment step may include: when it is determined that the collapse exceeds the set collapse limit, raising the height of the lateral edge portion of the mold base relative to the inner portion of the mold base by a first increment; after raising the height of the lateral edge portion of the mold base by the first increment, after a predetermined time interval has passed or after the slipform paver equipment has traveled a predetermined distance, determining again whether the collapse of the edge of the newly formed concrete structure exceeds the set collapse limit; if the determined collapse still exceeds the set collapse limit, raising the height of the lateral edge portion of the mold base relative to the inner portion of the mold base by another increment.

[0035] In the above method, the predetermined time interval may be a time at least sufficient for the slipform paving machine apparatus to travel a distance equal to the distance of the at least one edge height sensor behind the mould floor.

[0036] In another embodiment, the automatically adjusting step may include: determining a desired change in height of a lateral edge portion of the mold base relative to an interior portion of the mold base to correct for collapse of an edge of the newly formed concrete structure based at least in part on an edge height signal from at least one edge height sensor; and instructing an actuator assembly to effect a change in position of the actuator assembly corresponding to the desired change in height of the lateral edge portion of the mold base relative to the interior portion of the mold base.

[0037] The method may further include automatically sending a warning to an operator of the slipform paving machine equipment if the collapse of the edge of the newly formed concrete structure still exceeds the set collapse limit after adjusting the height of the lateral edge portion of the mold base relative to the inner portion of the mold base beyond a predetermined limit.

[0038] The method may also include, if, after adjusting the height of the lateral edge portion of the mold bottom plate to or exceeding a predetermined limit, the collapse of the edge of the newly formed concrete structure still exceeds the set collapse limit, automatically reducing the vibration frequency of one or more vibrators of the slipform paver equipment in front of the slipform mold to reduce the energy input by one or more vibrators adjacent to the lateral outer edge of the slipform mold.

[0039]

[0005] Numerous objects, features and advantages of the embodiments described herein will become readily apparent to those skilled in the art after reading the following disclosure when taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a right side front perspective view of the prior art insert slipform paving machine equipment. It is worth noting that the terms left and right are used in this article from the perspective of the driver driving the slipform paving machine equipment and facing forward along the paving direction.

[0041] Figure 2 yes Figure 1 Left side elevation view of a prior art slipform paving machine apparatus.

[0042] Figure 3 yes Figure 1 and Figure 2 A left front perspective view of a prior art slipform paver mold, wherein the left and right side mold assemblies include a plurality of trailing side molds.

[0043] Figure 4A is a schematic cross-sectional view of an idealized newly formed concrete structure of the prior art, showing an edge portion of the finished concrete structure and an interior portion of the newly formed concrete structure.

[0044] Figure 4B Illustrated is a prior art technique for manually measuring the collapse of the edge of a newly formed concrete structure.

[0045] Figure 5 is a rear perspective view of the left hand portion of a prior art concrete mould showing an actuator assembly for adjusting the height of a lateral edge portion of the mould floor relative to an interior portion of the mould floor.

[0046] Figure 6 yes Figure 5 A rear elevational view of a prior art structure as seen in , wherein the lateral edge portions of the mould bottom plate are at the same height level as the height of the inner portion of the mould bottom plate.

[0047] Figure 7 is similar to Figure 6 but in which the height of the lateral edge portions of the mold bottom plate is higher than the height of the inner portion of the mold bottom plate so as to be aligned with the mold bottom plate to be formed by Figure 6 The arrangement produces an edge height that is elevated compared to the resulting edge height of the finished concrete structure.

[0048] Figure 8 is a schematic side elevation view of a slipform paving machine apparatus incorporating the present invention.

[0049] Fig. 9 is a schematic diagram of an edge height sensor comprising a single non-contact sensor focusing on the edge of a newly formed concrete structure.

[0050] Fig.10 is a schematic diagram of an edge height sensor comprising a sensor array extending transversely to the paving direction.

[0051] Fig.11 is a schematic diagram of an edge height sensor including a scanning sensor configured to scan in a scanning direction extending transverse to a paving direction.

[0052] Fig.12 is a schematic diagram of an edge height sensor, including a Fig.10 The sensor array is mounted on the slipform paver mould and parallel to the rear edge of the slipform paver mould so that the orientation of the sensor array can be adjusted with any crown adjustment in the slipform paver mould.

[0053] Fig.13 yes Figure 8 Schematic diagram of the controller system of a paving machine.

[0054] Fig.14 is a first flow chart showing the basic process of automatically controlling an actuator in response to an edge height signal to adjust a mold floor and thereby adjust the slump of a finished concrete product.

[0055] Fig.15is a further flow chart illustrating the "iterative" process for automatic control.

[0056] Fig.16 is a further flow chart illustrating the "determine" process for automatic control.

[0057] Fig.17 is a schematic diagram of an alternative actuator assembly position sensor arrangement including an inclination sensor placed on the slipform mold floor.

[0058] Fig.18 is a schematic diagram of an alternative actuator assembly using a rotary actuator.

[0059] Fig.19 is a schematic diagram of an alternative actuator assembly using a hydraulic cylinder actuator directly connected to the lateral edge portion of the mold base.

[0060] Fig. 20 is an enlarged schematic cross-sectional view of a newly formed concrete slab illustrating edge collapse. DETAILED DESCRIPTION

[0061] Figure 8 is a schematic side elevation view of the slipform paving machine apparatus 100 of the present invention. Figure 1-7 The components of the slipform paving machine apparatus 100 are substantially identical to corresponding components of the prior art apparatus. Figure 1-7 The same part numbers are used in the drawings and will not be described further.

[0062] The slipform paving machine 100 eliminates the above-mentioned Figure 1-7 A sensor system capable of automatically detecting and measuring the collapse of the edges of a finished concrete structure, and a controller configured to automatically adjust the deflection of the lateral edge portion 56a of the mold bottom plate 56 to correct any collapse detected is provided.

[0063] The slipform paving machine apparatus 100 includes a main frame 22 and a slipform paving machine mold 102 supported from the main frame 22. The mold 102 includes a mold frame 52, a mold base 56, and side mold assemblies 24 and 26, generally as shown in FIG. Figure 5-7 as shown in .

[0064] The mold 102 includes Fig.13 The actuator assembly 104 of the variation shown in FIG. The actuator assembly 104 includes the actuator shaft 64, the actuator input arm 66, the actuator output arm 74 and the connecting rod 76, which are generally as described above with respect to FIG. Figure 5-7A "smart" hydraulic cylinder actuator 106 is connected between the mold frame 52 and the actuator input arm 66 to replace the "dumb" hydraulic cylinder 68 of the prior art. The smart hydraulic cylinder actuator 106 includes an integrated extension sensor 108, which generates a position signal 108S indicating the extended position of the smart hydraulic cylinder actuator 106, and thereby indicates the position of each link in the actuator assembly 104 and the position of the lateral edge portion 56a of the mold bottom plate 56 relative to the inner portion 56b.

[0065] The integrated extension sensor 108 may be referred to as an actuator assembly position sensor 108, which is configured to detect the position of the actuator assembly 104. Other embodiments of the actuator assembly position sensor 108 other than the integrated extension sensor of the smart hydraulic cylinder may be used. For example, the actuator assembly position sensor is in the form of a rotational position sensor on the actuator shaft 64, which may provide similar position information representative of the position of the entire actuator assembly 104 and the lateral edge portion 56a of the mold bottom plate 56. When such a rotational position sensor is used, the smart hydraulic cylinder actuator 106 may be replaced by a conventional dummy hydraulic cylinder that does not include an integrated extension sensor.

[0066] Alternatively, the actuator assembly position sensor 108 may be mounted on the lateral edge portion 56a and directly measure the position of the lateral edge portion 56a relative to the inner portion 56b, which position would correspond to the position of the actuator assembly 104. For example, Fig.17 As schematically shown in FIG. 1 , the actuator assembly position sensor 108 may include a first tilt sensor 108a mounted on the lateral edge portion 56a of the base plate 56 and a second tilt sensor 108b mounted on the inner portion 56b of the base plate 56. Alternatively, the second tilt sensor 108b may be mounted on the machine frame 22 or any other component fixed relative to the machine frame 22. By comparing the tilt signals from the sensors 108a and 108b, the controller 132 may determine the angle of the lateral edge portion 56a relative to the inner portion 56b, and then based on the known geometry of the base plate 56, the controller 132 may determine the position of the lateral edge portion 56a, and thereby determine the position of the actuator assembly 104.

[0067] An alternative embodiment of the actuator assembly 104 is Fig.18 The actuator assembly 104a replaces the hydraulic smart cylinder actuator 106 with a rotary actuator 106a that directly drives the shaft 64.

[0068] Another alternative embodiment of the actuator assembly 104 is schematically shown in Fig.19The actuator assembly 104b includes one or more hydraulic smart cylinders 106 connected directly between the lateral edge portion 56a and the mold frame 52.

[0069] The slipform paver apparatus 100 further includes at least one edge height sensor 110 configured to generate an edge height signal 110S corresponding to the height of the edge 46 of the newly formed concrete structure 16 and thereby detect collapse of the edge 46 of the newly formed concrete structure 16 behind the slipform paver mold 102 .

[0070] like Fig. 9 In the broadest sense, as schematically shown in FIG. 1 , at least one edge height sensor can be a single non-contact sensor 110a directed toward the edge 46 and supported from the machine frame 22 (or other component such as the slipform mold 24 held at a fixed height relative to the machine frame 22). The sensor 110a can alternatively be supported from the side mold 26, the oscillating beam 41, or the super-flattening beam 42. Such a sensor 110a can be calibrated to a reading representing a perfect non-collapsed edge 46, and changes from that calibrated value can then be detected. The sensor 110a can be an ultrasonic sensor, an infrared sensor, a laser sensor, or any other suitable non-contact sensing device.

[0071] Fig.10 and Fig.11 Two further exemplary embodiments of height sensor 110 are schematically illustrated.

[0072] Fig.10 The edge height sensor 110 in embodiment 110b is schematically shown and comprises an array 112 of individual sensor elements, such as 112a, 112b, 112c, etc., arranged along the length of a sensor support 114 extending transversely to the paving direction 12. Fig.10 In the embodiment, the paving direction 12 is perpendicular to the plane of the drawing and extends into the plane of the drawing. Preferably, the array 112 is substantially parallel to the rear edge 164 of the slipform mold 24 (see Fig.12), which may also be described as being substantially perpendicular to the paving direction 12. Preferably, the array 112 of sensor elements includes at least two of the individual sensor elements disposed above the interior portion 116 of the concrete structure 16 sufficiently far from the edge 46 so that any collapse of the edge 46 does not affect the top surface 18 along the interior portion 116. This allows the height readings from the sensor elements 112b, 112c, 112d above the interior portion 116 to be used to determine the line 118 that defines the contour of the top surface 18 and projects above the edge 46. The data from the sensor element 112a above the edge 46 can then be used to determine the relative distance to the edge 46. Based on the known dimensions of the array 112 and the lateral distances between the array elements 112a, 112b, etc., the distance 48 that the edge 46 has collapsed below the projected line 118 can be calculated. The sensor elements 112a, 112b, etc. may be ultrasonic sensors, infrared sensors, laser sensors, or any other suitable non-contact sensing device.

[0073] Similarly, if Fig.11 , the edge height sensor 110 may be in the form of a scanning sensor 110c configured to scan the top profile of the concrete structure 16 along a scanning direction 120 transverse to the paving direction 12. Preferably, the scanning direction 120 extends substantially perpendicular to the paving direction 12. The scanning sensor 110c should be configured to scan across a portion 122 of the concrete structure extending up to the inner collapsed portion 116. The scanning sensor 110b may be, for example, a laser scanner, an infrared scanner, an imaging camera or any other suitable scanning sensor technology.

[0074] Thus, the sensor 110 b or 110 c is configured to detect a difference 48 in height of the edge 46 of the finished concrete structure relative to the interior portion 116 of the finished concrete structure 16 .

[0075] It should be appreciated that the Figure 4B and Figure 9-12 The drawings illustrating edge collapse are simplified schematic diagrams, and an actual collapsed concrete slab may not have such a distinct edge 46 as shown. This is because collapse will typically also involve some lateral collapse of the lateral concrete sides 20 of the slab 18, so that the edge 46 will become blurred or rounded. Fig. 20A more realistic diagram of a collapsed concrete slab is shown. The ideal uncollapsed slab profile is shown in dashed lines, with the top surface shown as 18', the sides shown as 20', and the edges shown as 46'. The actual collapsed profile is shown in solid lines, with edge 46 being somewhat rounded, and with side 20 collapsing laterally outward from the desired profile 20'. The various embodiments of the edge height sensor 110 discussed above do not need to be precisely pointed at the location of the desired edge 46' or the actual edge 46, but can be pointed at an adjacent portion of the slab. As long as the edge height sensor 110 is observing the slab deformation caused by the collapse of the adjacent edge 46, the resulting edge height signal can be said to correspond to the edge height of the newly formed concrete structure. For example, the edge height sensor can see the slab at a small distance laterally inward from the ideal location of edge 46.

[0076] And, using Fig.10 A multi-sensor embodiment or Fig.11 In the embodiment of the scanning sensor, the sensor can collect data about the collapse of the top surface 18 of the slab at multiple locations laterally inward from the side wall 20, and the controller can evaluate the collapse at these multiple locations. All of these data can be described as an edge height signal corresponding to the edge height of the newly formed concrete structure, thereby detecting the collapse of the edge of the newly formed concrete structure.

[0077] It is worth noting that although Fig.10 and Fig.11 The newly formed concrete structure 16 is illustrated as having a horizontal top surface 18 on the interior portion 116, but the same technique for measuring the distance 48 will apply to crowned (or convex) surfaces having a transverse slope transverse to the paving direction. In the case of a newly formed transversely sloped surface, the projection line 118 will have a slope equal to the transverse slope of the top surface 18 of the interior portion 116 of the newly formed concrete structure 16.

[0078] Fig.12 An alternative embodiment for dealing with the problem presented by a crowned top surface 18 having a crown 162 is schematically shown. This embodiment orients the sensor 110b or 110c so that the scan line of the array 112 or scanning sensor 110c is oriented substantially parallel to the rear edge 164 of the bottom plate 56 of the slip mold 24. This should include having an array 112 or scanning sensor 110o oriented at the same lateral slope as the rear edge 164 of the bottom plate 56 of the slip mold 24 forming the crowned surface 18. For the array 112, this arrangement is schematically illustrated in Fig.12, and can be achieved by mounting the array 112 on the slipform mold 24 so that the array 112 extends parallel to the rear edge of the base plate 56. Then, if the crown setting of the mold 24 is adjusted, the orientation of the array 112 is adjusted with the mold.

[0079] Figure 8 The schematic diagram shows several optional positions for edge height sensor 110. The first possible position is indicated as 110.1 immediately after mold 102. Any trailing side plate such as 44 (see Figure 3 ) is indicated as 110.2, and such a sensor may be supported from the rear portion of the machine frame 22. It is even possible that the edge height sensor 110 may be located on a separate vehicle, such as, for example, in position 110.3, where the edge height sensor 110 is located on a texture curing machine 154 following the slipform paver 100. Generally speaking, the edge height sensor 110 should be located behind the position where the side 20 of the newly formed concrete structure 16 is no longer supported by the side panel assembly 26 or 28 or by the trailing side form 44. Furthermore, it may be desirable to position the edge height sensor 110 a sufficient distance behind such support of the side 20 to allow time for any "collapse" to occur. Furthermore, more than one edge height sensor 110 may be provided at more than one of the positions described above.

[0080] Control system:

[0081] like Fig.13 As shown schematically, the machine 100 includes a control system 130, which includes a controller 132. The controller 132 may be part of the machine control system of the slipform paving machine 100, or may be a separate control module. The controller 132 may be installed, for example, in a control panel located at the operator station 36. The controller 132 is configured to receive input signals from various sensors. The signals transmitted from the various sensors to the controller 132 are Fig.13 The sensors are schematically represented in FIG. 1 by lines connecting the sensors to the controller, with arrows indicating the flow of signals from the sensors to the controller 132 .

[0082] For example, the extension signal 108S from the extension sensor 108 will be received by the controller 132 so that the controller 132 can monitor and control the extension of the hydraulic smart cylinder 106 (which drives the actuator assembly 104). In addition, the edge height signal 110S will be received from the edge height sensor 110 so that the controller 132 can determine whether any collapse of the edge 46 of the finished concrete structure 16 exceeds a set collapse limit.

[0083] Similarly, the controller 132 will generate control signals for controlling the operation of the various actuators described above. Fig.1310S is schematically represented by lines connecting the controller 202 to the various actuators, with arrows indicating the flow of command signals from the controller 202 to each respective self-actuator. It will be appreciated that to control a hydraulic cylinder type actuator, such as the hydraulic smart cylinder 106, the controller 132 will send an electrical signal 106S to an electronic / mechanical control valve 134, which controls the flow of hydraulic fluid from a pump 136 to the hydraulic cylinder 106 and from the hydraulic cylinder 106 back to a tank 138. As further explained below, the controller 132 can automatically control the hydraulic cylinder 106 in response, at least in part, to the edge height signal 110S to adjust the height of the lateral edge portion 56a of the mold bottom plate 56 relative to the inner portion 56b of the mold bottom plate 56, and thereby adjust the height of the edge 46 of the finished concrete structure 16.

[0084] The controller 132 includes or may be associated with a processor 140, a computer readable medium 142, a database 144, and a control panel 146 or input / output module having a display 148. An input / output device 150, such as a keyboard, joystick, or other user interface, is provided so that an operator can input instructions to the controller. It should be understood that the controller 132 described herein may be a single controller having all of the functions described, or it may include multiple controllers with the described functions distributed among the multiple controllers.

[0085] The various operations, steps or algorithms described in conjunction with the controller 132 may be embodied directly in hardware, in a computer program product 152 such as a software module executed by the processor 140, or in a combination of the two. The computer program product 152 may reside in a RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable disk, or any other form of computer-readable medium 142 known in the art. An exemplary computer-readable medium 142 may be coupled to the processor 140 so that the processor can read information from and write information to the memory / storage medium. Alternatively, the medium may be integrated into the processor. The processor and the medium may reside in an application specific integrated circuit (ASIC). The ASIC may reside in a user terminal. Alternatively, the processor and the medium may reside in a user terminal as discrete components.

[0086] The term "processor" as used herein may refer to at least a general or special purpose processing device and / or logic as would be understood by one skilled in the art, including but not limited to a microprocessor, a microcontroller, a state machine, etc. A processor may also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

[0087] In some embodiments, the data storage in the computer-readable medium 142 and / or the database 144 may include a database service, a cloud database, etc. In various embodiments, the computing network may include a cloud server, and in some embodiments may be part of a cloud application, where the various functions disclosed herein are essentially distributed between the computing network and other distributed computing devices. Any or all of the distributed computing devices may be implemented as at least one of an onboard controller, a server device, a desktop computer, a notebook computer, a smart phone, or any other electronic device capable of executing instructions. The processor (e.g., a microprocessor) of the device may be a general-purpose hardware processor, a special-purpose hardware processor, or a combination thereof.

[0088] In particular, the controller 132 may be programmed to receive an extension signal 110S from the extension sensor 110 of the hydraulic smart cylinder 106 and send a control signal 106S to control the extension of the hydraulic smart cylinder 106 at least partially in response to the corresponding extension signal 110S.

[0089] The controller 132 may be configured by combining appropriate operation of the extension sensor 110 or other actuator position sensor and the hydraulic smart cylinder 106 or other actuator, and appropriately programmed by software instructions in the software 152 to: receive the edge height signal 110S; determine whether the collapse of the edge 46 of the newly formed concrete structure 16 exceeds a set collapse limit; automatically control the actuator assembly 104 at least partially in response to the edge height signal 110S to adjust the height of the lateral edge portion 56a of the mold bottom plate 56 relative to the inner portion 56b of the mold bottom plate 56, and thereby adjust the height of the edge 46 of the newly formed concrete structure 16, so that any collapse 48 of the edge of the newly formed concrete structure is within the set collapse limit.

[0090] flow chart:

[0091] Fig.14 -Basic control method:

[0092] Figure 14-16 Several flow charts are provided that summarize the manner in which the controller 132 may be configured through programming of the software 152 to provide the functionality described herein.

[0093] Fig.14A flow chart is shown for a basic process 200 starting at box 202. At step 204, the controller 132 is provided with a set collapse limit value that defines the maximum allowable distance 48 that the edge 46 of the finished concrete structure 16 is allowed to collapse. For example, the set collapse limit value may be 3 / 8 inch (1 cm) or 1 / 4 inch (6 mm) or other values ​​suitable for the job at hand. The set collapse limit value may be input by an operator of the paving machine 100 via the operator interface 150, or it may be a default value preprogrammed in the controller 132.

[0094] At step 206 , the controller 132 may receive an edge height signal 110S from one or more edge height sensors 110 .

[0095] At step 208, the controller 132 may determine the actual distance 48 that the edge 46 of the newly formed concrete structure 16 has collapsed. This may be accomplished using any of the embodiments of the at least one edge height sensor 110 described above.

[0096] In such Fig. 9 In one embodiment shown in , the distance 48 may be detected as the height difference between a calibrated “zero collapse” edge location 46 ′ and the actual detected edge location 46 .

[0097] In such Fig.10 , Fig.11 and Fig.12 In other embodiments schematically shown in FIG. 4 , distance 48 may be determined by determining the height of two or more points on interior portion 116 of the newly formed concrete structure and projecting an imaginary line 118 through those points, and then determining distance 48 from imaginary line 118 to actual edge 46 .

[0098] At step 210 , it is determined whether the actual collapse calculated in step 208 exceeds the set collapse value provided in step 204 .

[0099] If the actual collapse calculated in step 208 does not exceed the set collapse value, the process returns to step 206 and continues to monitor the edge height signal 110S.

[0100] If the actual collapse determined in step 208 exceeds the set collapse value, proceed to step 212, where the controller 132 automatically controls the hydraulic smart cylinder 106 of the actuator assembly in response at least in part to the edge height signal 110S to adjust the height of the lateral edge portion 56a of the mold bottom plate 56 relative to the inner portion 56b of the mold bottom plate 56, thereby adjusting the height of the edge 46 of the finished concrete structure 16.

[0101] exist Fig.15 and Fig.16Two examples of the way in which the automatic control of step 212 may be performed are summarized in the flow chart of FIG. Fig.15 The method will be referred to herein as an "iterative" control method. Fig.16 The method will be referred to herein as the "deterministic" control method.

[0102] Fig.15 -Iteration Control:

[0103] Fig.15 The figure shows an iterative control implementation of step 212. In a first sub-step 212.1, after determining that the collapse 48 exceeds the set collapse limit, the controller 132 instructs the hydraulic smart cylinder 106 to raise the height of the lateral edge portion 56a of the mold bottom plate 56 relative to the inner portion 56b of the mold bottom plate 56 by a first increment, such as 0.1 inches (2.5 mm). Any increment can be selected. The control of the movement of the lateral edge portion 56a is based on the control of the extension of the hydraulic smart cylinder 106, which is known from the extension signal 108S from the extension sensor 108. Based on the known geometry of the actuator assembly 104 and the bottom plate 56, the controller 132 can provide a correlation between the extension of the hydraulic smart cylinder 106 and the height of the lateral edge portion 56a of the mold bottom plate 56.

[0104] Step 212.2 represents a predetermined time interval that has elapsed after the height of the lateral edge portion 56a of the mold base plate 56 has been raised by a first increment. The controller 132 may receive a travel speed signal 156S from the speed sensor 156. The controller 132 may receive an elapsed time signal 158S from the internal clock 158. The predetermined time interval should be at least sufficient for the slipform paver apparatus 100 to travel a distance equal to the distance of at least one height sensor 110 behind the slipform paver mold 24. Alternatively, instead of monitoring the travel speed and the elapsed time, the controller may monitor the distance traveled by the paver 10 after the height of the lateral edge portion 56a has been raised. The distance traveled may be measured using Fig.13 The odometer 160 shown in the figure as an adaptation is monitored, which sends a signal 160S representative of the distance traveled to the controller 132. The odometer 160 may be a mechanically driven odometer, or it may be based on a GNSS or GPS signal.

[0105] In step 212.3, after the predetermined time interval or the predetermined distance of step 212.2 has passed, a further determination is made to again determine whether the collapse 48 of the edge 46 of the finished concrete structure 16 exceeds the set collapse limit. If the collapse 48 still exceeds the set collapse limit, the process returns to step 212.1 and the height of the lateral edge portion 56a of the mold bottom plate 56 is further incrementally adjusted.

[0106] If the collapse 48 is now less than the set collapse limit, the process returns to step 206 and returns to monitoring the rim height signal 110S.

[0107] Fig.16 - Determine control

[0108] Fig.16 21.4, upon determining that the collapse 48 exceeds the set collapse limit, the controller 132 determines the required height change of the edge 46 of the finished concrete structure. This can be calculated by comparing the distance 48 to the set collapse limit. Further adjustments may be added. For example, if the calculated distance 48 exceeds the set collapse limit by 0.2 inches (5 mm), the controller may determine that the actuator should be adjusted to raise the height of the edge 46 by 0.4 inches (10 mm), thereby reducing the collapse to well below the set collapse limit.

[0109] Then, in step 212.5, the controller 132 determines the expected total change in height of the lateral edge portion 56a of the mold floor 56 required to cause the desired correction in the height of the edge 46 of the concrete structure 16. For example, such a determination may be based on a look-up table of historical information for the particular slipform paver apparatus 100, which shows previous measurements of collapse of the edge 46 caused by one or more variables, including actuator position, wetness of the concrete mix, paving speed, and any other relevant available information.

[0110] At step 212 . 6 , the controller 132 then directs a determined change in the height of the lateral edge portion 56 a of the mold bottom plate 56 via a change in the extension of the hydraulic smart cylinder 106 .

[0111] Step 212.7 again represents the passage of a predetermined time interval or travel of a predetermined distance after the change in height of the lateral edge portion 56a of the mold base 56. The predetermined time interval should be at least sufficient for the slipform paving machine 100 to travel a distance equal to the distance of at least one height sensor 110 behind the slipform paving machine mold 24.

[0112] In step 212.8, after a predetermined time interval or a predetermined distance has passed in step 212.6, a further determination is made to again determine whether the collapse 48 of the edge 46 of the finished concrete structure 16 exceeds the set collapse limit. If the collapse 48 still exceeds the set collapse limit, the process returns to step 212.4 and further determines whether the height of the edge 46 of the finished concrete structure needs to be further changed.

[0113] If the collapse 48 is now less than the set collapse limit, the process returns to step 206 and returns to monitoring the rim height signal 110S.

[0114] Another feature that can be provided by the controller 132 is an operator warning when the automatic collapse control system is unable to place the detected collapse within the set collapse limits. For example, if the actuator assembly 104 has raised the lateral edge portion 56a to the maximum possible value and excessive collapse is still detected, the controller 132 can send an audible or visual warning to the operator of the operator platform 36.

[0115] The controller 132 may also adjust other machine parameters that affect the collapse of the edge 46 of the concrete structure 16. For example, the controller 132 may reduce the energy input to the vibrator 25 adjacent the lateral outer edge of the slipform mold 24 by reducing the vibration frequency of the vibrator, thereby reducing the liquefaction of the concrete material in this area and reducing the tendency of the concrete to collapse after leaving the mold 24. The controller 132 may monitor the vibration frequency of the vibrator 25 by receiving the frequency signal 27S from the vibrator frequency sensor 27 (see Fig.13 ). The controller 132 may send a command signal 25S to the vibrator 25. For example, the controller may be programmed so that if the actuator assembly 104 has raised the lateral edge portion 56a to the maximum possible value, or reached or exceeded some other preset value, and excessive collapse is still detected, the controller 132 may send a control signal 25S to the vibrator 25 instructing the external vibrator to reduce its vibration frequency. The control may be a closed-loop control similar to the above-described one for adjusting the position of the actuator assembly 104, i.e., it may be an iterative process, or it may also be a deterministic process.

[0116] Thus, it can be seen that the apparatus and method of the present disclosure readily achieve the objects and advantages mentioned as well as those inherent therein. Although certain preferred embodiments of the present disclosure have been illustrated and described for purposes of the art, many changes may be made by those skilled in the art to the arrangement and construction of the parts and steps, which changes are encompassed within the scope and spirit of the present disclosure as defined by the appended claims. Each disclosed feature or embodiment may be combined with any other disclosed feature or embodiment.

Claims

1. A slipform paver apparatus configured to move across a ground surface in a paving direction to form concrete into a newly formed concrete structure, the slipform paver apparatus comprising: Main frame; A slipform paver mould, which is supported from a main frame and comprises: a mold base configured to form a top surface of the newly formed concrete structure, the mold base comprising an inner portion and lateral edge portions, the lateral edge portions being deflectable up and down relative to the inner portion; at least one sideform assembly configured to close the slipform paver mold on at least one side adjacent to a lateral edge portion of the mold floor; and an actuator assembly connected to the lateral edge portion of the mold bottom plate for deflecting the lateral edge portion of the mold bottom plate up and down relative to the interior portion of the mold bottom plate; at least one edge height sensor configured to generate an edge height signal corresponding to the height of an edge of the newly formed concrete structure to detect collapse of an edge of the newly formed concrete structure behind the slipform paver mold; and a controller communicatively coupled to the at least one edge height sensor and the actuator assembly, the controller being configured to: receiving edge height signals; Determine whether the collapse of the edges of newly formed concrete structures exceeds the established collapse limit; and The actuator assembly is automatically controlled at least in part in response to the edge height signal to adjust the height of the lateral edge portion of the mold base relative to the inner portion of the mold base, thereby adjusting the height of the edge of the newly formed concrete structure so that any collapse of the edge of the newly formed concrete structure is within the set collapse limit.

2. The slipform paving machine according to claim 1, characterized in that: The at least one edge height sensor is configured to detect a change in height of an edge of a newly formed concrete structure relative to the main frame.

3. The slipform paving machine according to claim 1, characterized in that: At least one edge height sensor is configured to detect a difference in height of an edge of the newly formed concrete structure relative to a height of an interior portion of the newly formed concrete structure.

4. The slipform paving machine according to claim 3, characterized in that: The at least one edge height sensor comprises a sensor array extending transverse to the paving direction.

5. The slipform paving machine according to claim 4, characterized in that: The sensor array extends substantially perpendicular to the paving direction.

6. The slipform paving machine according to claim 3, characterized in that: The at least one edge height sensor comprises a scanning sensor configured to scan along a scanning direction extending transversely to the paving direction.

7. The slipform paving machine according to claim 6, characterized in that: The scanning sensor is configured such that the scanning direction extends substantially perpendicular to the paving direction.

8. The slipform paver equipment according to claim 1, characterized in that: Further including: at least one trailing side panel trailing behind the at least one side molding assembly; and At least one edge height sensor is located behind the at least one trailing side panel.

9. The slipform paving machine according to claim 1, characterized in that: Further including: An actuator assembly position sensor is configured to detect a position of the actuator assembly.

10. The slipform paving machine according to claim 9, characterized in that: The controller is configured to: After determining that the collapse exceeds the set collapse limit, raising the height of the lateral edge portion of the mold bottom plate relative to the inner portion of the mold bottom plate by a first increment; After the height of the lateral edge portion of the mold base plate is increased by the first increment, after a predetermined time interval has passed or after the slipform paver equipment has traveled a predetermined distance, determining again whether the collapse of the edge of the newly formed concrete structure exceeds a set collapse limit; as well as If it is determined that the collapse still exceeds the set collapse limit, the height of the lateral edge portion of the mold bottom plate relative to the inner portion of the mold bottom plate is raised by another increment.

11. The slipform paving machine according to claim 10, characterized in that: The predetermined time interval is a time at least sufficient for the slipform paving machine apparatus to travel a distance equal to the distance of at least one edge height sensor behind the slipform paving machine mould.

12. The slipform paving machine according to claim 9, characterized in that: The actuator assembly comprises an intelligent hydraulic cylinder comprising an integrated extension sensor for detecting an extension value of the intelligent hydraulic cylinder, the integrated extension sensor being the actuator assembly position sensor.

13. The slipform paving machine according to claim 9, characterized in that: The controller is configured to: determining a desired change in height of a lateral edge portion of the mold floor relative to an interior portion of the mold floor to correct for collapse of an edge of a newly formed concrete structure behind a slipform paver mold based at least in part on the edge height signal; and The actuator assembly is instructed to cause a change in the position of the actuator assembly that corresponds to a desired change in the height of the lateral edge portion of the mold bottom plate relative to the interior portion of the mold bottom plate.

14. The slipform paving machine according to claim 1, characterized in that: The controller is also configured to send a warning to an operator of the slipform paver equipment if the collapse of the edge of the newly formed concrete structure still exceeds the set collapse limit after the height of the lateral edge portion of the mold base plate relative to the inner portion of the mold base plate is adjusted to or exceeds a predetermined limit.

15. The slipform paving machine according to claim 1, characterized in that: The apparatus also includes an array of vibrators located in front of the slide form; and When the collapse of the edge of the newly formed concrete structure still exceeds the set collapse limit after the height of the lateral edge portion of the mold bottom plate is adjusted to or exceeds the predetermined limit, the controller is further configured to reduce the vibration frequency of the one or more vibrators.

16. A method of operating a slipform paver, comprising: monitoring a lateral edge height of a newly formed concrete structure formed by the slipform paver apparatus with at least one edge height sensor; automatically determining, using a controller, whether any lateral edges of a newly formed concrete structure have collapsed beyond a set collapse limit; and If any collapse of the lateral edges of the newly formed concrete structure exceeds the set collapse limit, the controller automatically adjusts the height of the lateral edge portion of the bottom edge of the mold of the slipform paver equipment relative to the inner portion of the mold base, and thereby adjusts the height of the lateral edge of the newly formed concrete structure, so that any collapse of the edge of the newly formed concrete structure is within the set collapse limit.

17. The method according to claim 16, characterized in that The monitoring step may also include detecting changes in height of lateral edges of the newly formed concrete structure relative to a main frame of the slipform paver equipment.

18. The method according to claim 16, characterized in that The monitoring step also includes detecting a height difference of a lateral edge of the newly formed concrete structure relative to an interior portion of the newly formed concrete structure.

19. The method according to claim 16, characterized in that The automatically adjusting step includes adjusting an actuator assembly coupled to a lateral edge portion of the mold base.

20. The method according to claim 19, characterized in that The automatically adjusting step includes sensing the position of the actuator assembly with an actuator assembly position sensor.

21. The method according to claim 16, characterized in that The automatic adjustment steps include: After determining that the collapse exceeds the set collapse limit, raising the height of the lateral edge portion of the mold bottom plate relative to the inner portion of the mold bottom plate by a first increment; After raising the height of the lateral edge portion of the mold bottom plate by the first increment, after a predetermined time interval has passed or after the slipform paver equipment has traveled a predetermined distance, determining again whether the collapse of the edge of the newly formed concrete structure exceeds a set collapse limit; and If it is determined that the collapse still exceeds the set drop collapse limit, the height of the lateral edge portion of the mold bottom plate relative to the inner portion of the mold bottom plate is raised by another increment.

22. The method according to claim 21, characterized in that The predetermined time interval is a time at least sufficient for the slipform paving machine apparatus to travel a distance equal to the distance of at least one edge height sensor behind the mould floor.

23. The method according to claim 16, characterized in that The automatic adjustment steps include: determining a desired change in height of a lateral edge portion of the mold floor relative to an interior portion of the mold floor to correct for collapse of an edge of the newly formed concrete structure based at least in part on an edge height signal from the at least one edge height sensor; and The actuator assembly is instructed to effect a change in position of the actuator assembly corresponding to a desired change in height of the lateral edge portion of the mold bottom plate relative to the interior portion of the mold bottom plate.

24. The method according to claim 16, characterized in that Further including: After the height of the lateral edge portion of the mold base plate relative to the inner portion of the mold base plate is adjusted to or exceeds a predetermined limit, if the collapse of the edge of the newly formed concrete structure still exceeds the set collapse limit, a warning is automatically sent to the operator of the slipform paver equipment.

25. The method according to claim 16, characterized in that Further including: When, after the height of the lateral edge portion of the mold base plate is adjusted to or exceeds a predetermined limit, the collapse of the edge of the newly formed concrete structure still exceeds the set collapse limit, the vibration frequency of one or more vibrators of the slipform paver equipment in front of the slipform mold is automatically reduced to reduce the energy input by one or more vibrators adjacent to the lateral outer edge of the slipform mold.

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