Method for paving multi-layer road surface

Abstract

In order to pave a multi-layer road surface, a first paving layer is paved along a road using a first road paver (1). The second paving layer is paved on the first paving layer using the first road paving machine (1) or using the second road paving machine. During the paving of the first paving layer, paving data is recorded, which allows the determination of at least one first course trajectory (43, 45) of the outer edge of the screed of the first road paver (1) during the paving of the first paving layer. The paving data is used to control the first road paver (1) or the second road paver when paving the second paving layer.

Description

Technical Field

[0001] The present invention relates to the field of road construction using a road paver, and in particular to paving multiple layers of pavement along a road. Background Art

[0002] EP 1 118 713 B1 discloses a method for automatically controlling a road paver. A measuring point is fixedly attached to a screed plate of a road paver. The measuring point can be arranged, for example, at the end of a retractable screed plate member of the screed plate. A target value for the position of the measuring point is determined by planning data. A position deviation between the actual position of the measuring point and the target position is calculated. The screed plate is adjusted according to the calculated position deviation.

[0003] The system of EP 1 118 713 B1 can only be used if suitable planning data are available.

[0004] DE 10 2020 117 095 A1 describes a road paving control unit that can generate a boundary map of the paving based on the positions of the first screed extension and the second screed extension. In some cases, the boundary map can be generated as a two-dimensional digital model or a three-dimensional digital model of the paving or paving work surface.

[0005] It is known from practice to pave a multi-layer road surface by driving a road paver several times along the road, wherein the road paver is manually steered each time by a driver and the screed width of the road paver is manually adjusted by at least one screed operator. Summary of the invention

[0006] The object of the present invention is to provide an improved method for paving a multi-layer pavement.

[0007] According to one aspect of the invention, a method for paving a multi-layer road surface is provided. A first paving layer is paved along a road using a first road paver. A second paving layer is paved on the first paving layer using the first road paver or using a second road paver. Paving data is recorded while paving the first paving layer. The paving data allows determination of at least one progression track traveled by an outer edge of a screed plate of the first road paver during paving the first paving layer. The paving data is used to control the first road paver or the second road paver while paving the second paving layer.

[0008] By recording paving data when paving the first paving layer, information that is helpful for paving the second paving layer can be obtained. The paving data can be utilized as a by-product of the paving process of the first paving layer. The separate step of obtaining paving data as part of the planning process can be omitted or simplified.

[0009] By using the paving data when paving the second paving layer, the second paving layer can be paved particularly well matched to the first paving layer. By paving the second paving layer in a manner matched to the first paving layer, high-quality paving can be achieved.

[0010] When paving the first paving layer, the course track followed by the outer edge of the screed plate of the first road paver may represent the course of the lateral outer boundary of the first paving layer. The paving data may assist in the correct positioning of the second paving layer relative to the first paving layer. The paving data may assist in the paving process of the second paving layer, whose course track corresponds as closely as possible to the course track of the first paving layer.

[0011] The progress track of the outer edge of the screed plate of the first road paver may be the progress track of a point on the outer edge of the screed plate, or may be the progress track of a point on the outer edge of the screed plate. Preferably, the progress track of the outer edge of the screed plate of the first road paver is the progress track of the rear end or rear end point of the outer edge of the screed plate. The progress track of the rear end or rear end point of the outer edge of the screed plate may represent the progress track of the lateral outer boundary of the first paving layer.

[0012] When paving the first paving layer, the first road paver can be partially or fully manually controlled by one or more operators. For example, when paving the first paving layer, the extension position of the extension members (particularly the left extension member and the right extension member) of the screed plate of the first road paver can be manually controlled. Additionally or alternatively, for example, when paving the first paving layer, the steering of the first road paver can be manually controlled. Additionally or alternatively, for example, when paving the first paving layer, the setting of the lateral tilt angle of the screed plate of the first road paver can be manually controlled.

[0013] When paving the second paving layer, the first road paver or the second road paver can be manually controlled based at least in part on the paving data. For example, when paving the second paving layer, setting suggestions can be displayed to an operator of the first road paver or the second road paver based on the paving data. The paving of the second paving layer can be simplified by the setting suggestions.

[0014] When paving the second paving layer, the first road paver or the second road paver can be controlled in an automatic manner based at least partially on the paving data.When paving the second paving layer, the operation of the first road paver or the second road paver can be simplified by at least partially automatic control.

[0015] The first road paver may include a first control device. The first control device may be configured to control one or more functions of the first road paver. The second road paver may include a second control device. The second control device may be configured to control one or more functions of the second road paver.

[0016] Paving data may be recorded when paving the first paving layer. The paving data may be recorded by the first road paver. The paving data may be recorded by the first control device. The paving data may be stored in a data storage device. The data storage device may be provided as part of the first road paver. The data storage device may be connected to the first road paver by means of data communication. For example, the data storage device may be configured as a cloud storage device. The data storage device may be configured as a portable data medium that can be connected to the first road paver. The portable data medium may be configured as, for example, a disk, or a CD, or a USB memory stick, or a hard disk, or an SSD, or a flash memory device. The data storage device may be part of an external electronic device, in particular a smart device. The external electronic device may include an operating system and a user interface. The external electronic device may be a handheld device. The external electronic device may include a display, in particular a touch screen. The external electronic device may be configured as, for example, a personal computer, or a laptop, or a tablet computer, or a smart phone. The external electronic device may be connected to the first road paver for data communication. The external electronic device may be connected to the first road paver via a wireless data connection and / or may be registered on the first road paver. An application for saving or loading paving data may be installed on an external electronic device. The application may be configured to edit the paving data.

[0017] When paving the second paving layer, the first control device can control the first road paver in an automatic manner at least in part based on the paving data. When paving the second paving layer, the second control device can control the second road paver in an automatic manner at least in part based on the paving data. If the second paving layer is paved by the second road paver, the paving data can be transmitted to the second road paver before paving the second paving layer, or the second control device can retrieve the paving data from a storage device (especially cloud storage) arranged outside the second road paver. The second road paver retrieval of the paving data can include transmitting (especially copying) the paving data to the second road paver, or the second road paver accesses the paving data. For example, the second road paver, especially the second control device, can copy the paving data from the cloud storage. The paving data can be processed in particular in the cloud and then retrieved from the cloud by the second road paver. In particular, the paving data can be transmitted to the second road paver from the data storage device, or the second control device can retrieve the paving data from the data storage device, which data storage device can be particularly configured as cloud storage. After the first paving layer has been completely paved, the second road paver can retrieve the paving data. When the second paving layer is being paved, the second road paver can already retrieve the paving data. In particular, the second road paver can retrieve the paving data continuously, periodically, or at least multiple times while paving the first paving layer.

[0018] The second road paver or at least functions of the second road paver can be remotely controlled via the cloud based on the paving data.

[0019] The fact that the paving data allow specific information to be determined, such as the course trajectory of the outer edge of the screed of the first road paver during paving of the first paving layer, can include that the corresponding information is directly contained in the paving data.

[0020] The fact that the paving data allow specific information to be determined, such as the course path travelled by the outer edge of the screed of the first road paver during paving of the first paving layer, may include the fact that the corresponding information can be determined solely from the paving data.

[0021] The fact that the paving data allow for the determination of specific information, such as the progress path of the outer edge of the screed of the first road paver during paving of the first paving layer, can include the fact that the corresponding information can be determined from the paving data while taking into account one or more known additional information. The known additional information can include, for example, machine data of the first road paver, in particular the dimensions of the first road paver.

[0022] The paving data may allow for determining a progress trajectory of a left screed outer edge of a first road paver during paving of a first paving layer. Alternatively or additionally, the paving data may allow for determining a progress trajectory of a right screed outer edge of a first road paver during paving of the first paving layer. The progress trajectory of each screed outer edge may be represented in a fixed coordinate system.

[0023] During paving the first layer, the course of the outer edge of the screed may correspond at least substantially to the course of the lateral boundaries of the first layer being paved. Using the course of the outer edge of the screed during paving the first layer may simplify paving the second layer in the correct position and with the correct width.

[0024] The paving data may allow determination of a progress trajectory traveled by a reference point at rest relative to the chassis of the first road paver during paving of the first paving layer. The reference point may be, for example, a theoretical turning point of the first road paver. The progress trajectory traveled by the reference point may represent the travel path of the first road paver when paving the first paving layer.

[0025] The process trajectory, in particular the process trajectory of the outer edge of the screed or the process trajectory of a reference point relative to the chassis of the first road paver, can be a process trajectory formed by a plurality of discrete points or a continuous process trajectory. The process trajectory can include, for example, at least one data point per meter of the first paving layer laid.

[0026] The paving data may allow determination of the progression of the orientation of the first road paver traveling during paving of the first paving layer. For example, the orientation of the first road paver may be specified as an angle between the current paving direction of travel of the road paver and a particular direction, such as a north-south direction. The progression of the orientation of the first road paver may be a position-dependent heading. The paving data may, for example, specify a value for each data point of the position of a reference point at rest relative to the chassis of the first road paver, which value defines the corresponding orientation of the first road paver. For example, at least one data point per meter of the paved first paving layer may be recorded with respect to the orientation of the first road paver.

[0027] The paving data may allow for determining the progression of a lateral inclination angle of a screed plate of a first road paver travelling during paving of a first paving layer. The lateral inclination of the screed plate may be an inclination along a transverse direction, which is transverse to the paving travel direction. The lateral inclination angle may be an angle relative to a horizontal plane. For example, an area of ​​the screed plate located to the left with respect to the paving travel direction may be arranged higher or lower than an area of ​​the screed plate located to the right with respect to the paving travel direction. The lateral inclination of the screed plate may be used for paving inclined road surfaces, such as inclined road surfaces in a bend. For example, at least one data point per meter of the paved first paving layer may be recorded regarding the lateral inclination angle.

[0028] Recording paving data may include determining and / or recording the positions of at least two position measurement points in a fixed coordinate system. The at least two position measurement points may be two position measurement points or more than two position measurement points. The at least two position measurement points may be arranged in a fixed manner on the chassis of the first road paver. The at least two position measurement points may be arranged in a fixed manner at known positions on the chassis of the first road paver. The positions of the at least two position measurement points may be determined and / or recorded in pairs. The positions of the at least two position measurement points may be periodically determined and / or recorded when paving the first paving layer.

[0029] In particular, when taking into account known geometrical conditions of the first road paver, it is possible to determine from a data pair recorded at a specific time and comprising the positions of two position measurement points at a specific time, in which position a reference point at rest relative to the chassis of the first road paver is located at a specific time, in particular a theoretical turning point of the first road paver. Based on the data pair, the orientation of the first road paver at a specific time can be additionally or alternatively determined, in particular taking into account known geometrical conditions of the first road paver.

[0030] Recording the paving data may comprise determining the position of the left screed outer edge of the first road paver and / or the position of the right screed outer edge of the first road paver. The position of the respective screed outer edge may be the position of a point on the screed outer edge, in particular the position of the rear end or rear end point of the screed outer edge. The position of the respective screed outer edge may be determined directly, for example, by a position sensor (e.g. a GPS sensor) arranged on the screed outer edge. The position of the respective screed outer edge may be determined based on the extended position of an extension member of the screed of the first road paver arranged on the respective side. The extended position of the respective extension member may be determined based on an associated extended position sensor (e.g. a distance sensor attached to the screed) or based on a set value for the respective screed extension position present in the first control device. Based on the extended position, in particular in combination with the position of two position measurement points arranged in a fixed manner on the chassis of the first road paver, the position of the respective screed outer edge of the first road paver may be determined.

[0031] The second paving layer can be paved with the first road paver, that is, with the same road paver that has paved the first paving layer. Alternatively, the second paving layer can be paved with a second road paver. The second road paver can be a road paver different from the first road paver. If the second paving layer is paved with a second road paver, the paving data can be transmitted to the second road paver with or without prior processing. The paving data can be transmitted to the second road paver directly or indirectly, for example via a storage medium or a data connection. The paving data can be transmitted to the second road paver, for example wirelessly.

[0032] After the paving of the first paving layer is completed, the second paving layer can be paved. After the first road paver completes the paving operation of the first paving layer, the second paving layer is paved.

[0033] If a second road paver is used to pave the second paving layer, the second paving layer can optionally be at least partially paved while paving the first paving layer. The second road paver can travel behind the first paver (i.e., the first paver that is paving the first paving layer) and pave the second paving layer. During the joint paving operation, the spacing between the first road paver and the second road paver along the paving travel direction can be, for example, less than 100m, or less than 50m, or less than 25m, or less than 15m, or less than 10m. The second road paver can continuously or periodically receive paving data, in particular, directly or indirectly receive paving data from the first road paver traveling in front of the second road paver when paving the second paving layer. The second road paver can process paving data while paving the second paving layer.

[0034] The first road paver may include a tractor and a screed attached to the tractor. The tractor may include a chassis. The screed may be configured as a screed for floating paving of a road surface. In the front paving direction, the first road paver may include a material hopper for receiving paving material. When paving a paving layer, the paving material may be transported backward from the material hopper in a direction opposite to the paving travel direction and deposited in front of the screed. The screed may level and compact the paving material.

[0035] The screed plate of the first road paver may include a bottom screed plate and extension members arranged on both sides of the bottom screed plate, in particular an extension member on the left side as viewed in the paving travel direction and an extension member on the right side as viewed in the paving travel direction. The extension members can be extended and retracted laterally in a transverse direction perpendicular to the paving travel direction to change the paving width. The extension position of the extension members can be changed using an actuator arranged on the screed plate. The extension position of the extension members can be adjusted at least substantially steplessly. Each extension member can soften a stop plate defining an outer edge of the screed plate on each side.

[0036] The second road paver may include a tractor and a screed attached to the tractor. The tractor may include a chassis. The screed may be configured as a screed for floating paving of a road surface. In the front paving travel direction, the second road paver may include a material hopper for receiving paving material. When paving a paving layer, the paving material may be transported backward from the material hopper in a direction opposite to the paving travel direction and deposited in front of the screed. The screed may level and compact the paving material.

[0037] The screed plate of the second road paver may include a bottom screed plate and extension members arranged on both sides of the bottom screed plate, in particular, an extension member on the left side as viewed in the paving travel direction and an extension member on the right side as viewed in the paving travel direction. The extension members may be extended and retracted laterally in a transverse direction perpendicular to the paving travel direction to change the paving width. The extension position of the extension members may be changed using an actuator arranged on the screed plate. The extension position of the extension members may be at least substantially steplessly adjusted. Each extension member may include a stop plate defining an outer edge of the screed plate on each side.

[0038] When paving the second paving layer, the steering of the first road paver or the second road paver can be controlled based on the paving data, especially in an automated manner. When paving the second paving layer, the steering of the first road paver or the second road paver can be controlled based on one or more of the following: the progress trajectory of the outer edge of the screed plate of the first road paver when paving the first paving layer; the progress trajectory of the outer edge of the left screed plate of the first road paver when paving the first paving layer; the progress trajectory of the outer edge of the right screed plate of the first road paver when paving the first paving layer; the progress trajectory of the reference point relative to the chassis of the first road paver when paving the first paving layer; the progress trajectory of the theoretical turning point of the first road paver when paving the first paving layer; the orientation of the first road paver when paving the first paving layer.

[0039] Based on the paving data, steering of the first road paver or the second road paver when paving the second paving layer can be controlled so that the second road paver at least substantially follows the trajectory traveled by the first road paver during paving the first paving layer.

[0040] When paving the second paving layer, the first road paver or the second road paver can be controlled based on the paving data so that it paves the second paving layer in the same direction as the first road paver paves the first paving layer. When paving the second paving layer, the first road paver or the second road paver can be controlled based on the paving data so that it paves the second paving layer in a paving travel direction opposite to the paving travel direction of the first road paver paving the first paving layer. The advantage of paving in the opposite direction is that the road paver does not have to return to the starting point to pave the second paving layer. The operator can select the paving travel direction for paving the second paving layer (corresponding to or opposite to the paving travel direction for paving the first paving layer). The operator can select the paving travel direction through operator input. The paving travel direction can be determined in an automatic manner based on the positioning and / or orientation of the road paver that is paving the second paving layer before starting to pave the second paving layer, in particular, the paving travel direction is determined by the control device of the road paver paving the second paving layer.

[0041] Based on the paving data, the first road paver can be controlled to move back on the paved first paving layer to the starting point of the paving process of the first paving layer, in particular in an automated manner.

[0042] When paving the second paving layer, the screed width setting of the first road paver or the second road paver can be controlled based on the paving data, in particular in an automated manner. The screed width setting can include an extension position of a left extension member of the screed of the first road paver or the second road paver and / or an extension position of a right extension member of the screed of the first road paver or the second road paver. When paving the second paving layer, the first road paver or the second road paver can be controlled based on the paving data so that the outer edge of the screed of the first road paver or the second road paver at least substantially follows the course of the outer edge of the screed of the first road paver when paving the first paving layer. When paving the second paving layer, the first road paver or the second road paver can be controlled based on the paving data so that the outer edge of the screed of the first road paver or the second road paver runs within boundaries, which boundaries are offset inwards relative to each other compared to the course of the outer edge of the screed of the first road paver when paving the first paving layer. The second paving layer can be paved at least slightly narrower than the first paving layer. By paving the second paving layer narrower, it can be ensured that the second paving layer is fully supported by the first paving layer.

[0043] The trajectory of the outer edge of the screed plate of the second road paver may be the trajectory of a point on the outer edge of the screed plate, or may be the trajectory of a point at the outer edge of the screed plate. Preferably, the trajectory of the outer edge of the screed plate of the second road paver is the trajectory of the rear end or rear end point of the outer edge of the screed plate. The direction of the rear end or rear end point of the outer edge of the screed plate may represent the direction of the lateral outer boundary of the second paving layer.

[0044] When paving the second paving layer, a lateral inclination setting of the screed plate of the first road paver or the second road paver can be controlled based on the paving data, in particular in an automatic manner. When paving the second paving layer, a lateral inclination setting of the screed plate of the first road paver or the second road paver can be controlled based on the paving data, in particular in an automatic manner, so that the position-dependent course of the lateral inclination setting corresponds to the position-dependent course of the inclination setting during paving of the first paving layer.

[0045] From the recorded paving data, at least one progress trajectory of the outer edge of the screed plate of the first road paver during paving of the first paving layer can be determined and used as a target trajectory of the outer edge of the screed plate of the first road paver with or without pre-processing, or as a target trajectory of the outer edge of the screed plate of the second road paver when paving the second paving layer. The pre-processing can include smoothing and / or moving the determined progress trajectory of the outer edge of the screed plate of the first road paver.

[0046] Based on the recorded paving data, in particular, a progress trajectory of the left screed edge of the first road paver during paving of the first paving layer can be determined and, with or without prior processing, used as a target trajectory of the screed outer edge of the first road paver or the second road paver when paving the second paving layer. Based on the recorded paving data, in particular, a progress trajectory of the right screed outer edge of the first road paver during paving of the first paving layer can be determined and, with or without prior processing, used as a target trajectory of the screed outer edge of the first road paver or the second road paver when paving the second paving layer.

[0047] For example, the processing may include moving the progress track of the outer edge of the screed or moving the progress tracks of the outer edges of the two screeds to a corresponding other progress track. In this way, the paving width of the second paving layer can be reduced, which can especially ensure that the second paving layer is fully supported by the first paving layer.

[0048] From the recorded paving data, a progress trajectory of a reference point at rest relative to the chassis of the first road paver, in particular a progress trajectory of a theoretical turning point of the first road paver, can be determined when paving the first paving layer and used as a target trajectory of a reference point at rest relative to the chassis of the first road paver or the second road paver when paving the second paving layer, with or without prior processing. The prior processing may include leveling and / or moving the determined progress trajectory.

[0049] Moving the process trajectory, in particular the process trajectory of the outer edge of the screed plate or the process trajectory of a reference point stationary relative to the chassis of the first road paver, may comprise: moving the process trajectory as a whole (like a rigid object) by a specific vector. Alternatively, moving the process trajectory, in particular the process trajectory of the outer edge of the screed plate or the process trajectory of a reference point stationary relative to the chassis of the first road paver, may comprise: moving each point of the process trajectory orthogonally to the original curved profile, so that the radius also changes when the curved trajectory is moved.

[0050] Moving the course trajectory can include moving the entire course trajectory, or moving only a partial region or a plurality of partial regions of the course trajectory, or moving different regions of the course trajectory differently.

[0051] Data reduction, ie reduction of data points or supporting points of the process trajectory, can be performed before smoothing the process trajectory, in particular before smoothing the process trajectory of the outer edge of the screed or before smoothing the process trajectory of a reference point at rest relative to the chassis of the first road paver.

[0052] Based on the recorded paving data, the progress track of at least the outer edge of the screed plate of the first road paver during paving the first paving layer can be determined and displayed on the display. In particular, based on the recorded paving data, the progress track of the outer edge of the left screed plate of the first road paver during paving the first paving layer and the progress track of the outer edge of the right screed plate of the first road paver during paving the first paving layer can be determined and displayed on the display.

[0053] Based on the recorded paving data, the progress trajectory travelled relative to a reference point at rest of the chassis of the first road paver (in particular a theoretical turning point of the first road paver) during paving of the first paving layer can be determined and displayed on a display.

[0054] The progress track shown on the display can be shown together with a map or aerial photos.

[0055] The display may be present on or attached to the first road paver or the second road paver or the external equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The present invention will be further described below in conjunction with the accompanying drawings and based on embodiments.

[0057] Figure 1 A perspective view of a road paver according to one embodiment is shown.

[0058] Figure 2 A top view of a road paver according to this embodiment is shown.

[0059] Figure 3 A schematic diagram of a process trajectory recorded during paving of a first paving layer is shown.

[0060] Figure 4 A schematic diagram of a recorded progress trace displayed on a display after at least partial processing is shown.

[0061] Figure 5 A schematic diagram showing paving a second paving layer on a first paving layer is shown. DETAILED DESCRIPTION

[0062] Figure 1A schematic diagram of a road paver 1 according to an embodiment is shown. The road paver 1 comprises a tractor 3 and a screed 5 attached to the tractor 3. The screed 5 can be configured as a screed 5 for floating paving of a road surface. The road paver 1 comprises a control station 7 providing space for an operator. A control panel 9 is provided at the control station 7, via which the operator can control the functions of the road paver 1. A display 11 is additionally provided at the control station 7. The road paver 1 comprises a control device 13 for controlling the machine components of the road paver 1. The control device 13 is connected to the control panel 9 for data communication.

[0063] In the paving direction 15 in the front, the road paver 1 comprises a material hopper 17 for receiving paving material. When paving a layer of road surface, the paving material is conveyed backwards from the material hopper 17 below the control station 7 in the direction opposite to the paving direction 15 and deposited in front of the screed layer 5. The screed plate 5 levels and compacts the paving material. For this purpose, the screed plate 5 may comprise, for example, a leveling plate and a compacting device. The compacting device may comprise, for example, a vibrating element or a tamping element.

[0064] Figure 2 A schematic top view of a road paver 1 is shown. Two position measurement points 19 are provided on the road paver 1, in particular at the tractor 3. The position measurement points 19 are arranged in a fixed manner at the chassis of the road paver 1. Each position measurement point 19 allows the absolute position of the position measurement point 19 to be determined in a fixed coordinate system. For example, each position measurement point 19 can include a GNSS receiver, such as a GPS receiver. The position of the road paver 1 can be determined based on measurement data indicating the position of the position measurement point 19. For example, the position of a reference point 21 that is stationary relative to the road paver 1, in particular relative to the chassis of the road paver 1, can be determined. The stationary reference point 21 can be, for example, a theoretical turning point of the road paver 1 or any other point of the road paver 1. Taking into account the known relative position between the position measurement point 19 and the reference point 21, the position of the reference point 21 can be determined.

[0065] Since the positions of the position measurement points 19 relative to each other and to the position of the road paver 1, in particular relative to the chassis of the road paver 1, are known, the orientation of the road paver 1 in space can also be determined based on the determined positions of the position measurement points 19. The orientation of the road paver 1 can be specified, for example, in the form of an angle which, in a top view of the road paver 1, lies between the current paving travel direction 15 and a certain cardinal direction, for example the north-south direction.

[0066] The screed plate 5 of the road paver 1 comprises a bottom screed plate 23 and extension members arranged on both sides of the bottom screed plate 23, in particular an extension member 25 on the left side as seen in the paving direction 15 and an extension member 27 on the right side as seen in the paving direction 15. The extension members 25, 27 can be extended and retracted laterally along a transverse direction 29 perpendicular to the paving direction 15 to change the paving width. The extension position of the extension members 25, 27 can be changed by an actuator arranged on the screed plate 5. The extension position of the extension members 25, 27 can be adjusted at least substantially continuously.

[0067] The lateral inclination angle of the screed plate 5 can be changed by one or more further actuators. The lateral inclination angle of the screed plate 5 denotes the angle at which the screed plate 5 is inclined relative to the horizontal plane in the transverse direction 29 when the road paver 1 is located on a horizontal surface. By changing the lateral inclination angle of the screed plate 5, a paving layer with a lateral inclination can be paved.

[0068] In the embodiment shown, the screed position measurement points 35 are arranged at the rear end of the screed outer edge 31. Each screed position measurement point 35 may comprise, for example, a GNSS receiver, in particular a GPS receiver, which allows direct measurement of the absolute position of the respective screed position measurement point 35. Alternatively, the position of the rear end of the screed outer edge 31, 33 may be determined, for example, by associating the current extended position of the respective extension member 25, 27 of the screed 5 with the determined position of the position measurement point 19 or a value derived therefrom. The current value of the extended position of the extension member 25, 27 of the screed 5 may be determined, for example, from a set value of the extended position, or using a screed width sensor.

[0069] The present invention relates to paving a multi-layer road surface. First, a first paving layer is paved along a road. Later, a second paving layer is paved on the first paving layer along the road. The second paving layer can be paved directly on the first paving layer, or there can be one or more intermediate layers between the first paving layer and the second paving layer.

[0070] The first paving layer is paved using a first road paver 1, which may have Figure 1 and Figure 2 The second paving layer may be paved using the same road paver 1 (i.e. similar to the first road paver 1). Alternatively, a different road paver 1 (in particular a second road paver 1) may be used to pave the second paving layer. The second road paver 1 may also have Figure 1 and Figure 2 Configuration shown.

[0071] When paving the first paving layer, the road paver 1 is at least partially manually controlled. For example, when paving the first paving layer, the steering of the road paver 1, the screed width control of the road paver 1, and the lateral tilt adjustment of the screed 5 of the road paver 1 can be manually controlled. The screed width control can include setting the extension position of the left extension member 25 of the screed 5 and setting the extension position of the right extension member 27 of the screed 5.

[0072] When paving the first paving layer, the control device 13 of the road paver 1 records paving data. The paving data include a progress trajectory 41 traveled by a reference point 21 of the road paver 1 or allow determining a progress trajectory 41 traveled by a reference point 21 of the road paver 1. The paving data include a progress trajectory 43 traveled by the left screed outer edge 31 of the road paver 1 during paving the first paving layer or allow determining a progress trajectory 43 traveled by the left screed outer edge 31 of the road paver 1 during paving the first paving layer. The paving data include a progress trajectory 45 traveled by the right screed outer edge 33 of the road paver 1 during paving the first paving layer or allow determining a progress trajectory 45 traveled by the right screed outer edge 31 of the road paver 1 during paving the first paving layer.

[0073] Figure 3 The process trajectories 41, 43, 45 are shown in a schematic top view. Figure 3 As shown by the process trajectories 41 , 43 , 45 shown by the dashed lines, the process trajectories 41 , 43 , 45 can be recorded and / or defined by recording discrete measurement points.

[0074] The progress trajectory 41 of the reference point 21 can be determined based on the position determination of the position measurement point 19. The progress trajectory 43, 45 of the screed outer edges 31, 33 can be determined based on the position determination of the screed position measurement point 35.

[0075] When paving the first paving layer, the process trajectory 41, 43, 45 can be determined by the control device 13 and saved as the process trajectory 41, 43, 45. When paving the first paving layer, it is optionally possible to store, in particular by the control device 13, only data that allow the later determination of the process trajectory 41, 43, 45. This data can include the position determination of the position measurement point 19 and the position determination of the screed position measurement point 35.

[0076] The progress traces 41 , 43 , 45 can be displayed on the display 11 . Figure 4A schematic diagram of the display 11 is shown during display of a progress track 41, 43, 45. The progress track 41, 43, 45 can be displayed on the display 11 against a map or against an aerial photo, so that the progress track 41, 43, 45 can be linked to the actual surroundings. The current position of the road paver 1 can be displayed together with the progress track 41, 43, 45.

[0077] The progress trajectory 41, 43, 45 recorded when paving the first paving layer or the paving data recorded when paving the first paving layer (which allow the progress trajectory 41, 43, 45 to be determined) are used to control the road paver 1 when paving the second paving layer. In particular, when paving the second paving layer, the road paver 1 is controlled in an automatic manner at least partly based on the recorded paving data.

[0078] Figure 5 The road paver 1 is shown when paving a second paving layer, wherein also process trajectories 41, 43, 45 are shown. The steering of the road paver 1 for paving the second paving layer is controlled based on the paving data, so that the reference point 21 of the road paver 1 moves along the process trajectory 41. When paving the second paving layer, the extended position of the extension members 25, 27 of the screed plate 5 of the road paver 1 is controlled, so that the screed plate position measurement point 35 follows the process trajectories 43, 45.

[0079] When paving the second paving layer, the steering of the road paver 1 and / or the extended position of the extension members 25, 27 can be manually controlled based on the paving data. For this purpose, a representation of the progress trajectory 41, 43, 45 and a model of the road paver 1 can be displayed to the operator on the display 11. Based on this display, the operator can control the road paver 1 to pave the second paving layer based on the paving data. In an at least partially automatic embodiment, at least the control of the steering of the road paver 1 and / or the control of the extended position of the extension members 27, 29 of the screed 5 of the road paver 1 is performed by the control device 13 of the road paver 1 in an automatic manner based on the paving data.

[0080] Before the paving data or the process trajectory 41, 43, 45 defined by the paving data are used to control the road paver 1 when paving the second paving layer, the paving data or the process trajectory 41, 43, 45 may be processed. Such processing may include leveling the process trajectory 41, 43, 45. Additionally or alternatively, the processing may include moving one or more process trajectories 41, 43, 45. The processing may be performed directly on the road paver 1, in particular by means of the control device 13 of the road paver 1. The paving data or the process trajectory 41, 43, 45 may be processed based on user input. For example, the user may define the leveling algorithm to be used and / or define the desired movement of one or more process trajectories 41, 43, 45.

[0081] Further data can be recorded when paving the first paving layer, in particular when paving the second paving layer, which data can be used for the automatic control of the road paver 1. For example, when paving the first paving layer, the position-related course of the lateral inclination setting of the screed 5 of the road paver 1 can be recorded. In particular, the relevant value of the lateral inclination setting can be recorded for each measuring point of the progress trajectory 41 of the reference point 21. When paving the second paving layer, the control device 13 can control the lateral inclination setting of the road paver 1 based on the paving data according to the course of the lateral inclination setting when paving the first paving layer.

Claims

1. A method for paving a multi-layer road surface, comprising: Using a first road paver (1) to pave a first paving layer along a road; as well as Using the first road paver (1) or using a second road paver to pave a second paving layer on the first paving layer; wherein, when paving the first paving layer, paving data are recorded, the paving data allowing determination of at least one first progress trajectory (43, 45) travelled by an outer edge of a screed plate of the first road paver (1) during paving of the first paving layer; and The paving data is used to control the first road paver (1) or the second road paver when paving the second paving layer.

2. The method according to claim 1, characterized in that When paving the second paving layer, the first road paver (1) or the second road paver is controlled at least partially in an automatic manner based on the paving data.

3. The method according to claim 1, characterized in that The paving data allow determination of a progress trajectory of a left screed outer edge (31) of the first road paver (1) during paving of the first paving layer and a progress trajectory of a right screed outer edge (33) of the first road paver (1) during paving of the first paving layer.

4. The method according to claim 2, characterized in that: The paving data allow determination of a progress trajectory of a left screed outer edge (31) of the first road paver (1) during paving of the first paving layer and a progress trajectory of a right screed outer edge (33) of the first road paver (1) during paving of the first paving layer.

5. The method according to claim 1, characterized in that The paving data allow a second progress trajectory (41) to be travelled during paving of the first paving layer to be determined via a reference point (21) which is stationary relative to the chassis of the first road paver (1).

6. The method according to claim 2, characterized in that The paving data allow a second progress trajectory (41) to be travelled during paving of the first paving layer to be determined via a reference point (21) which is stationary relative to the chassis of the first road paver (1).

7. The method according to claim 5 or 6, characterized in that: The reference point (21) is a theoretical turning point of the first road paver (1).

8. The method according to any one of claims 1 to 6, characterized in that The paving data allow the determination of the course of changes in the orientation of the first road paver (1) during paving of the first paving layer.

9. The method according to any one of claims 1 to 6, characterized in that The paving data allow the determination of the course of a change in the lateral inclination angle of the screed plate (5) of the first road paver (1) during paving of the first paving layer.

10. The method according to any one of claims 1 to 6, characterized in that Recording the paving data comprises determining the positions of at least two position measurement points (19) in a fixed coordinate system, wherein the two position measurement points (19) are arranged in a fixed manner on the chassis of the first road paver (1).

11. The method according to any one of claims 1 to 6, characterized in that When paving the second paving layer, the steering of the first road paver (1) or the second road paver is controlled based on the paving data.

12. The method according to claim 11, characterized in that The steering of the first road paver (1) or the second road paver is controlled in an automatic manner.

13. The method according to any one of claims 1 to 6, characterized in that When paving the second paving layer, a width setting of a screed plate of the first road paver (1) or the second road paver is controlled based on the paving data.

14. The method according to claim 13, characterized in that The invention relates to controlling the width setting of the screed plate of the first road paver (1) or the second road paver in an automatic manner.

15. The method according to any one of claims 1 to 6, characterized in that When paving the second paving layer, the lateral inclination setting of the screed plate (5) of the first road paver (1) or the second road paver is controlled based on the paving data.

16. The method according to claim 15, characterized in that The lateral inclination setting of the screed plate (5) of the first road paver (1) or the second road paver is controlled in an automatic manner.

17. The method according to any one of claims 1 to 6, characterized in that At least one first progress trajectory (43, 45) of the outer edge of the screed plate of the first road paver (1) during paving of the first paving layer is determined based on the recorded paving data, and the at least one first progress trajectory (43, 45) is used as a target trajectory of the outer edge of the screed plate of the first road paver (1) or the second road paver when paving the second paving layer, with or without prior processing.

18. The method according to any one of claims 1 to 6, characterized in that A second process trajectory (41) travelled relative to a reference point (21) at rest of the chassis of the first road paver (1) during paving of the first paving layer is determined based on the recorded paving data, and the second process trajectory (41) is used as a target trajectory relative to a reference point (21) at rest of the chassis of the first road paver (1) or the second road paver when paving the second paving layer, with or without prior processing.

19. The method according to claim 18, characterized in that The reference point (21) is a theoretical turning point of the first road paver (1).

20. The method according to claim 17, characterized in that Previous processing includes smoothing and / or shifting the determined progress trajectory.

21. The method according to claim 18, characterized in that Previous processing includes smoothing and / or shifting the determined progress trajectory.

22. The method according to any one of claims 1 to 6, characterized in that At least one first progress trajectory (43, 45) travelled by the outer edge of the screed plate of the first road paver (1) during paving of the first paving layer is determined based on the recorded paving data, and the at least one first progress trajectory (43, 45) is displayed on a display (11).

23. The method according to any one of claims 1 to 6, characterized in that A second process trajectory (41) travelled relative to a reference point (21) at rest of the chassis of the first road paver (1) during paving of the first paving layer is determined based on the recorded paving data, and the second process trajectory (41) is displayed on a display (11).

24. The method according to claim 23, characterized in that The reference point (21) is a theoretical turning point of the first road paver (1).

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