SYSTEMS AND METHODS FOR ADJUSTING THE ROOF PROFILE TO CORRECT ROAD SURFACE ANOMALIES

Abstract

A road paver comprises a machine frame, a screed system, a pavement strip formation sensor, and a control unit. The screed system is connected to the frame and includes a pavement crown profile system. The pavement strip formation sensor is connected to the road paver and is designed to detect anomalies in the asphalt pavement laid by the screed system. The control unit communicates with the pavement strip formation sensor and the pavement crown profile system and is designed to control the pavement crown profile system to adjust the crown profile of the asphalt pavement in response to the detection of one or more anomalies in the asphalt pavement by the pavement strip formation sensor.

Description

Technical area

[0001] This disclosure relates generally, but not limited to, work machines for constructing, repairing, maintaining, stabilizing, or raising roads or similar surfaces. State of the art

[0002] When laying a new asphalt road with a paver, numerous anomalies and / or defects can occur in the pavement without a properly set-up machine. An important characteristic of asphalt pavement quality is the cross-layer texture / composition. The finished pavement should have a uniform / consistent cross-layer texture that shows no irregularities in the finished pavement texture / composition. One such irregularity is segregation, which occurs when larger / coarse aggregates separate from smaller aggregates and become visible in the asphalt pavement laid behind the paver.

[0003] One indication of poor cross-pavement texture is banding. Segregation or other irregularities in the pavement texture can result in visible banding in the finished asphalt pavement. Banding is due to a difference in texture / composition across the pavement, including, for example, sections that have a reflective (glossy) dense texture / composition and adjacent sections that have a dull / less reflective and more open texture / composition. These banding can be located in various locations behind the screed, for example, aligned with the centerline of the paver's screed system or aligned with the screed's outboard bearing supports. These banding is highly visible and can lead to long-term quality issues in the finished pavement.The open texture areas can allow for increased water penetration, leading to premature pavement wear, such as potholes. Additionally, a consistent pavement texture is important for the paver operator for several reasons, including the bonus payment tied to pavement quality.

[0004] U.S. Patent No. 11,127,135, entitled "SYSTEM AND METHOD FOR CORRECTING PAVING DEFECTS," describes a method that includes receiving sensor data indicative of a pavement surface and identifying a defect associated with the pavement surface based at least in part on the sensor data. The method also includes determining that the defect is a defect type based on determining that a value associated with the defect is within a range of values ​​associated with the defect type. The method further includes generating an instruction associated with the defect that, when executed by a machine, at least partially corrects the defect. Brief description

[0005] As mentioned, asphalt pavement banding can occur in various locations behind the paver's screed, including aligned with the centerline of the paver's screed system or aligned with the screed's outboard bearing supports. At any location where banding occurs, adjustments to the paver's configuration / setup and / or the machine's screed system can correct the banding in the pavement.

[0006] The present inventor(s) have, among other things, discovered systems and methods for automatically detecting and correcting anomalies in an asphalt pavement, including streaking. For example, exemplary systems and methods according to this disclosure can be used to detect and correct centerline streaking (asphalt streaking that occurs at or near the front-to-rear centerline of the paver and screed system). Centerline streaking can occur when asphalt aggregate being fed to the screed system backs up behind the auger drive box in front of the screed. At this location, the larger aggregates tend to become lodged in the backed-up material and are not conveyed under the screed.Only the small aggregates are fed under this central area of ​​the screed, resulting in this visible centerline stripe that has a different texture than the rest of the pavement.

[0007] In one example, a paving machine includes a machine frame, a screed system, a pavement banding sensor, and a controller. The screed system is connected to the frame and includes a pavement crown system. The pavement banding sensor is connected to the paving machine and configured to detect anomalies in an asphalt pavement laid by the screed system. The controller is communicatively connected to the pavement banding sensor and the pavement crown system and configured to control the pavement crown system to adjust a crown profile of the asphalt pavement in response to the pavement banding sensor detecting one or more anomalies in the asphalt pavement.

[0008] These and other examples and features of the present devices, systems, and methods are set forth in part in the following detailed description. This overview is intended to provide a summary of the subject matter of the present patent application. It is not intended to provide an exclusive or exhaustive explanation of the invention. The detailed description is intended to provide further information about the present patent application. Short description of the drawings

[0009] In the drawings, which are not necessarily drawn to scale, like numbers may describe similar components in different views. Like numbers with different letter suffixes may represent different instances of similar components. The drawings illustrate various embodiments discussed in this document generally and by way of example, but not by way of limitation. Fig. Figure 1 is a top view schematically illustrating an exemplary system including a paver and a material transfer machine. Fig. Figure 2 is a plan view of an asphalt pavement with centerline banding. Fig. 3A-3C are top views schematically illustrating a screed system in various configurations. Fig. 4A and Fig. 4B schematically show parts of an adjustable screed system. Fig. 5 is a flowchart illustrating an exemplary method for adjusting the crown profile of an asphalt pavement to correct anomalies in the pavement. Detailed description

[0010] Fig. 1 is a perspective view illustrating, for example, a paver 100 used, for example, to apply asphalt, concrete, or other materials to a work surface associated with a construction site. The paver 100 includes a tractor 102, a frame 104, ground-engaging elements 106, a hopper 108, a conveyor 110, an auger assembly 112, drag arms 114, a screed system 116, and an operator station 118. The paver 100 also includes one or more controllers 120 integrated with or communicatively coupled to the machine, as well as one or more pavement banding sensors 130.

[0011] The banding sensor(s) 130 of the paver 100 are connected to the machine (e.g., to the frame 104 and / or the operator station 118) and are configured to detect anomalies in the asphalt pavement 124 being laid by the screed system 116. The controller 120 is communicatively connected to the pavement banding sensor(s) 130 and a pavement crown system of the screed system 116. The controller(s) 120 are configured to control the pavement crown system to adjust a crown profile of the asphalt pavement 124 in response to the pavement banding sensor(s) 130 detecting one or more anomalies in the asphalt pavement. For example, the controller(s) 120 may control the pavement crown profile system to incrementally increase the crown profile of the asphalt pavement 124 up to a threshold crown profile or until such adjustment corrects the anomalies in the pavement.

[0012] The tractor 102 of the paver 100 is supported by and conveyed over ground-engaging elements 106. The tractor 102 includes the frame 104 and a power source for driving the ground-engaging elements 106. Although the ground-engaging elements 106 are illustrated as continuous tracks, other example work machines according to this disclosure may include other types of ground-engaging elements, such as wheels. The paver 100 and other work machines according to this disclosure may include various types of power sources, including, for example, an internal combustion engine powered by fossil or hybrid fuels, or an electric drive powered by alternative energy sources.

[0013] The paving machine 100 includes a hopper 108 for storing paving material 122, e.g., asphalt aggregate material used by the paving machine to create an asphalt pavement 124. The paving machine 100 also includes the conveyor 110 for conveying the paving material 122 from the hopper 108 to other downstream components of the paving machine 100. For example, the paving machine 100 includes the auger assembly 112, which receives the paving material 122 supplied via the conveyor system 110 and distributes the paving material 122 onto the pavement surface 126.

[0014] The auger assembly 114 may include another auger. In examples, the auger assembly 114 includes a single main auger that extends laterally across a majority of the width of the paver 100. In other examples, the auger assembly 114 includes a pair of augers on either side of a front-to-rear centerline of the paver 100. In one example, the two side-by-side augers are driven together and operatively connected via an auger bearing or other coupling. In another example, the two side-by-side augers are driven independently, and the auger assembly 114 includes a gearbox located on or near the centerline of the paver 100 forward of the screed system 116.

[0015] In examples where the auger assembly 114 includes two independently driven, side-by-side augers and a central gearbox, the paver 100 may tend to lay the pavement 124 with centerline banding. Centerline banding may occur when asphalt fed to the screed system 116 accumulates in front of the gearbox or other drive mechanism that drives the side-by-side augers. At this location, in front of the gearbox, larger aggregates tend to become trapped in the accumulation zone and are therefore not fed into the screed system 116. As a result, only relatively small aggregates are fed beneath the central region of the screed system 116, resulting in a visible centerline banding that has a different texture / composition than the rest of the pavement 124.

[0016] The paver 100 includes the trailing arm 114, which couples a height-adjustable screed system 116 to the tractor section 102. The screed system 116 is designed to distribute and compact paving material 122 into an asphalt pavement 124 on a pavement surface 126. The trailing arm 116 can be actuated by a hydraulic actuator, an electric actuator, and / or other types of actuators.

[0017] The paver 100 also includes an operator station 118 connected to the tractor 102. The operator station 118 includes the console 128 as well as controls and other components for operating the paver 100. The console 128 may include, for example, a control interface for controlling various functions of the paver 100. The control interface may include analog and / or digital inputs / outputs as well as user controls and interfaces, including, for example, a touchscreen display. Additionally, the control interface may be communicatively coupled to the controller(s) 120 and configured to receive operator commands that, when executed by the controller(s), correct streaking detected in the pavement 124.The control interface may also support other functions, including, for example, sharing various operating data with one or more other machines (not shown) operating in concert with the paver 100. Pavement banding sensors 130 are connected to the roof of the operator station 118 and positioned to detect anomalies in the asphalt pavement 124. The example banding sensors 130 are shown schematically for illustrative purposes only and may be positioned at additional and / or different locations on the paver 100 in other examples consistent with this disclosure.

[0018] Asphalt pavement banding can be detected in several ways and can be indicated by various characteristics of the asphalt pavement 124. For example, banding can be indicated by temperature differences, differences in reflectivity (areas of a properly processed asphalt pavement exhibit higher reflectivity than areas containing a band), and / or differences in density. Fig. Figure 2 is a plan view illustrating a portion of the asphalt pavement 124 including the centerline stripe 200. In this schematic illustration, the stripe 200 is indicated by a lighter shade and a less dense area of ​​material compared to the other portions of the pavement 124.

[0019] With further reference to Fig. 1, pavement banding sensors 130 may include a variety of different sensor types designed to detect anomalies in the asphalt pavement 124. As shown in Fig. 1, streaking sensors 130 may include, for example, a camera or other image detecting / generating device positioned to capture an image of asphalt pavement 124 and communicate data representing that image to controller 120. In examples, the camera is a digital camera configured to record and / or transmit digital images and / or videos of pavement 124 to controller(s) 120. Additionally, the camera may include an infrared sensor, a thermal imaging camera, or a similar device configured to record and / or transmit thermal images of pavement 124. In examples, the camera provides image data to the controller(s), which uses the image data to identify streaking in pavement 124.

[0020] For example, the pavement banding sensors 130 may also include one or more infrared or thermal sensors configured to detect temperature variations across the pavement 124, which may indicate pavement banding. The pavement banding sensors 130 may also include one or more density sensors configured to detect variations in the density of the pavement 124, which may indicate pavement banding. The pavement banding sensors 130 may include photoelectric sensors configured to detect variations in the reflectivity of the pavement 124, which may indicate pavement banding.

[0021] As mentioned, the controller(s) 120 may be included in the paver 102 or separate therefrom. In the example of Fig. 1, the controller(s) 120 is / are communicatively connected to the paver 100 via a communication device 132, which may be, for example, a transceiver. Examples according to this disclosure may include multiple controllers that cooperate to perform functions associated with the controller(s) 120. As such, Fig. 1 also includes the controller(s) 120 onboard the paver 100. In examples, the controller(s) 120 may be part of, or include, an electronic control unit (ECU) of the paver 100. Controller(s) 120 or other controllers, ECUs, etc. included in examples according to this disclosure may be configured to communicate with each other and with other components of the paver 100 (e.g., banding sensors 130) via various wired or wireless communication technologies and components using various public and / or proprietary standards and / or protocols. Examples of transport media and protocols for electronic communication between components of the machine 300 include Ethernet, Transmission Control Protocol / Internet Protocol (TCP / IP), IEEE 802.11, or Bluetooth, or other standard or proprietary transport media and communication protocols.

[0022] In some examples, controller 120 may be included in an ECU of a paver 100. An electronic control unit (ECU) may be an embedded system that controls various aspects of a machine's operation. Types of ECUs include, among other examples, electronic / engine control modules, powertrain control modules, transmission control modules, brake control modules, and suspension control modules. In the case of industrial, construction, and other heavy-duty equipment, exemplary ECUs may also include an implement control module associated with one or more implements connected to and operable from the machine.

[0023] The exemplary machine 100 may include, for example, an engine control module (ECM), an implement control module (ICM), a transmission control module (TCM), and a brake control module (BCM). These electronic modules / units may be communicatively connected and configured to send and receive data, sensor or other digital and / or analog signals, and other information between the various ECUs of the machine 100. Additionally, functions associated with an ECU or controller(s) 120 may be distributed among multiple devices.

[0024] Controller(s) 120, whether onboard and / or separate from the paver 100, may include software, hardware, and combinations of hardware and software configured to perform a variety of functions associated with the components in the disclosed examples. Such controllers in examples according to this disclosure may be analog, digital, or combined analog and digital controllers including a variety of components. As examples, the controller(s) may include integrated circuit boards (ICBs), printed circuit boards (PCBs), processor(s), data storage devices, switches, relays, etc. Examples of processors may include one or more of a microprocessor, a controller, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or equivalent separate or integrated logic circuits.

[0025] The controller(s) 120, ECUs, and other electronic controllers in examples according to this disclosure may include storage media for storing and / or retrieving data or other information, such as signals from sensors. Examples of non-volatile storage devices include magnetic hard disks, optical hard disks, floppy disks, flash memory, or forms of electrically programmable memory (EPROM) or electrically rewritable and programmable memory (EEPROM). Examples of volatile storage devices include random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), and other forms of volatile storage devices. The data storage devices may be used to store program instructions for execution by processor(s), such as the controller 124.

[0026] Regardless of the number, position, or type of banding sensors 130 integrated into the paver 100, the device(s) are designed to detect anomalies in the pavement 124, including detecting pavement banding. As the screed system 116 of the paver 100 lays the pavement 124, the banding sensors 130 detect one or more characteristics of the pavement texture / composition laterally across the finished pavement and transmit the information / data associated with this detection to the controller(s) 120.

[0027] As with reference to Fig. 4A and Fig. 4B, the screed system 116 includes a pavement crown profile system configured to change the crown profile of the asphalt pavement 124 laid by the screed system 116 of the paver 100. The pavement crown profile system of the screed system 116 is communicatively coupled to the controller(s) 120. The controller 120 is configured to control the pavement crown profile system to adjust a crown profile of the asphalt pavement 124 in response to the pavement banding sensor(s) detecting one or more anomalies in the asphalt pavement. For example, in response to the detection of one or more pavement banding anomalies by the pavement banding sensor(s), the controller 120 controls the pavement crown profile system of the screed system 116 to incrementally increase the crown profile of the pavement 124.

[0028] Fig. 3A-3C schematically show an adjustable screed system 116 of the road paver 100. The screed system 116 is shown in three respective states, including neutral or zero crown profile in Fig. 3A, positive roof profile in Fig. 3B and negative roof profile in Fig. 3C.

[0029] Fig. 4A and Fig. 4B schematically show parts of the adjustable screed system 116. In Fig. 4A, the screed system 116 includes a single screed plate 400 that extends across the entire width of the screed system 116 and the paving roof system 402, including the roof mechanism 404. The roof mechanism 404 includes the connecting links 406 and 408 and the piston 410. The connecting links 406 and 408 are fixedly connected to the screed plate 400 and pivotally connected to the opposite ends of the piston 410. As shown in Fig. 4A, the piston 410 may be actuated (e.g., hydraulically, electromagnetically, etc.) to extend and thereby force the upper ends of the connecting links 406 and 408 apart and cause the screed plate to bend from a flat condition to a convex condition. Actuation of the piston 410 in this manner causes the screed system 116 to produce an asphalt pavement with a positive crown profile. Although not shown, the piston 410 may also be actuated to contract the upper ends of the connecting links 406 and 408 closer together and cause the screed plate to bend from a flat condition to a concave condition to produce a negative crown profile.

[0030] In Fig. 4B, the screed system 116 includes side-by-side, pivotally connected screed plates 412 and 414 that extend across the width of the screed system 116. The screed system also includes the paving crown system 402 including the crown mechanism 404. The crown mechanism 404 includes the connecting links 406 and 408 and the piston 410. The connecting link 406 is fixedly connected to the screed plate 412 and pivotally connected to one end of the piston 410. The connecting link 408 is fixedly connected to the screed plate 414 and pivotally connected to the other end of the piston 410, which is opposite the end to which the connecting link 406 is connected. As shown in Fig. 4B, the piston 410 may be actuated (e.g., hydraulically, electromagnetically, etc.) to extend and thereby urge apart the upper ends of the connecting links 406 and 408 and cause the screed plates 412 and 414 to pivot from a planar arrangement relative to each other to a convex arrangement. Actuation of the piston 410 in this manner causes the screed system 116 to produce an asphalt pavement with a positive crown profile. Although not shown, the piston 410 may also be actuated to contract the upper ends of the connecting links 406 and 408 closer together and cause the screed plates 412 and 414 to pivot from a planar arrangement relative to each other to a concave arrangement to produce a negative crown profile.

[0031] As shown schematically in Fig. 4A and Fig. As shown in Figure 4B, the screed plate 400 flexes, and the screed vanes 412 and 414 pivot about a front-to-rear centerline 416 of the paver 100 to which the screed system 116 is connected. In examples consistent with this disclosure, a paver screed system may include a variety of other pavement crowning systems and associated crowning mechanisms that adjust the configuration of the screed plate(s) and thereby alter the crown profile of the pavement produced by the screed system. Industrial applicability

[0032] Fig.5 is a flowchart illustrating an example method 500 for adjusting the crown profile of an asphalt pavement to address anomalies in the pavement. The example method 500 includes laying an asphalt pavement using a paver (502), detecting one or more anomalies in the asphalt pavement using one or more pavement banding sensors (504) connected to the paver, and adjusting a crown profile of the asphalt pavement in response to detecting one or more anomalies (506).

[0033] In one example, paver 100 lays asphalt pavement 124 on pavement surface 126. For example, asphalt aggregate 122 is delivered to the work area and loaded into hopper 108 of paver 100 by a material transfer vehicle. Asphalt aggregate 122 is fed from hopper 108 to auger assembly 112 by conveyor 110. Auger assembly 112, in turn, feeds asphalt aggregate 122 to screed assembly 116, which spreads and compacts the aggregate to lay asphalt pavement 124.

[0034] As the asphalt pavement 124 is laid by the paver 100, the pavement banding sensors 130 measure one or more characteristics of the finished pavement behind the paver, e.g., lateral sections directly behind the screed system 116. In one example, the auger assembly 112 includes a pair of conveyor augers on either side of a front-to-rear centerline of the paver 100. The two side-by-side conveyor augers of the auger assembly 112 are driven together or independently and are operatively connected, e.g., via a bearing or a gear box located on or near the centerline of the paver 100 in front of the screed system 116.

[0035] As the paver 100 lays the pavement 124, the asphalt fed into the screed system 116 backs up in front of the gearbox or other drive mechanism that powers the side-by-side augers, resulting in a visible centerline banding that has a different texture / composition than the rest of the pavement 124. Under such circumstances, one or more of the pavement banding sensors 130 detect the variation in the properties of the pavement 124, i.e., the centerline banding, and transmits data or other information indicative of the banding to the controller(s) 120.

[0036] The controller(s) 120 receive the data from the pavement banding sensors 130 and cause the pavement crowning system 402 to adjust the crown profile of the asphalt pavement 124 in response. For example, the controller(s) 120 controls the pavement crowning system 402 to create a positive crown profile in the pavement 124. Under such circumstances, for example, the pavement crowning system 402 actuates the piston 410 to urge the links 406 and 408 away from each other (laterally outward), thereby causing the screeds 412 and 414 to pivot about the centerline 416 from a flat state to a convex state.

[0037] In examples, the controller(s) control the pavement crown system 402 to incrementally increase the crown profile in the asphalt pavement 124. In some cases, the requirements of a particular job for which asphalt pavement 124 is being laid may include a threshold amount for the positive crown profile of the pavement. In one example, the threshold amount that the positive crown profile of the asphalt pavement cannot exceed is 1 / 8 inch (3.175 millimeters). In one example, the controller(s) control the pavement crown system 402 to increase the crown profile in the asphalt pavement 124 in 1 millimeter (0.039 inch) increments.In one example, the controller(s) 120 controls the crowning system 402 to raise the crown profile of the asphalt pavement 124 until the pavement banding sensors 130 cease to detect the centerline banding in the asphalt pavement, and then the controller is configured to control the pavement crowning system to maintain the crown profile of the asphalt pavement. With the positive crown profile resulting from the pavement crowning system 402 raising the centerline of the screeds 412 and 414, aggregate that may be backed up behind the auger drive box can easily flow under the screeds. This center region of the asphalt pavement 124 will then be a more consistent mix of small / large aggregates than the rest of the pavement, thus addressing or eliminating the centerline banding and providing a consistent texture / composition throughout the finished pavement.Additionally, as noted in the examples, the controller(s) 120 may be configured to control the pavement crown system 402 to incrementally increase the crown profile of the asphalt pavement 124 up to and including a positive crown profile threshold, e.g., 1 / 8 inch. In the event that the band in the asphalt pavement 124 is not corrected when the crown profile reaches 1 / 8 inch, additional measures may need to be taken to correct the anomaly in the pavement.

[0038] In examples, the increments by which the pavement crown system 402 adjusts the crown of the asphalt pavement 124 and the threshold crown beyond which the pavement crown system will not advance may be programmatically adjusted or user-configured. For example, an operator using the control interface, e.g., a touchscreen interface on the console 128 of the paver 100, may select various increments for adjusting the crown of the asphalt pavement 124 and / or a crown threshold beyond which the crown will not be adjusted.

[0039] From the foregoing Detailed Description, it will be appreciated that various features are grouped into a single example for the purpose of simplifying the disclosure. This method of disclosure should not be interpreted as reflecting an intent that the claimed examples require more features than are expressly recited in each claim. Instead, the subject matter of the invention consists of fewer than all of the features of a single disclosed example, as reflected in the following claims. Thus, the following claims are incorporated herein by reference into the Detailed Description, with each claim standing on its own as a separate example.It should be understood that not all of the activities or elements described above are required in the general description, that part of a specific activity or device may not be required, and that one or more activities may be performed or elements included in addition to those described. Further still, the order in which activities are listed is not necessarily the order in which they are performed. The concepts have also been described with reference to specific examples. However, one skilled in the art will recognize that various modifications and changes may be made without departing from the scope of the present disclosure, which is recited in the claims below.Accordingly, the specification and figures are to be regarded in an illustrative rather than a restrictive sense, and all such modifications are intended to be included within the scope of the present disclosure.

[0040] Benefits, further advantages, and solutions to problems have been described above with reference to specific examples. The benefits, advantages, solutions to problems, and any feature(s) that may result in or make more apparent a benefit, advantage, or solution are not to be construed as constituting a critical, required, or essential feature of any or all of the claims. Moreover, the specific examples disclosed above are merely illustrative because the disclosed subject matter may be modified and practiced in different but equivalent ways that will be obvious to one skilled in the art having the benefit of the teachings herein. No limitations are intended on the details of construction or design illustrated herein other than those described in the claims below.Therefore, it is evident that the specific examples disclosed above may be altered or modified, and that all such variations are to be understood as falling within the scope of the disclosed subject matter. Accordingly, the protection sought herein is set forth in the claims below. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] US 11,127,135

[0004]

Claims

[1] Road paver, comprising: a machine frame; a screed system connected to the frame and including a decking roof profile system; a pavement banding sensor connected to the paver and designed to detect anomalies in an asphalt pavement laid by the screed system; and a controller communicatively coupled to the pavement banding sensor and the pavement crown system and configured to control the pavement crown system to adjust a crown profile of the asphalt pavement in response to the pavement banding sensor detecting one or more anomalies in the asphalt pavement. [2] The road paver of claim 1, wherein the controller is configured to control the pavement crown profile system to produce a positive crown profile of the asphalt pavement in response to the pavement banding sensor detecting one or more anomalies in the asphalt pavement. [3] The road paver of claim 2, wherein the controller is configured to control the pavement crown profile system to incrementally increase the crown profile of the asphalt pavement in response to the pavement banding sensor detecting one or more anomalies in the asphalt pavement. [4] The road paver of claim 3, wherein the controller is configured to control the pavement crown system to increase the crown profile of the asphalt pavement until the pavement banding sensor ceases to detect the one or more anomalies in the asphalt pavement, and the controller is thereafter configured to control the pavement crown system to maintain the crown profile of the asphalt pavement. [5] The paver of claim 3, wherein the controller is configured to control the pavement crown profile system to incrementally increase the crown profile of the asphalt pavement in increments approximately equal to one millimeter (0.03937 inches). [6] The road paver of claim 3, wherein the controller is configured to control the pavement crown profile system to incrementally increase the crown profile of the asphalt pavement up to and including a positive crown profile threshold. [7] The paver of claim 6, wherein the positive crown profile threshold is approximately equal to 0.125 inches (3.175 millimeters). [8] The road paver of claim 1, wherein the pavement banding sensor is configured to detect variations in one or more properties of the asphalt pavement. [9] Road paver according to claim 8, wherein the pavement banding sensor comprises an infrared sensor designed to detect temperature variations of the asphalt pavement. [10] A road paver according to claim 8, wherein the pavement banding sensor comprises a density sensor designed to detect density changes of the asphalt pavement. [11] A road paver according to claim 8, wherein the pavement banding sensor is a photoelectric sensor designed to detect variations in the reflectivity of the asphalt pavement. [12] The road paver of claim 8, wherein the pavement banding sensor comprises a camera configured to capture image data indicative of pavement banding of a portion of the asphalt pavement. [13] Method comprising: Laying an asphalt pavement using a road paver; Detecting one or more anomalies in the asphalt pavement using one or more pavement banding sensors connected to the paver; and Adjusting an asphalt pavement crown profile in response to the detection of one or more anomalies. [14] The method of claim 13, wherein detecting one or more anomalies comprises detecting a variation in at least one of temperature, density, and reflectivity in the asphalt pavement. [15] The method of claim 13, wherein adjusting the crown profile of the asphalt pavement comprises incrementally increasing the crown profile of the asphalt pavement up to and including a positive crown profile threshold or until one or more pavement banding sensors cease to detect one or more anomalies.

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