VIBRATOR FREQUENCIES FOR SLIPFORM PAVERS

Abstract

A slipform paver can incorporate rheometers for measuring rheological parameters. The rheometers can include vane rheometers in a grout hopper of the slipform mold. The slipform paver can dynamically determine the rheological concrete parameters and control a target vibration frequency of vibrators based on the rheological parameters. The slipform paver can also use depth sensors, cameras, and / or electric vibrators to control the target vibration frequency.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefits under 35 USC § 119(e) of U.S. Provisional Application No. 63 / 557,176, filed on February 23, 2024, entitled "Vibrator Frequencies for Slipform Pavers," which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] Embodiments of the invention relate generally to machines for forming and compacting paving materials and, more particularly, to compaction by vibration. BACKGROUND OF THE INVENTION

[0003] Slipform pavers use molds with vibrators to compact concrete into a slab. Paver operators adjust the frequency of the vibrators to achieve a desired texture and strength. Setting the frequency too high or too low can result in vibrator marks or strength defects in the slab, respectively. Therefore, it would be advantageous to provide a device, system, and method that addresses the deficiencies described above. SUMMARY

[0004] In some aspects, the techniques described herein relate to a paver comprising: a slipform mold, the slipform mold configured to form concrete into a slab, the slipform mold comprising: a plurality of hydraulic vibrators, the plurality of hydraulic vibrators configured to vibrate in response to receiving hydraulic fluid, the plurality of hydraulic vibrators comprising a plurality of vibration sensors configured to measure actual vibrations of the plurality of hydraulic vibrators, a finishing pan, two side plates, and one or more rheometers, the one or more rheometers configured to measure one or more rheological parameters of the concrete, a hydraulic power supply including a hydraulic pump, a hydraulic distributor,wherein the hydraulic distributor is coupled between the hydraulic pump and the plurality of hydraulic vibrators, and a controller having one or more processors configured via executable code to cause the hydraulic distributor to regulate an actual flow rate of hydraulic fluid from the hydraulic pump to the plurality of hydraulic vibrators toward desired frequencies using the actual frequencies as feedback, and to dynamically update the desired frequencies based on the one or more rheological parameters.

[0005] It should be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not necessarily limiting of the present disclosure. The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate the subject matter of the disclosure. The description and drawings together serve to explain the principles of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] The numerous advantages of the disclosure can be better understood by those skilled in the art from the accompanying figures, in which: Fig. 1A- Fig. 1B is a front perspective view of a paver according to one or more embodiments of the present disclosure, Fig. 1C is a side view of a slipform mold with a rheometer according to one or more embodiments of the present disclosure, Fig. 1D is a front view of a paver according to one or more embodiments of the present disclosure, Fig. 1E is a front perspective view of a slipform mold according to one or more embodiments of the present disclosure, Fig. 1F is a side view of a slipform mold with a rheometer according to one or more embodiments of the present disclosure, Fig. 1G is a simplified schematic diagram of a paver according to one or more embodiments of the present disclosure that uses rheological parameters from a rheometer to dynamically update target frequencies of hydraulic vibrators. Fig. 2A is a front perspective view of a paver with depth sensors according to one or more embodiments of the present disclosure, Fig. 2B is a simplified circuit diagram of a paver according to one or more embodiments of the present disclosure that uses depth maps from depth sensors to dynamically update target frequencies of hydraulic vibrators. Fig. 3A is a side view of a paver with cameras according to one or more embodiments of the present disclosure, Fig. 3B is a rear perspective view of a paver with cameras according to one or more embodiments of the present disclosure, Fig. 3C is a simplified schematic diagram of a paver according to one or more embodiments of the present disclosure that uses images from cameras to dynamically update target frequencies of hydraulic vibrators. Fig. 3D shows an example image with relatively large surface cavities according to one or more embodiments of the present disclosure, Fig. 3E shows an example image with relatively small surface cavities according to one or more embodiments of the present disclosure, Fig. 4A is a front perspective view of a paver with electric vibrators according to one or more embodiments of the present disclosure, Fig. 4B is a simplified circuit diagram of a paver with electric vibrators according to one or more embodiments of the present disclosure, Fig. 5A is a front perspective view of a paver having an electric vibrator acting as a sensor in a series of hydraulic vibrators, according to one or more embodiments of the present disclosure, Fig. 5B is a simplified circuit diagram of a paver having an electric vibrator acting as a sensor in a series of hydraulic vibrators, according to one or more embodiments of the present disclosure, Fig. 6A- Fig. 6B is a plan view of a system including a paver and a mixer truck according to one or more embodiments of the present disclosure, Fig. 6C is a simplified schematic diagram of a paver having meteorological sensors according to one or more embodiments of the present disclosure used to update rheological parameters received from the mixer truck due to water evaporation over time. Fig. 6D shows an example graph of a calculation performed by a controller in updating the rheological parameter as a function of time using the meteorological data for compensation, wherein the rheological parameter is a slump and the meteorological data is temperature, in accordance with one or more embodiments of the present disclosure. Fig. 7 is a front perspective view of the paver configured as a two-track machine according to one or more embodiments of the present disclosure, Fig. 8A is a rear perspective view of a curb / gutter paver according to one or more embodiments of the present disclosure, Fig. 8B is a front perspective view of a paver configured as a guardrail paver according to one or more embodiments of the present disclosure, Fig. 8C is a partial perspective view inside a hopper of a slipform mold with paver offset according to one or more embodiments of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0007] Before one or more embodiments of the disclosure are explained in detail, it is to be understood that the embodiments are not limited in their application to the details regarding the construction and arrangement of the components, or the steps or methodologies, set forth in the following description or illustrated in the drawings. In the following detailed description of the embodiments, numerous specific details may be set forth in order to provide a more thorough understanding of the disclosure. However, it will be apparent to one of ordinary skill in the art and upon use of the present disclosure that the embodiments disclosed herein may be practiced without some of these specific details. In other instances, well-known features may not be described in detail in order not to unnecessarily obscure the present disclosure.

[0008] As used herein, a letter following a reference number refers to an embodiment of the feature or element that may be similar, but not necessarily identical, to a previously described element or feature with the same reference number (e.g., 1, 1a, 1b). Such abbreviations are used for convenience only and are not to be construed as limiting the disclosure unless expressly stated otherwise.

[0009] Unless explicitly stated otherwise, "or" refers to an inclusive "or" rather than an exclusive "or." For example, a condition A or B is satisfied if A is true (or present) and B is false (or absent), A is false (or absent) and B is true (or present), and both A and B are true (or present).

[0010] Furthermore, "a" or "an" may be used to describe elements and components of embodiments disclosed herein. This is done for convenience only, where "a" and "an" are intended to include "a" or "at least one," and the singular form includes the plural form unless clearly indicated otherwise.

[0011] Finally, any reference to "an embodiment," "an embodiment," "in embodiments," or "some embodiments" as used herein means that a particular element, feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment disclosed herein. The occurrence of the phrase "in some embodiments" in various places throughout the specification does not necessarily refer to the same embodiment, and embodiments may include one or more of the features expressly described or inherently present herein, or any combination or subcombination of two or more such features, along with other features not necessarily expressly described or inherent in the present disclosure.

[0012] Reference will now be made in detail to the disclosed subject matter illustrated in the accompanying drawings. Embodiments of the present disclosure relate to vibrator frequencies for slipform pavers. Slipform pavers may include rheometers for measuring rheological parameters. The rheometers may include impeller rheometers in a grout hopper of the slipform mold. The slipform paver may dynamically determine the rheological parameters of concrete and control a target vibration frequency of vibrators based on the rheological parameters. The slipform paver may also use depth sensors, cameras, and / or electric vibrators to control the target vibration frequency.

[0013] With general reference to the Fig. 1A-1G, a paver 100 is described in accordance with one or more embodiments of the present disclosure. The paver 100 may be any suitable paver, including, but not limited to, a slipform paver. The paver 100 may include one or more components, such as, but not limited to, a slipform form 102, a frame 104, end structures 106, a controller 108, a hydraulic power supply 110, pivot arms 116, and the like.

[0014] The paver 100 may include the slipform form 102. The slipform form 102 may be coupled to the frame 104. The slipform form 102 may be an insert form and mounted below the frame 104. The slipform form 102 may be moved in a production direction to form the concrete 101 into a slab 103. The concrete 101 may be poured in front of the slipform form 102. The concrete 101 may be poured, for example, by a concreting / placing machine or the like in front of the slipform form 102. The slipform form 102 may compact the concrete 101 to form the slab 103. Thus, the slipform form 102 may perform slipform manufacturing operations.

[0015] The slipform mold 102 may include one or more components such as, but not limited to, hydraulic vibrators 118, a grout hopper auger 120, a tamping bar (not shown), a finishing pan 122, side plates 124, a split front auger 126, a scraper 128, rheometers 130, and the like.

[0016] The slipform form 102 may include a grout hopper auger 120. The grout hopper auger 120 may also be referred to as a distributor / auger. The grout hopper auger 120 may extend between the two side plates 124. The grout hopper auger 120 may be positioned behind and / or above the hydraulic vibrators 118 in the production direction. The grout hopper auger 120 may be positioned longitudinally between the hydraulic vibrators 118 and the finishing pan 122. The grout hopper auger 120 may distribute the concrete 101 across a lateral width of the slipform form 102 (i.e., perpendicular to the production direction). The grout hopper auger 120 may include any suitable screw conveyor design for distributing the concrete 101 across the lateral width. The injection material container screw 120 can e.g.have a range of suitable pitches, flights, and diameters for distributing the concrete 101. The grout hopper auger 120 may further be coupled to a motor for rotating the grout hopper auger 120. It is possible to adjust a rotational speed of the grout hopper auger 120. The rotational speed of the grout hopper auger 120 may be adjusted based on a speed of the paver 100, the rheological parameters 105, and the like.

[0017] The slipform form 102 may include a finishing pan 122. The finishing pan 122 may extend between the side plates 124. The finishing pan 122 may be configured to process the concrete 101 into the slab 103. The finishing pan 122 may, for example, form the top surface of the slab 103.

[0018] The slipform form 102 may have side plates 124. The side plates 124 may also be referred to as side molds or the like. The space between the side plates 124 may be referred to as a grout container. The concrete 101 may be held between the side plates 124 while the paver 100 moves in the direction of travel. The side plates 124 may form the sides of the slab 103 from the concrete 101.

[0019] The slipform mold 102 may include the split front auger 126 and / or the scraper 128. The split front auger 126 may be arranged upstream of the scraper 128 in the production direction. The split front auger 126 may distribute the concrete 101 across a lateral width of the slipform mold 102 (i.e., perpendicular to the production direction). The split front auger 126 may be divided into left and right sections. The left and right sections of the split front auger 126 may be driven independently of one another. The scraper 128 may extend between the side plates 124. The scraper 128 may be arranged longitudinally between the split front auger 126 and the hydraulic vibrators 118. The scraper 128 may include a flat plate that can scrape the concrete 101 at a selected height.Although the slipform mold 102 is described as including the split front auger 126 and the scraper 128, this is not intended to limit the present disclosure. The slipform mold 102 may have an open front configuration that may not include the split front auger 126 and the scraper 128.

[0020] The slipform 102 may include hydraulic vibrators 118. The hydraulic vibrators 118 may vibrate the concrete 101 to expel air from the concrete 101. The hydraulic vibrators 118 may be disposed laterally between the side plates 124. The paver 100 may include any number of the hydraulic vibrators 118-1 through 118-n, where n is an integer. For example, n may include, but is not limited to, two vibrators, four vibrators, six vibrators, eight vibrators, sixteen vibrators, thirty-two vibrators, or more. The hydraulic vibrators 118 may include any type of vibrator, such as, but not limited to, submersible vibrators (also known as bottle vibrators, bent tube vibrators, internal vibrators), external vibrators (also known as formwork vibrators or concrete form vibrators), or surface vibrators (also known as plate vibrators). In embodiments, the hydraulic vibrators 118 are submersible vibrators.The hydraulic vibrators 118 may be, for example, vibrators described in U.S. Patent 6,055,486 entitled “ACCELERATOR-BASED MONITORING AND CONTROL OF CONCRETE COMPACTION,” which is incorporated herein by reference in its entirety.

[0021] The paver 100 may include the hydraulic power supply 110. The hydraulic power supply 110 may be connected to the frame 104. The hydraulic power supply 110 may include several components, such as, but not limited to, power sources, hydraulic pumps 136, hydraulic reservoirs 138, filters, coolers, heaters, and the like. The power sources may include any power source known in the art configured to generate power, such as, but not limited to, a gasoline engine, a diesel engine, or an electrical power source of various sizes and power ratings. The power sources may drive the hydraulic pumps 136. The hydraulic pump 136 may receive mechanical drive or electrical power from the power source and generates a hydraulic fluid flow having hydraulic power. The hydraulic reservoir 138 may also be referred to as a hydraulic fluid reservoir.The hydraulic pumps 136 may be connected to the hydraulic reservoir 138 and configured to provide a flow of hydraulic fluid from the hydraulic reservoir 138. The hydraulic pumps 136 may be configured to pump hydraulic fluid from the hydraulic reservoir 138 and supply one or more hydraulic components of the paver 100 with a flow (e.g., hydraulic power) of the hydraulic fluid.

[0022] The hydraulic vibrators 118 may include a hydraulic motor 132, an eccentric weight 134, and the like. The hydraulic motor 132 may be fluidly coupled to the hydraulic pumps 136. The hydraulic pumps 136 may direct a flow of hydraulic fluid to the hydraulic motor 132. The hydraulic motor 132 may vibrate the eccentric weight 134 in response to receiving the flow of hydraulic fluid. The hydraulic motor 132 may provide actual flow rates 156 (Q IST) of the hydraulic fluid. The hydraulic motor 132 can move the eccentric weight 134 in response to receiving the actual flow rates 156 at actual frequencies 146 (f IST ) into vibration. The actual frequencies 146 may be proportional to the actual flow rates 156. An increase in the actual flow rates 156 of the hydraulic fluid, in turn, leads to an increase in the actual frequencies 146. For example, the actual frequencies 146 may be scaled (e.g., linearly scaled) with the actual flow rates 156. Each of the hydraulic vibrators 118-1 through 118-n may include a corresponding one of the hydraulic motors 132-1 through 132-n, the eccentric weights 134-1 through 134-n, and the like. Likewise, each of the hydraulic vibrators 118-1 to 118-n can receive a corresponding one of the actual flow rates 156-1 to 156-n and vibrate at a corresponding one of the actual frequencies 146-1 to 146-n.

[0023] The paver 100 may include a hydraulic manifold 140. The hydraulic manifold 140 may be coupled between the hydraulic pump 136 and the hydraulic vibrators 118. The hydraulic manifold 140 may regulate the actual flow rates 156 of the hydraulic fluid to the hydraulic vibrators 118. For example, the hydraulic manifold 140 may be configured to regulate the actual flow rates 156 of the hydraulic fluid to the hydraulic motors 132. In embodiments, the hydraulic manifold 140 may include adjustable flow control valves 142. The hydraulic manifold 140 may include adjustable flow control valves 142-1 through 142-n for each of the corresponding hydraulic vibrators 118-1 through 118-n. The adjustable flow control valves 142 can regulate the actual flow rates 156 of the hydraulic fluid from the hydraulic pump 136 to the hydraulic vibrators 118.The adjustable flow control valves 142 can receive electrical signals from the controller 108, whereby the hydraulic distributor 140 regulates the actual flow rates 156 to each of the hydraulic motors 132. The actual frequencies 146 at which the hydraulic vibrators 118 vibrate can be based on the actual flow rates 156 of the hydraulic fluid. Thus, the actual flow rates 156 of the hydraulic fluid can be regulated to regulate the actual frequencies 146 of the hydraulic vibrators 118. The hydraulic vibrators 118 can include a range of actual frequencies 146 between which the hydraulic vibrators 118 can be controlled. The actual frequencies 146 of the hydraulic vibrators 118 can be selectively controlled, for example, between zero and ten thousand vibrations per minute (VPM) or more. The actual frequencies 146 of the hydraulic vibrators 118 can be controlled by changing the actual flow rates 156 of the hydraulic fluid to the hydraulic vibrators 118.The adjustable flow control valves 142-1 to 142-n can, for example, control the actual frequencies 146-1 to 146-n of the hydraulic vibrators 118-1 to 118-n by changing the actual flow rates 156-1 to 156-n of the hydraulic fluid.

[0024] The paver 100 may include the controller 108. The controller 108 may be configured to control the hydraulic manifold 140. For example, the controller 108 may control the adjustable flow control valves 142 of the hydraulic manifold 140. The controller 108 may control the adjustable flow control valves 142 using one or more electrical signals to selectively regulate the actual flow rates 156 of the hydraulic fluid to the hydraulic motors 132 and thereby regulate the actual frequencies 146 of the hydraulic vibrators 118. The controller 108 may control the adjustable flow control valves 142 independently of one another, so that the actual frequencies 146 of the hydraulic vibrators 118 can be regulated independently of one another.

[0025] In embodiments, the hydraulic vibrators 118 may include vibration sensors 144. The vibration sensors 144 may include, among other things, accelerometers or the like. The vibration sensors 144 may be used to measure actual frequencies 146 (f IST ) of the hydraulic vibrators 118.

[0026] In embodiments, the paver 100 may include flow meters 154. The flow meters 154 may be coupled between the hydraulic manifold 140 and the hydraulic vibrators 118. The flow meters 154 may measure the actual flow rates 156. The flow meters 154 may, for example, include flow meters 154-1 through 154-n coupled between the respective adjustable flow control valves 142-1 through 142-n and the hydraulic vibrators 118-1 through 118-n. The flow meters 154-1 through 154-n may measure the actual flow rates 156-1 through 156-n. The controller 108 may receive the actual flow rates 156 from the flow meters 154 and / or the actual frequencies 146 of the hydraulic vibrators 118 from the vibration sensors 144 (e.g., vibration sensors 144-1 through 144-n).

[0027] The controller 108 may use the actual flow rates 156 and / or the actual frequencies 146 as feedback when causing the hydraulic distributor 140 to regulate the actual flow rates 156 of the hydraulic fluid from the hydraulic pump 136 to the hydraulic vibrators 118, thereby regulating the actual frequencies 146 of the hydraulic vibrators 118. The controller 108 may use the actual flow rates 156 and / or the actual frequencies 146 as feedback when adjusting the actual flow rates 156 of the hydraulic fluid to the hydraulic vibrators 118, thereby changing the actual flow rates 156 toward the desired flow rates 158. Likewise, the controller 108 may use the actual flow rates 156 and / or the actual frequencies 146 as feedback when adjusting the actual flow rates 156 of the hydraulic fluid to the hydraulic vibrators 118, thereby changing the actual frequencies 146 toward the desired frequencies 148.The actual flow rates 156 and / or the actual frequencies 146 can be used as feedback. The actual flow rates 156 can be measured more easily or more accurately and provide an indication of the actual frequencies 146.

[0028] The target flow rates 158 and / or the target frequencies 148 may be preset. The target flow rates 158 and / or the target frequencies 148 may be preset in memory. The controller 108 may include one or more user interfaces (not shown). The target flow rates 158 and / or the target frequencies 148 may be set via the user interfaces. For example, the controller 108 may include dials, switches, touchscreen controls, or the like for setting the target flow rates 158 and / or the target frequencies 148. An operator of the paver may input the target flow rates 158 and / or the target frequencies 148 via the user interfaces. In this context, the target flow rates 158 and / or the target frequencies 148 may be preset by the human operator.

[0029] The hydraulic vibrators 118 can compact the concrete 101. The hydraulic vibrators 118 can vibrate at the actual frequencies 146 to compact the concrete 101. By compacting the concrete 101, voids in the concrete 101 can be removed and / or the air content of the concrete 101 can be reduced. The actual frequencies 146 of the hydraulic vibrators 118 can control the texture and / or strength of the slab 103. For example, the compaction can be proportional to the actual frequencies 146. Vibrating the concrete 101 at too high a frequency can cause too much air to escape, creating vibrator marks. Vibrating the concrete 101 at too low a frequency can cause too much air to be trapped, reducing the strength of the slab 103.

[0030] The hydraulic vibrators 118 can be maintained at actual frequencies 146 between the insufficient frequency and the excessive frequency to achieve the desired texture and / or firmness. The insufficient frequency can occur when the hydraulic vibrators 118 receive an insufficient flow rate of hydraulic fluid. The controller 108 can cause the hydraulic distributor 140 to regulate the actual flow rates 156 to the hydraulic vibrators 118 toward the desired frequencies 148 using the actual frequencies 146 as feedback. Likewise, the excessive frequency can occur when the hydraulic vibrators 118 receive an excessive flow rate of hydraulic fluid. The actual flow rates 156 can be maintained between the insufficient flow rate and the excessive flow rate to maintain the actual frequencies 146 between the insufficient frequency and the excessive frequency.The controller 108 may cause the hydraulic distributor 140 to regulate the actual flow rates 156 to the hydraulic shakers 118 using the actual flow rates 156 as feedback toward the desired flow rates 158.

[0031] The concrete 101 may comprise a composition of cements, water, aggregates (e.g., sand, coarse aggregates), admixtures (e.g., plasticizers, accelerators, retarders, air-entraining agents, corrosion inhibitors), and the like. The composition of the concrete 101 may be based on a mix composition and may vary between batches, mixer trucks, and concrete plants, so the specific composition of the concrete is not intended to be limiting. The concrete 101 may include rheological parameters 105. The composition of the concrete 101 may control the rheological parameters 105. The rheological parameters 105 may include, among other things, workability, yield stress (τ0), plastic viscosity (µ), slump, and the like. Workability may be the ease with which the concrete 101 can be mixed, placed, compacted, and finished to a homogeneous state.Yield stress can be the minimum stress required to initiate or maintain flow. Plastic viscosity can be the resistance to flow once the yield stress is exceeded. Plastic viscosity (µ) can be determined based on shear stress (τ), yield stress (τ0), and a shear rate (γ) according to the Bingham model (i.e., τ = + µ*γ). Shear stress (τ) can be the force component across a cross-section of concrete. Shear rate (γ) is the rate of shear deformation. Slump can refer to the degree of consistency of concrete 101, which corresponds to settlement after removal from a slump cone. Slump can be related to yield stress and plastic viscosity. For example, higher yield stresses and higher plastic viscosities may correspond to lower slumps.Concrete with a higher slump can flow more easily than concrete with a lower slump.

[0032] The rheological parameters 105 of the concrete 101 may affect the insufficient frequency and excessive frequency with which the concrete 101 is vibrated, and similarly, the insufficient flow rate and excessive flow rate of the hydraulic fluid to the hydraulic vibrators 118. The rheological parameters 105 of the concrete 101 may be dynamic and change while the paver 100 places the concrete 101. For example, the rheological parameters 105 may change due to settlement loss (e.g., due to a reduction in water content over time, improper adjustment, etc.). In another example, the concrete may not be homogeneous along the length of the pour. In another example, mixer trucks may receive concrete with different compositions (e.g., from different mixing plants).In another example, the depth of the concrete may change the rheological parameters 105. The dynamic nature of the concrete 101 may cause the insufficient frequency and the excessive frequency to change over time, such that setting the actual frequencies 146 of the hydraulic vibrators 118 and / or the actual flow rates 156 to the hydraulic vibrators 118 to fixed values ​​may result in locations with vibration marks in the slab 103 due to overcompaction and / or locations in the slab 103 that are weakened due to insufficient compaction.

[0033] The slipform mold 102 may include rheometers 130. For example, the rheometers 130 may be arranged laterally between the side plates 124 (e.g., within the grout hopper). The rheometers 130 may be arranged below and / or behind the grout hopper screw 120 in the production direction. The rheometers 130 may be arranged above and / or in front of the finishing tub 122 in the production direction. For example, the rheometers 130 may be arranged above a bottom surface of the finishing tub 122 such that the rheometers 130 are arranged above the top side of the plate 103. Thus, the rheometers 130 may be arranged longitudinally between the hydraulic vibrators 118 and the finishing tub 122 and / or between the grout hopper screw 120 and the finishing tub 122. The rheometers 130 may be mounted in a fixed position relative to the side plates 124.For example, the rheometers 130 may be mounted at a minimum distance from the side plates 124. The minimum distance may be based on a size of the aggregates in the concrete 101.

[0034] The rheometers 130 may include, among others, vane rheometers, settlement sensors, viscometers (e.g., an in-line viscometer, a quartz viscometer, and the like), strain gauges, and the like. In embodiments, the rheometers 130 are vane rheometers. For example, the rheometers 130 may include one or more vanes rotating at one or more speeds. The rheometers 130 may measure a torque exerted by the concrete 101 on the vanes when the vanes rotate at the one or more speeds.

[0035] The rheometers 130 can measure the rheological parameters 105 of the concrete 101. The rheometers 130 can continuously measure the rheological parameters 105 of the concrete 101 while the paver 100 is laying the concrete 101.

[0036] The controller 108 may receive the rheological parameters 105 of the concrete 101 from the rheometers 130. The controller 108 may regulate the actual flow rates 156 of the hydraulic fluid to the hydraulic vibrators 118 and / or the actual frequencies 146 of the hydraulic vibrators 118 based on the rheological parameters 105. For example, the controller 108 may dynamically update the target flow rates 158 and / or the target frequencies 148 based on the rheological parameters 105. If the rheological parameters 105 indicate that the concrete 101 is easy to work, the target flow rates 158 and / or the target frequencies 148 may be reduced. If the rheological parameters 105 indicate that the concrete 101 is difficult to process, the target flow rates 158 and / or the target frequencies 148 can be increased.

[0037] The actual flow rates 156 to the hydraulic vibrators 118 may be continuously updated to the desired flow rates 158 and / or the actual frequencies 146 may be continuously updated to the desired frequencies 148 based on the actual flow rates 156 measured by the flow meters 154 and / or the actual frequencies 146 measured by the vibration sensors 144 as the desired flow rates 158 and / or the desired frequencies 148 are dynamically updated based on the rheological parameters 105. For example, the actual flow rates 156 to the hydraulic shakers 118 may be continuously updated to the desired flow rates 158 based on the actual flow rates 156 measured by the flow meters 154 when the desired flow rates 158 are dynamically updated based on the rheological parameters 105.In another example, the actual frequencies 146 may be continuously updated to the target frequencies 148 based on the actual frequencies 146 measured by the vibration sensors 144 as the target frequencies 148 are dynamically updated based on the rheological parameters 105. Updating the actual flow rates 156 to the hydraulic vibrators 118 to the target flow rates 158 and / or the actual frequencies 146 to the target frequencies 148 may enable the actual frequencies 146 of the hydraulic vibrators 118 to be controlled based on the rheological parameters 105.

[0038] The controller 108 may include processors 150 and a memory 152. The processors 150 may be configured to execute a set of executable code stored in the memory 152. The set of executable code may be configured to cause the processors 150 to perform the functions of the controller 108.

[0039] The target frequencies 148 and / or the target flow rates 158 for the rheological parameters 105 may be stored in the memory 152 as a lookup table or similar pre-stored information. The controller 108 may determine the target frequencies 148 and / or the target flow rates 158 by looking up the lookup table using the rheological parameters 105. In this regard, the controller 108 may be considered software that automatically determines the target frequencies 148 and / or the target flow rates 158.

[0040] In embodiments, the slipform mold 102 may include a plurality of rheometers 130. The controller 108 may receive the rheological parameters 105 from the plurality of rheometers 130. The controller 108 may form a weighted average of the rheological parameters 105 when determining the target frequencies 148. Alternatively, the controller 108 may segment the target frequencies 148 based on a position of the rheometers 130 and the hydraulic vibrators 118. For example, the slipform mold 102 may have one of the rheometers 130 on a left side and one of the rheometers 130 on a right side of the slipform mold 102. The controller 108 may determine the target frequencies 148 and / or the target flow rates 158 for the hydraulic vibrators 118 located on the left and right sides of the slipform mold 102 based on the rheological parameters 105 from the rheometers 130 on the left and right sides of the slipform mold 102, respectively.In this context, the desired flow rates 158 and / or the desired frequencies 148 may or may not be identical across the width of the slipform mold 102.

[0041] The paver 100 may include the frame 104. The frame 104 may also be referred to as a rack, chassis, or the like. The frame 104 may include one or more elements. In some embodiments, the frame 104 may have an adjustable width, although this is not intended to be limiting. One or more of the elements of the frame may be nestable (e.g., via one or more roller bearings).

[0042] The paver 100 may be a two-track machine, a three-track machine, or a four-track machine. The paver 100 may include the end structures 106. The paver 100 may include at least two of the end structures 106. For example, the paver 100 may include two, three, or four (as shown) of the end structures 106. The end structures 106 may be coupled to the frame 104. For example, the end structures 106 may be coupled directly to the frame 104 or to the frame 104 via the pivot arms 116. The end structures 106 may support at least a portion of the frame 104. In this regard, the end structures 106 may be configured to support 10,000 pounds to 27,000 pounds or more.

[0043] The end structures 106 may include a leg assembly 112. The leg assembly 112 may be configured to adjust a height of the frame 104 relative to a floor surface. The leg assembly 112 may include an outer tube section and an inner tube section coupled via a linear actuator. The outer tube section and the inner tube section may be configured to be telescoping. The linear actuator may include a hydraulic cylinder. The hydraulic cylinder may be a smart cylinder with one or more position sensors for determining a height of the leg assembly 112. The position sensors may include, although not limiting, a linear sensor (e.g., a rod and wiper assembly) for monitoring displacement of the hydraulic cylinder. The leg assembly 112 may include any leg assembly known in the art. The leg assembly 112 may, for example,a leg assembly described in U.S. Patent No. 9,764,762, entitled "ROTATABLE SWIVEL ARM POSITIONING ASSEMBLY," which is incorporated herein by reference in its entirety. As another example, the leg assembly 112 may be similar to a leg assembly described in U.S. Patent No. 11,254,359, entitled "LEG ASSEMBLY FOR CONSTRUCTION MACHINE," which is incorporated herein by reference in its entirety.

[0044] The end structures 106 may include a track section 114. The track section 114 may also be referred to as a track assembly, track chain, or tracked vehicle, among other terms. The track section 114 may be disposed below the leg assembly 112 and coupled to the leg assembly 112. The track section 114 may be coupled to the leg assembly 112, for example, via a yoke, a swing drive, or the like. Power may be directed from the hydraulic power supply 110 to the track section 114 (e.g., to a track drive of the track section). In response to receiving the power, the track drive may rotate a track of the track section 114. By rotating the track, the paver 100 may be propelled in the paving direction. The track drive may also be used to assist the pivoting movement of the pivot arms 116 (i.e., swing-on-the-fly, stationary swing, crab steering, etc.).Thus, the paver 100 may be adapted to move through the end structures 106 in a production direction. The controller 108 may regulate a speed of the paver 100 using the track sections 114.

[0045] In embodiments, the controller 108 may regulate the speed of the paver 100 based on the rheological parameters 105 measured by the rheometers 130. For example, the controller 108 may control the track drive of the track section 114 based on the rheological parameters 105. If the rheological parameters 105 indicate that the concrete 101 is easy to work, the speed of the paver 100 may be increased. If the rheological parameters 105 indicate that the concrete 101 is difficult to work, the speed of the paver 100 may be decreased.

[0046] The paver 100 may include pivot arms 116. The pivot arms 116 may pivotally connect the end structures 106 to the frame 104. In this regard, each pivot arm 116 may be coupled to an end structure 106. The pivot arms 116 may be coupled in any manner, including, but not limited to, a pivot drive, a ratchet device, a four-bar linkage configuration of a hydraulic cylinder, or a planetary gear system. Although the paver 100 is described as including the pivot arms 116, this is not intended to limit the present disclosure. The two-track paver may or may not include the pivot arms 116. Although the paver 100 is illustrated as having four tracks, this is not intended to limit the present disclosure. It is further contemplated that the paver 100 may be a two-track paver and / or a three-track paver. For example, the paver 100 maya two-track paver. The two-track paver may include two of the end structures 106 and not have the pivot arms 116. As another example, the paver 100 may be a three-track paver. The three-track paver may include three of the end structures 106 and one or more of the pivot arms 116. One or more of the end structures 106 may be coupled to the frame 104, for example, via the pivot arms 116.

[0047] With reference to the Fig. 2A-2B, the paver 100 is described according to one or more embodiments of the present disclosure. The paver 100 may also include depth sensors 202. The depth sensors 202 may be configured to generate a flow of depth maps 204. The depth maps 204 may be depth maps from the depth sensors 202 to the concrete 101.

[0048] The controller 108 can receive the depth maps 204 from the depth sensors 202. The controller 108 can determine the rheological parameters 105 of the concrete 101 based on the depth maps 204. For example, the depth to the concrete 101 can vary over time. For example, the concrete 101 can flow (e.g., sink downward), causing the depth to change, where the flow can be based on the rheological parameters. The change in depth can be used to determine the rheological parameters 105.

[0049] The depth sensors 202 may be oriented to capture the depth maps 204 of the concrete 101. The depth sensors 202 may, for example, be coupled to the frame 104 and / or the pivot arms 116 and / or the leg assembly 112 and / or the track section 114. The depth sensors 202 may be coupled to the frame 104 and disposed above the hydraulic vibrators 118. The depth maps 204 may thus encompass the concrete 101 prior to compaction into the slab 103. In some cases, the depth sensors may have a reduced ability to generate the depth map if they are covered with particles such as dirt, dust, or concrete. It is contemplated that the depth sensors be mounted to avoid the particles. The depth sensors 202 may, for example, be mounted high enough on the paver 100 to avoid the particles with a downward bird's-eye view of the concrete.It is further contemplated that the depth sensors 202 will function even when covered by the particles. The depth sensors 202 can, for example, use a wavelength that can penetrate the particles to generate the depth maps 204.

[0050] The depth sensors 202 may comprise a field of view (FOV). The fields of view of the depth sensors 202 may or may not overlap.

[0051] The depth sensors 202 can be used to determine the rheological parameters 105 in combination with or instead of the rheometers 130.

[0052] With reference to the Fig. 3A-3E, the paver 100 will now be described in accordance with one or more embodiments of the present disclosure. In embodiments, the plate 103 may define surface cavities 306.

[0053] The surface voids 306 may be defined by a top surface of the slab 103. The surface voids 306 may also be referred to as surface air voids, pitting, cavities, and the like. The size of the surface voids 306 may be based on the rheological parameters 105 of the concrete 101 and / or the actual frequencies 146 of the hydraulic vibrators 118 at which the slab 103 is compacted. For example, larger surface voids 306 may indicate that the actual frequencies 146 of the hydraulic vibrators 118 used to compact the slab 103 were insufficient.

[0054] In embodiments, the paver 100 may include cameras 302. The cameras 302 may be configured to generate images 304. The images 304 may be images of the top surface of the slab 103. The images 304 may include the slab 103 and the surface cavities 306. The images 304 from the cameras 302 may include the slab 103 immediately after exiting the slipform form 102. The cameras 302 may be arranged in one or more positions to generate the images 304 of the top surface of the slab 103, for example, suspended above the slab 103, but not limited to. The cameras 302 may, for example, be connected to the frame 104 above the slipform form 102. The cameras 302 may be arranged adjacent to a rear end of the slipform form 102. The cameras 302 can, for example, be arranged longitudinally between the rear end of the slipform mold 102 and an operator aisle of the paver 100.

[0055] The controller 108 may receive the images 304 from the cameras 302. The controller 108 may detect the surface cavities 306 in the images 304. For example, the controller 108 may detect the surface cavities 306 by detecting a contrast between the surface cavities 306 and the plate 103 by applying one or more image recognition algorithms to the images 304, or the like. In embodiments, the controller 108 may detect a size, quantity, or the like of the surface cavities 306 in the images 304.

[0056] In embodiments, the controller 108 may dynamically update the target frequencies 148 and / or the target flow rates 158 based on the surface voids 306 detected in the images 304. For example, the controller 108 may increase the target flow rates 158 and / or the target frequencies 148 to decrease the size of the surface voids 306 in subsequent images 304. Thus, the surface voids 306 detected in the images 304 may be used to estimate the rheological parameters 105 of the concrete 101 after forming the slab 103. Updating the target flow rates 158 and / or the target frequencies 148 based on the surface voids 306 may be considered reactive (e.g.,after forming), in contrast to the methods described above in which the target flow rates 158 and / or the target frequencies 148 are dynamically updated based on the rheological parameters 105 determined by the rheometers 130 before forming the concrete 101 into the slab 103.

[0057] With reference to the Fig. 4A-4B, the paver 100 will now be described in accordance with one or more embodiments of the present disclosure. Although the paver 100 is described with hydraulic vibrators 118, this is not to be construed as a limitation of the present disclosure. In embodiments, the paver 100 may include electric vibrators 402, an electrical power source 408, ammeters 410, a vibrator motor controller 412, and the like. The discussion of the hydraulic vibrators 118 is incorporated herein by reference to the electric vibrators 402 with appropriate changes from hydraulic to electric. For example, the entire discussion of controlling the flow rate to the hydraulic vibrators 118 may be modified for the hydraulic vibrators 118 by replacing the flow rate with a flow of current to the electric vibrators 402.In this regard, the various embodiments of controlling the hydraulic vibrators 118 based on the rheological parameters 105, the depth maps 204, the images 304, and the like can be similarly applied to controlling the electric vibrators 402 based on the rheological parameters 105, the depth maps 204, the images 304, and the like.

[0058] The electric vibrators 402 may include an electric motor 404 and the eccentric weight 134. The electric motor 404 may receive electrical energy from the electrical energy source 408. The electric motor 404 may cause the eccentric weight 134 to vibrate in response to receiving the electrical energy. The electric motor 404 may generate an actual current 406 (l IST) with a voltage, thereby defining the electrical energy. The electric motor 404 can rotate the eccentric weight 134 in response to receiving the actual current 406 at the actual frequencies 146 (f IST ) into oscillation. An increase in the actual current 406 in turn leads to an increase in the actual frequencies 146. The actual frequencies 146 can, for example, be scaled linearly with the actual current 406.

[0059] The paver 100 may include ammeters 410. The ammeters 410 may be coupled between the vibrator motor controller 412 and the electric vibrators 402.

[0060] The vibrator motor controller 412 can be coupled between the electrical power source 408 and the electric vibrators 402. The vibrator motor controller 412 can regulate the actual current 406 to the electric vibrators 402. The vibrator motor controller 412 can receive electrical signals from the controller 108, whereby the vibrator motor controller 412 can regulate the actual current 406 from the electrical power source 408 to the electric vibrators 402. The actual frequencies 146 of the electric vibrators 402 can be regulated by changing the actual current 406 to the electric vibrators 402. The vibrator motor controller 412 can also regulate the voltage to the electric motors 404 and thereby regulate the amplitude of the eccentric weights 134.

[0061] The controller 108 may receive the actual current 406 from the current meters 410 and / or the actual frequencies 146 from the vibration sensors 144.

[0062] The controller 108 may use the actual current 406 and / or the actual frequencies 146 as feedback when adjusting the actual current 406 to the electric vibrators 402, thereby changing the actual current 406 toward a target current 414 and / or changing the actual frequencies 146 toward the target frequencies 148. The controller 108 may cause the vibrator motor controller 412 to regulate the actual current 406 to the electric vibrators 402 toward target frequencies 148 using the actual current 406 as feedback.

[0063] In embodiments, the paver 100 may include electric vibrators 402-1 through 402-n. Each of the electric vibrators 402-1 through 402-n may include a corresponding one of the electric motors 404-1 through 404-n, the eccentric weights 134-1 through 134-n, and the like. Likewise, each of the electric vibrators 402-1 through 402-n may receive a corresponding one of the actual currents 406-1 through 406-n and vibrate at a corresponding one of the actual frequencies 146-1 through 146-n. The ammeters 410 may include ammeters 410-1 through 410-n coupled between the vibrator motor controller 412 and the corresponding one of the electric vibrators 402-1 through 402-n. The current meters 410-1 to 410-n can measure the actual current 406-1 to 406-n.

[0064] With reference to the Fig. 5A-5B, the paver 100 will now be described in accordance with one or more embodiments of the present disclosure. In embodiments, the paver 100 may include the hydraulic vibrators 118-1 through 118-n and one or more of the electric vibrators 402. The electric vibrators 402 may be one vibrator in a series of hydraulic vibrators 118.

[0065] The electric vibrators 402 can be considered sensor vibrators. In embodiments, the vibrator motor controller 412 can set the electric vibrators 402 to a fixed voltage and a fixed vibrator frequency. The ammeter 410 can measure the actual current 406 at the fixed voltage and the fixed vibrator frequency. The actual current 406 can correspond to the rheological parameters 105. For example, if the concrete 101 is easier to work at the fixed voltage and the fixed vibrator frequency, the actual current 406 can decrease. In another example, if the concrete 101 is more difficult to work at the fixed voltage and the fixed vibrator frequency, the actual current 406 can increase.

[0066] The controller 108 may receive the measured value of the actual current 406 from the ammeter 410 and dynamically update the desired frequencies 148 and / or the desired flow rates 158 of the hydraulic vibrators 118 based on the measured value of the actual current 406 to the electric vibrators 402.

[0067] With reference to the Fig. 6A-6D, a system 600 according to one or more embodiments of the present disclosure will now be described. The system 600 may include the paver 100 and a mixer truck 602. The mixer truck 602 may place the concrete 101 in front of the paver 100. The paver 100 may be communicatively coupled to the mixer truck 602. The paver 100 (e.g., the controller 108) may receive the rheological parameters 105 of the concrete 101 from the mixer truck 602, a placement position 604 at which the mixer truck 602 placed the concrete 101, and / or a placement time 606 at which the mixer truck 602 placed the concrete 101. The mixer truck 602 may determine the rheological parameters 105 based on a rotational speed of the mixer truck and / or a mass of the concrete 101 in the mixer truck 602 and / or a shear rate of the concrete 101 and the like.

[0068] In embodiments, the controller 108 may receive the rheological parameters 105, the placement position 604, and / or the placement time 606. The controller 108 may then dynamically update the target flow rates 158, the target frequencies 148, the target current 414, and the like based on the rheological parameters 105, the placement position 604, and / or the placement time 606. For example, the controller 108 may account for changes in the rheological parameters 105 between concrete batches 101 (e.g., concrete batches 101-1, 101-2) based on the placement position 604 and the current position of the paver 100. In another example, the controller 108 may account for changes in the rheological parameters 105 due to the time elapsed since the placement time 606. For example, the water content of concrete 101 may decrease based on the time it is exposed to the ground before forming (which, for example,causing a slump loss). Thus, the controller 108 can dynamically update the target flow rates 158, the target frequencies 148, the target current 414, and the like based on the information received from the mixer truck to further reference the location and time of day at which the concrete was placed, since the rheological parameters 105 can change over time.

[0069] One or more meteorological parameters may change the rate at which the water content of concrete 101 decreases between the time of placement 606 and the time at which paver 100 compacts concrete 101 into slab 103. The meteorological parameters may include ambient temperature 608, wind speed 610, humidity 612 (e.g., absolute humidity, relative humidity, or specific humidity), barometric pressure 614, and the like. The rate at which the water content of concrete 101 decreases may be proportional to ambient temperature 608, proportional to wind speed 610, inversely proportional to humidity 612, and / or inversely proportional to barometric pressure 614.With an increase in ambient temperature 608, an increase in wind speed 610, a decrease in humidity 612, and / or a decrease in air pressure 614, the concrete 101 may experience greater water loss due to evaporation, so that workability may decrease compared to concrete 101 exposed to a lower ambient temperature, lower wind speed, higher humidity, and / or higher air pressure for the same period of time. In this regard, the rate of change of the rheological parameters 105 of the concrete 101 over time after placement by the mixer truck 602 in front of the paver 100 may depend on the ambient temperature 608, the wind speed 610, the humidity 612, and / or the air pressure 614.

[0070] In embodiments, the controller 108 may receive the meteorological parameters. For example, the controller 108 may receive the ambient temperature 608, the wind speed 610, the humidity 612, the barometric pressure 614, and the like. The paver 100 may include one or more meteorological sensors through which the controller 108 may receive the meteorological parameters, such as, but not limited to, an ambient temperature sensor (e.g., a thermometer 609), a wind speed sensor and / or a wind direction sensor (e.g., an anemometer 611), a humidity sensor (e.g., a hygrometer 613), a barometric pressure sensor (e.g., a barometer 615), and the like. The thermometer 609, the hygrometer 613, and the barometer 615 may measure the ambient temperature 608, the wind speed 610, the humidity 612, and the barometric pressure 614, respectively.

[0071] The controller 108 can dynamically update the rheological parameters 105 received from the mixer truck 602 based on the application time 606 in combination with the ambient temperature 608, the wind speed 610, the humidity 612, and / or the barometric pressure 614. The controller 108 can then regulate the target flow rates 158, the target frequencies 148, the target current 414, and the like based on the updated rheological parameters 105. Thus, the controller 108 can compensate for the change in water content when controlling the hydraulic vibrators 118 and / or the electric vibrators 402.

[0072] Although not shown, the system 600 may further include one or more concrete placing machines / distributors to place and / or distribute the concrete 101 from the mixer truck 602 in front of the paver 100.

[0073] Fig. 7 shows the paver 100 according to one or more embodiments of the present disclosure. In this example, the paver 100 is configured as a dual-track machine with two end structures 106. The paver is also configured with the split front auger 126, although this is not intended to be limiting. The dual-track machine may be configured with various embodiments, such as the rheometers 130, the depth sensors 202, the cameras 302, the sensor shakers, and the like.

[0074] The Fig. 8A-8C illustrate the paver 100 according to one or more embodiments of the present disclosure. Although the present disclosure has largely described the paver 100 as a slipform paver with the slipform mold 102 configured to form the slab 103, this is not intended to limit the present disclosure. The paver 100 may be a curb / channel paver (see Fig. 8A, designed as a machine with three crawlers), a guardrail paver (see Fig.8B, embodied as a tracked machine), a sidewalk paver, or the like. The slipform form 102 may be mounted on one side of the frame 104. The slipform form 102 may be an offset form mounted on the side of the frame 104. The slipform form 102 may be mounted in either a right-hand or left-hand pouring configuration. The slipform form 102 may be configured to form the concrete 101 into a curb with gutter 802, a guardrail 804, or the like as the paver 100 moves in the direction of travel. The slipform form 102 may form the curb with gutter 802 and / or the guardrail 804 in one continuous operation.

[0075] The slipform mold 102 has a hopper 806. The hopper 806 may also be referred to as a chute. The slipform mold 102 may also have a mold section 808. The mold section 808 may be arranged downstream of the hopper 806 in the direction of production. The mold section 808 may receive the concrete 101 from the hopper 806. The mold section 808 may form the curb with gutter 802 and / or the guardrail 804. The mold section 808 may have any suitable profile for forming the material into the curb with gutter 802, including straight curbs, mowed curbs, or sloped curbs. Likewise, the mold section 808 may include any suitable profile for forming the material into the guardrail 804, including a median guardrail, a parapet wall, or the like.

[0076] The hydraulic vibrators 118 may be submersible vibrators that can be mounted within the hopper 806. The hydraulic vibrators 118 may be arranged at a selected distance from the walls of the hopper 806. The hydraulic vibrators 118 may be arranged at a height aligned with the concrete 101 in the forming section 808.

[0077] The paver 100 with the slipform form 102 in the offset configuration may include various embodiments for determining the rheological parameters 105, such as the rheometers 130, the cameras 302, the sensor vibrators, and the like. The rheometers 130 may, for example, be arranged within the hopper 806. The hopper 806 may retain the concrete 101 so that the rheometers 130 can measure the rheological parameters 105 as the concrete 101 falls through the hopper 806 into the forming section 808. In another example, the cameras 302 may be coupled to a side of the frame 104 downstream of the slipform form 102 to generate the images 304. In another example, the electric shakers 402 may be disposed within the hopper 806 to capture the rheological parameters 105.The electric vibrators 402 can replace one or more of the hydraulic vibrators 118 in the existing slipform forms 102.

[0078] It is contemplated that the paver 100 with the slipform 102 in the offset configuration may or may not include the depth sensors 202. For example, the concrete 101 is not poured in front of the slipform 102, so the depth sensors 202 may not function in the offset configuration.

[0079] Referring again generally to the figures, it should be understood that the specific components of the hydraulic circuit, subcircuits, and paths to / from the hydraulic subcircuits of the paver 100 are not illustrated for clarity. It is further contemplated that the paver 100 may include hydraulic components, including inlet manifolds, outlet manifolds, hydraulic motors, hydraulic cylinders, filters, check valves, pressure relief valves, and the like.

[0080] The slipform form 102 may or may not have an adjustable width. The slipform form 102 may be a fixed-width form, an adjustable-width form, or the like. For example, the slipform form 102 may be an adjustable-width production form. The width between the side plates 124 may be adjustable. The adjustable-width production form may provide the paver 100 with the ability to form conical slabs by changing the production width while traveling. The adjustable-width production form may include a hydraulically extendable roller frame with two rollers.

[0081] In the case of a control algorithm, one or more program instructions or methods may be configured to operate via proportional control, feedback control, open-loop control, integral control, proportional-derivative (PD) control, proportional-integral control (PI) control, proportional-integral-derivative (PID) control, or the like.

[0082] The controller 108 may be communicatively connected to one or more electronic components of the paver 100. For example, the controller 108 may be communicatively connected to the hydraulic vibrators 118 (e.g., vibration sensors 144), the hydraulic manifold 140 (e.g., adjustable flow control valves 142), and / or the rheometers 130. The controller 108 may be communicatively connected to the electronic components via one or more controller area network buses or the like.

[0083] The controller may be a mobile machine control computer, a desktop computer, a workstation computer, a parallel computer, or other computer system configured to execute a program configured to operate the paver 100 as described throughout this disclosure.

[0084] As will be understood, the processors may include one or more processing elements known in the art. In this sense, the processors may include any microprocessor-like device configured to execute software algorithms and / or instructions. For the purposes of the present disclosure, the term "processor" or "processing element" may be broadly defined and include any device having one or more processing or logic elements (e.g., one or more microprocessor devices, one or more application-specific integrated circuit (ASIC) devices, one or more field-programmable gate arrays (FPGAs), or one or more digital signal processors (DSPs)). In this sense, the one or more processors may include any device configured to execute algorithms and / or instructions (e.g., program instructions stored in memory).

[0085] Furthermore, the memory may comprise any storage medium known in the art suitable for storing program instructions executable by the associated one or more processors. The storage medium may comprise, for example, a non-volatile storage medium. As another example, the storage medium may comprise, among other things, read-only memory (ROM), random access memory (RAM), a magnetic or optical storage device (e.g., a disk), a solid-state drive, and the like. It is further noted that the storage medium may be housed in a common control chassis with the one or more processors. In one embodiment, the storage medium may be remotely located with respect to the physical location of the one or more processors.

[0086] Any of the methods described herein may include storing results of one or more steps of the method embodiments in a memory. The results may include any of the results described herein and may be stored in any manner known in the art. The memory may include any memory described herein or any other suitable storage medium known in the art. Once stored, the results may be accessed in the memory and used by any of the method or system embodiments described herein, formatted for display to a user, used by another software module, another method, or another system, and the like. Furthermore, the results may be stored "permanently," "semi-permanently," "temporarily," or for a specific period of time.For example, the memory may be random access memory (RAM), although the results may not necessarily remain in memory indefinitely. It is further contemplated that each of the above-described embodiments of the method may include one or more steps of one or more other methods described herein. Furthermore, each of the above-described embodiments of the method may be performed by any of the systems described herein.

[0087] Those skilled in the art will recognize that the components, acts, devices, and objects described herein, as well as the related discussion, are used as examples for conceptual clarity, and that various modifications are contemplated. Accordingly, as used herein, the specific examples presented and the related discussion are intended to be representative of their more general classes. In general, the use of a specific example is intended to be representative of its class, and the omission of specific components, acts, devices, and objects is not intended to be limiting.

[0088] As used herein, directional terms such as "top," "bottom," "front," "back," "over," "under," "upper," "upward," "lower," "downward," and "downward" are intended to provide relative positions for the purpose of description and do not denote an absolute frame of reference. Various modifications to the described embodiments will be apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments.

[0089] With regard to the use of essentially any plural and / or singular terms, one skilled in the art may convert them from the plural to the singular and / or from the singular to the plural depending on the context and / or application. The various singular / plural conversions are not explicitly stated here for the sake of clarity.

[0090] It is believed that the present disclosure and many of the attendant advantages will be understood from the foregoing description, and that various changes may be made in the form, construction, and arrangement of components without departing from the disclosed subject matter or without sacrificing all relevant advantages. The described form is for illustrative purposes only, and the following claims are intended to encompass and include such changes. Furthermore, it is to be understood that the invention is defined by the appended claims. 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 63 / 557,176

[0001] US 6,055,486

[0020] US 9,764,762

[0043] US 11,254,359

[0043]

Claims

[1] Paver comprising: a slipform mold, the slipform mold being configured to mold concrete, the slipform mold comprising: a plurality of hydraulic vibrators, wherein the plurality of hydraulic vibrators are configured to vibrate in response to receiving hydraulic fluid, and one or more rheometers, wherein the one or more rheometers are designed to measure rheological parameters of the concrete, a hydraulic energy supply with a hydraulic pump, a hydraulic distributor, the hydraulic distributor being coupled between the hydraulic pump and the plurality of hydraulic vibrators, and a controller with one or more processors which are designed via executable code to: to cause the hydraulic distributor to regulate the actual flow rates of the hydraulic fluid from the hydraulic pump to the plurality of hydraulic vibrators, thereby regulating the actual frequencies of the plurality of hydraulic vibrators, and to dynamically update the target flow rates of the hydraulic fluid to the plurality of hydraulic shakers and / or the target frequencies of the plurality of hydraulic shakers based on the rheological parameters. [2] The paver of claim 1, wherein the plurality of hydraulic vibrators comprise a plurality of vibration sensors, the plurality of vibration sensors being configured to measure the actual frequencies of the plurality of hydraulic vibrators, the controller being configured to use the actual frequencies as feedback when causing the hydraulic distributor to regulate the actual flow rates of hydraulic fluid from the hydraulic pump to the plurality of hydraulic vibrators, thereby regulating the actual frequencies of the plurality of hydraulic vibrators, the actual frequencies being continuously updated toward the desired frequencies based on the actual frequencies measured by the plurality of vibration sensors. [3] The paver of claim 1 or claim 2, wherein the paver comprises a plurality of flow meters, the plurality of flow meters being configured to measure the actual flow rates, the controller being configured to use the actual flow rates as feedback when causing the hydraulic distributor to regulate the actual flow rates of the hydraulic fluid from the hydraulic pump to the plurality of hydraulic vibrators, thereby regulating the actual frequencies of the plurality of hydraulic vibrators, the actual flow rates being continuously updated toward the desired flow rates based on the actual flow rates measured by the plurality of flow meters. [4] The paver of claim 3, wherein the plurality of flow meters are coupled between the hydraulic manifold and the plurality of hydraulic vibrators. [5] Paver according to one of the preceding claims, wherein the rheometer or the plurality of rheometers are impeller rheometers. [6] A paver according to any one of the preceding claims, wherein the one or more rheometers comprise a plurality of rheometers, the controller being adapted to calculate a weighted average of the rheological parameters from the plurality of rheometers. [7] Paver according to one of the preceding claims, wherein the controller is adapted to regulate a speed of the paver based on the rheological parameters. [8] A paver according to any one of the preceding claims, wherein the paver comprises one or more cameras, the one or more cameras being adapted to generate images of a top surface of the concrete, the controller being adapted to receive the images, detect one or more surface voids in the images, and dynamically update the target frequencies and / or the target flow rates based on the one or more surface voids detected in the images. [9] A paver according to any one of the preceding claims, wherein the paver comprises an electric vibrator, a vibrator motor controller and an ammeter, wherein the vibrator motor controller is configured to set the electric vibrator to a fixed voltage and a fixed vibrator frequency, wherein the ammeter is configured to measure an actual current to the electric vibrator, wherein the controller is configured to dynamically update the target frequencies and / or the target flow rates based on the actual current. [10] A paver according to any one of the preceding claims, wherein the slipform mold is an insert mold and is configured to form the concrete into a slab, the slipform mold comprising a finishing pan and two side plates, the one or more rheometers being arranged laterally between the two side plates. [11] The paver of claim 10, wherein the one or more rheometers are longitudinally disposed between the plurality of hydraulic vibrators and the finishing pan. [12] The paver of claim 11, wherein the slipform mold includes a grout hopper auger, the grout hopper auger extending between the two side plates, the grout hopper auger being longitudinally disposed between the plurality of hydraulic vibrators and the finishing pan. [13] Paver according to claim 12, wherein a rotational speed of the grout container screw is adjusted based on the speed of the paver and / or the rheological parameters. [14] The paver according to any one of claims 11 to 13, wherein the one or more rheometers comprise a plurality of rheometers, wherein the controller is configured to dynamically update the target frequencies and / or the target flow rates for the plurality of hydraulic vibrators located on a left side and a right side of the slipform mold based on the rheological parameters from the plurality of rheometers located on a left side and a right side of the slipform mold, respectively. [15] Paver according to one of claims 11 to 14, comprising one or more depth sensors, wherein the one or more depth sensors are adapted to generate depth maps of the concrete, wherein the controller is adapted to receive the depth maps and to determine the rheological parameters based on the depth maps in combination with the one or more rheometers. [16] The paver of claim 15, wherein the one or more depth sensors are disposed above the plurality of hydraulic vibrators. [17] A paver according to any one of the preceding claims, wherein the slipform mold is an offset mold and is configured to form the concrete into a curb with gutter or a guardrail, the slipform mold comprising a hopper and a molding section, the one or more rheometers being arranged in the hopper. [18] A paver according to any one of the preceding claims, wherein the paver is a two-track machine, a three-track machine or a four-track machine. [19] A paver according to any one of the preceding claims, wherein the paver is in communication with a mixer truck, the paver being adapted to receive the rheological parameters, an insertion position and an insertion time from the mixer truck, the controller being adapted to dynamically update the target flow rates and / or the target frequencies based on the rheological parameters, the insertion position and the insertion time. [20] Paver comprising: a slipform mold, the slipform mold being configured to mold concrete, the slipform mold comprising: a plurality of electric vibrators, wherein the plurality of electric vibrators are configured to vibrate in response to receiving electrical energy, and one or more rheometers, wherein the one or more rheometers are designed to measure rheological parameters of the concrete, an electrical energy source, a vibrator motor controller, wherein the vibrator motor controller is coupled between the electrical energy source and the plurality of electrical vibrators, and a controller with one or more processors which are designed via executable code to: to cause the vibrator motor controller to regulate the actual current from the electrical power source to the plurality of electric vibrators, thereby regulating the actual frequencies of the plurality of electric vibrators, and to dynamically update the target current to the plurality of electric vibrators and / or the target frequencies of the plurality of electric vibrators based on the rheological parameters.

Images