Method for operating a soil compacting machine and soil compacting machine, in particular asphalt roller

Abstract

The invention relates to a method for operating a soil compaction machine and to a soil compaction machine, in particular an asphalt roller.

Description

[0001] The invention relates to a method for operating a soil compaction machine and to a soil compaction machine, in particular an asphalt roller.

[0002] Soil compaction machines, in particular tandem rollers, are known and described, among other places, in EP3926096B1. Such self-propelled soil compaction machines are frequently used, for example, in road and path construction, to compact a material mat laid on a subgrade. This can be, for example, an asphalt mat laid by a paver or similar material. Such soil compaction machines can have one or more driving devices, in particular, for example, one or more wheels and / or roller drums. The roller drums can, in particular, be essentially drum-shaped devices with an essentially hollow cylindrical drum shell, which either rolls directly on the subgrade to be compacted on its outer surface or has a covering arranged on the outer surface.To compact this material mat, the soil compaction machine may pass over the mat once or multiple times, thereby compacting the material statically and / or dynamically. To enable a dynamic compaction process exceeding the static self-weight, the soil compaction machine may include one or more vibration excitation devices that subject the roller drum to vibrations in a manner known per se. Such vibration excitation devices can be switched between a deactivated and an activated state. In the activated state, the vibration excitation devices generate vibrations; in the deactivated state, they do not. Furthermore, the vibration frequency and / or the vibration amplitude and / or the direction of the vibration amplitude may be variable.

[0003] In addition to pure compaction operations, such soil compaction machines can also include one or more auxiliary units, such as one or more bulk material spreaders or one or more edge-dressing devices, as disclosed, for example, in EP3926096A1. Bulk material spreaders can be designed to distribute bulk material, such as grit, onto the soil surface to, for example, increase the skid resistance of a roadway. Bulk material spreaders can typically be switched between an activated state, in which they discharge bulk material, and a deactivated state, in which they do not discharge bulk material. Furthermore, such bulk material spreaders can be designed such that the amount of bulk material they distribute per unit area is variable. Edge-dressing devices can be designed to smooth the edge of a material or...The edge processing unit is used to cut and / or press down the flooring mat to obtain a uniformly shaped and / or oriented edge. For this purpose, the unit may include one or more processing rollers, such as cutting and / or pressing rollers. In the activated state, one or more of these processing rollers are in a lowered position, partially extending downwards above the top surface of the material mat being processed or partially immersed in its thickness. In the deactivated state, the one or more processing rollers of the edge processing unit are preferably raised above the surface of the material mat with their apex at the bottom, so that in this case there is no longer any contact between the edge processing unit and the subfloor, in particular the material mat.

[0004] Operating a soil compaction machine of this type can present the operator with considerable challenges, especially when using one or more auxiliary units simultaneously. Besides moving the compaction machine as gently as possible across the material mat to prevent, for example, the machine itself from creating unevenness in the soil, precise use of one or more auxiliary units is often necessary to avoid creating defects in the material mat and to achieve the most uniform and desired result.

[0005] At the same time, it may be desirable to be able to design the driving and working operation of such a construction machine at least partially semi-autonomous and / or fully autonomous, especially with regard to the use of one or more of the additional units.

[0006] Based on this, the object of the invention is therefore to optimize the operation of a soil compaction machine.

[0007] The problem is solved by a method for operating a soil compaction machine and by a soil compaction machine, in particular an asphalt roller, according to the independent claims. Preferred embodiments are specified in the dependent claims.

[0008] A first aspect of the invention relates to a method for operating a soil compaction machine.

[0009] In principle, both the soil compaction machine used to carry out the inventive method and the inventive soil compaction machine described in more detail below can be self-propelled and may, for example, include a primary drive unit, such as an internal combustion engine and / or one or more electric motors, which provides the drive energy required for travel and operation directly or indirectly. The soil compaction machine can have a machine frame as its essential supporting structure. This frame can support one or more roller drums over which the soil compaction machine rolls on the ground surface during travel. In addition to a roller drum, the soil compaction machine can also include one or more wheels and thus be designed, for example, as a so-called roller train.It is also possible for the soil compaction machine to have two or more roller drums, and in particular a front and a rear roller drum. The soil compaction machine can thus be designed as a tandem roller. The soil compaction machine can also be designed as a so-called combination roller with a roller drum and a set of smooth tires. Part of the soil compaction machine can be an operator's platform, in particular an operator's platform designed as a driver's cab. The soil compaction machine can have a steering system. The steering system can be, for example, an articulated steering system or a turntable steering system. If it is a turntable steering system, a front and / or a rear roller drum and / or wheel set can each be connected to the machine frame via a turntable.In the case of articulated steering, the machine frame of the soil compaction machine can comprise a front carriage and a rear carriage, on each of which one or more driving devices, in particular roller drums, are arranged and which are connected to each other via an articulated joint, in particular a pendulum articulated joint.

[0010] The method according to the invention comprises, in one step a), the detection of a soil surface located in the working direction in front of the soil compaction machine, with portions of a material mat and a secondary surface running alongside the material mat separated by an actual soil edge, using a soil surface detection device. It is understood that the soil compaction machine is or is appropriately aligned relative to the actual soil edge for this purpose. This can be achieved by appropriately aligning the entire soil compaction machine relative to the actual soil edge and / or a detection area of ​​a soil surface detection device relative to the actual soil edge, as described in more detail below.

[0011] The working direction refers specifically to the current direction of travel of the soil compaction machine. In surface compaction work, soil compaction machines of this type are frequently moved in reverse across the area to be compacted. The working direction thus describes the current direction of movement of the machine and can therefore alternate between a forward and a reverse direction and vice versa in a reversing operation.

[0012] The term "soil surface located in front of the soil compaction machine in the direction of travel" refers specifically to an area of ​​the soil surface that, with respect to the current direction of travel of the soil compaction machine, has not yet been traversed by the machine. This does not imply that this soil surface, or a portion thereof, has not already been passed over by the soil compaction machine in a previous pass. With respect to the current movement of the soil compaction machine, the soil surface located in front of the machine in the direction of travel is thus situated in front of the machine when the machine and the soil surface are projected onto a horizontal reference plane in the direction of travel. As the soil compaction machine moves in this direction, it will at least partially pass over this area.The soil surface located in the direction of travel in front of the soil compaction machine may also include portions which, when projecting the current travel path of the soil compaction machine onto a virtual horizontal reference plane, do not lie in the current travel path of the soil compaction machine if the movement of the soil compaction machine continues.

[0013] With regard to the soil surface in front of the soil compaction machine in the direction of travel, a distinction can be made between the portion formed by a material mat and the portion located alongside or adjacent to the material mat. The area formed by the material mat can also be referred to as the material mat surface. The portion of the soil surface adjacent to the material mat surface can also be referred to as the secondary surface. For the soil surface treatment by the soil compaction machine, the portion formed by the material mat surface is obviously relevant, as this is where the soil material is to be compacted and shaped and / or the edges treated. Therefore, at least a portion of the soil surface formed by the material mat can also be considered the soil surface to be treated.The portion formed by the secondary surface can accordingly be referred to as the soil surface not to be compacted. The soil surface to be compacted thus refers specifically to that area of ​​the soil surface which, if the soil compaction machine continues moving in the current working direction, will be driven over by the roller drum and / or compacted by the auxiliary unit, and / or is intended to be compacted. The soil surface not to be compacted, on the other hand, runs horizontally alongside it when viewed in the working direction, in particular perpendicular to the working direction, and refers to an area of ​​the soil surface which is currently neither driven over by the soil compaction machine nor intended to be compacted by it in any other way.

[0014] The material mat, or its surface, is delimited from the surrounding surface by a ground edge or border. This border is the edge that separates the material mat from the surrounding surface. This can be, in particular, the lateral edge and / or sidewall of a material mat extending longitudinally, especially an asphalt layer laid on the subgrade. Within the area of ​​the asphalt layer, it may be desirable to compact the material mat using a soil compaction machine, for example, by driving over it. The material mat can extend longitudinally in the direction of travel, as is the case with a roadway. Outside the material mat, however, compaction of the ground surface by the soil compaction machine is generally undesirable.A soil edge exists at the boundary between the material mat and the soil surface being compacted. This soil edge, located in the working direction in front of the soil compaction machine, is also referred to below as the current soil edge. In the area of ​​the soil edge, and beyond it, not only does the material forming the current soil surface often change, but also the height of the soil surface. This means that a stepped surface structure can, and usually does, exist in the transition zone between the surface area adjacent to the material mat and the surface formed by the material mat. This stepped surface structure is called the soil edge.

[0015] The application of the material mat can be carried out, for example, by a paver or in a preceding step before the material mat is processed by the soil compaction machine. The paver can apply the material mat, particularly an asphalt mat, to the ground surface with a resulting thickness, width, and length. However, the edges of this material mat, or ground edges, which form and extend in the direction of travel of the paver, can exhibit material accumulations, bulges and / or recesses transverse to the longitudinal extent of the material mat, and / or other deviations from a straight edge of the material mat due to operational requirements. To straighten these ground edges, it is known that a soil compaction machine has a so-called edge-processing device, as described in more detail below.Additionally or alternatively, the course of one or more ground edges can also be used for orientation purposes, as described in more detail below. This does not necessarily require any processing of the ground edge, for example, for leveling purposes. The laid material mat can, for instance, be bordered on one or both longitudinal sides, such as by a curb. In these applications, edge processing is not usually carried out. In subsequent processing steps, the focus with this type of material mat design shifts to preventing damage to the existing edge by optimizing navigation along the ground edge.

[0016] According to the invention, the ground surface located in the working direction in front of the soil compaction machine can be detected by means of the ground surface detection device. This device measures portions of a material mat and a secondary surface running alongside the material mat, separated by an actual ground edge. The detected area of ​​the material mat thus comprises at least one portion of the ground surface to be compacted and, in particular, represents an area of ​​an asphalt mat that extends over a desired region and is, for example, to be driven over by the soil compaction machine. In other words, this portion defines a target area to be driven over by the soil compaction machine. The portion of the ground surface not to be compacted, on the other hand, lies next to this track and, for example, defines an area of ​​the ground surface that is not to be driven over by a roller drum.The portion of the soil surface not to be compacted can also include part of the material mat, but is usually predominantly formed by the secondary surface. Within this area of ​​the soil surface not to be compacted, or the secondary surface, this part of the material mat is not part of the soil surface currently being compacted by the soil compaction machine.

[0017] The soil surface detection device is a device designed to detect the soil surface. This detection can be carried out in various ways, such as by measuring the temperature of the soil surface, spatially (e.g., by measuring distances relative to the soil compaction machine), and / or by capturing and analyzing images of the soil surface in front of the soil compaction machine in the direction of travel, as illustrated in more detail below. The soil surface detection device comprises a detection area. In this context, the detection area refers to the area of ​​the soil surface that is currently being detected by the device. If the soil surface detection device is moved relative to the soil surface, for example, together with the soil compaction machine, the detection area also moves.The area of ​​the ground surface currently located within the detection range relative to the ground surface detection device. For the method according to the invention, it is provided that the ground surface detection device detects an area spanning the ground edge, in particular horizontally and transversely to a forward direction of the soil compaction machine, or simultaneously an area of ​​the material mat and an area of ​​the secondary surface delimited from it by the actual ground edge and adjacent to it via the actual ground edge. For the method according to the invention, it can therefore also be provided, in particular, that the detection range of the ground surface detection device is initially aligned such that its detection range currently detects a portion of the ground surface formed by the material mat, a portion of the secondary surface, and the actual ground edge separating these two portions.Alignment can be achieved, for example, by appropriately maneuvering the soil compaction machine and / or another machine and / or device carrying the soil surface detection device and / or by adjusting the detection range of the soil surface detection device relative to the rest of the soil compaction machine, in particular relative to its at least one roller drum.

[0018] The soil compaction machine can include a travel track in front of the machine and / or a track of the auxiliary unit(s), as described in more detail below, in the direction of the current work. It may be designed so that the area within the current travel track of the soil compaction machine describes a region of the soil surface that will be worked if the machine continues its movement in the direction of work. This corresponds to a currently predicted path of the travel track or a projection of the current path of the soil compaction machine forward in the direction of work and / or a currently predicted path of the track or a projection of the current path of the respective working unit of the soil compaction machine forward in the direction of work.

[0019] For the method according to the invention, in step b) the actual edge profile extending in the working direction between the portions of the material mat or material mat surface and the secondary surface of the soil surface located in front of the soil compaction machine in the working direction is determined by a control unit based on the soil surface detected by the soil surface detection device or data on the soil surface properties. The control unit can, for example, be a suitable computer device with a computer program that is capable of determining the profile of the actual soil edge in the detection area based on the data detected by the soil surface detection device. This can, for example, be an image processing program and / or a program for evaluating three-dimensional surface data.The actual edge profile refers to the path of the actual soil edge between the material mat or the material mat surface and the adjacent surface, located in front of the soil compaction machine in the direction of its current working direction. In this area, one or more of the local actual parameters of the soil surface between the material mat and the adjacent surface can change abruptly across the soil edge. This could be, for example, a sudden temperature change, as is the case with an asphalt mat laid by a paver prior to compaction, which is significantly warmer than the adjacent soil area. Additionally or alternatively, there may be differences in color and / or structure of the surface itself.Thus, the ground surface formed by the material mat, for example in the form of an asphalt mat, can be significantly darker than the ground surface formed by the adjacent surface. Furthermore, or alternatively, the laid material mat is usually vertically raised relative to the surface of the adjacent ground area or the adjacent surface and / or separated by a step formed by the material mat itself at its edge. Alternatively, particularly in the case of an edge restraint, for example by means of a curb or similar, the adjacent ground surface can also project vertically relative to or overhang the surface of the material mat. Therefore, the position or...The course of the actual soil edge can also be determined by recording distance information of the soil surface in this transition zone relative to the soil compaction machine, and in particular relative to the soil surface detection device. Based, for example, on one or more of these soil properties, which change abruptly across the edge between the material mat and the area adjacent to the material mat, the boundary between these two areas, or rather the course of this boundary, can be determined, particularly in a longitudinal direction of the portion of the soil surface to be treated. This course is also referred to below as the actual edge course of the soil edge.

[0020] The actual edge profile can be comparatively irregular and may include areas where, compared to an ideal or desired edge profile, there is excess material extending towards the adjacent surface and / or where excess material protrudes vertically, etc. Adjustment movements of a paver's screed, irregularities in the material feed to the paver's screed, operator errors, and / or other oversights can also lead to undesirable irregularities in the actual edge profile. This can manifest, for example, as a meandering edge profile. It is now planned that in step c), the control unit will determine or define a target edge profile. The target edge profile thus represents a correction of the actual edge profile or a desired edge profile.To define the target edge profile, it may be stipulated that the target edge profile lies entirely within the area of ​​the material mat or the portion of the ground surface covered by the ground surface detection device that comprises the ground surface to be treated, or, in the case of treating a ground surface to be treated formed by a material mat, particularly an asphalt mat. A criterion for determining the target edge profile can therefore be, in particular, that it always lies within the material mat, which may also include the requirement that the target edge profile at least partially coincides with the actual edge profile. By stipulating that the determined target edge profile always lies within the material mat, it can be ensured that the target edge profile ideally does not pass through areas where there is no material from the material mat.

[0021] The detection process in step a) is preferably contactless with the ground surface. For this purpose, the ground surface detection device may, for example, include one or more ultrasonic sensors, laser sensors, lidar sensors, radar sensors, thermal imaging or infrared cameras, and / or 3D and / or 2D cameras. Using one or more such sensors, the distance between the ground surface and the sensor(s) can be determined, and the course and / or shape of the ground surface within the detection range, or a model thereof, can be determined from a multitude of measurement points, including, in particular, a point cloud. This allows, for example, the determination of the position and course of the actual ground edge of the material mat, as this may have a side wall facing the adjacent surface.Additionally or alternatively, the actual temperature of the ground surface within the detection range can be recorded and determined using a thermal imaging camera. A sudden temperature change typically occurs at the ground edge, which is detected in this way and can be used as an indicator of the location and course of the actual edge within the detection range. Furthermore, the location of the actual edge can also be determined using a suitable image processing method. The surface color of the material mat, especially an asphalt mat, often differs from the surface color of an adjacent area of ​​the ground. This can be determined using suitable image analysis software, for example, based on differences in brightness.It may be provided that the data acquisition in step a) is performed by exactly one sensor, for example, a single camera, in particular a 2D or 3D image or video camera or a thermal imaging camera. However, the measurement data from several identical or similarly functioning sensors may also be used. Additionally or alternatively, it may be provided that at least two sensors are included in the ground surface detection device, which determine different properties of the currently detected ground surface, such as two properties from the group consisting of temperature, color, contrast, and the geometric profile of the ground surface.In such a case, it is ideal if the individual detection areas of the at least two sensors overlap at least partially, in particular by at least 50% of the area of ​​one of the two detection areas, so that, for example, multiple pieces of information on local properties of the ground surface are available simultaneously for a given area. The ground surface detection device can be designed such that its detection area is statically or dynamically variable. It can also be provided that the detection area is simultaneously and completely scanned by a measuring beam, particularly repeatedly.

[0022] Prior to step a), the ground surface detection device can be calibrated. This can involve, for example, calibrating a measuring distance between the ground surface detection device and the ground surface, particularly the area in front of the soil compaction machine in the working direction, and / or one or more reference points to the ground surface emanating from the ground surface detection device. In this way, for example, the current orientation of the ground surface detection device can be determined and used for carrying out the procedure.

[0023] Additionally or alternatively, calibrating the floor surface detection device can also include adjusting the device or control unit to the specific characteristics of the material mat currently being processed and / or its surroundings, particularly the secondary surface. This can involve, for example, calibrating a temperature measurement range, calibrating one or more reference colors and / or brightness and / or contrast, one or more reference distances, etc. Furthermore, calibration can also additionally or alternatively involve defining one or more parameters characteristic of the current material mat and / or the secondary surface, and / or one or more parameters of the geometric shape of the floor surface that change across the actual floor edge, such as surface roughness, the height of a side wall of the material mat, etc.

[0024] The measurement in step a) can be performed directly by a soil surface detection device mounted on the soil compaction machine itself, particularly while the machine is traveling in its current direction. It is therefore advantageous if the measurement in step a) takes place while the soil compaction machine is traveling and / or operating. In this case, the soil compaction machine can carry the soil surface detection device and measure the soil surface itself while traveling, particularly at time- and / or distance-dependent intervals or continuously. Alternatively or additionally, it is possible for the soil surface measurement in step a) to be performed indirectly by a machine other than the soil compaction machine.Such an alternative machine could be, for example, a road paver and / or another soil compaction machine. If this is the case, it may be provided that, within at least one of steps a), b), or c), data is transmitted directly or indirectly from the alternative machine to the soil compaction machine. This data may include, in addition to data relating to the recorded soil surface itself for determining the actual boundary profile or data relating to one or more of its properties, position data and / or timestamps, particularly of the material mat. The data transmission may also take place via a remote server or a comparable decentralized location.It may then be provided that, during the ongoing operation of the soil compaction machine, the current position and, in particular, the current orientation of the soil compaction machine are determined, and subsequently, current position data and, in particular, orientation data of the soil compaction machine are assigned to position data of the material mat.

[0025] Regarding the specific parameter(s) used by the control unit to determine the position and course of the boundary between the portion of the recorded soil surface to be processed and the portion not to be processed, as well as the actual boundary course in step b), various options can preferably be used. For example, a temperature difference between the soil surface formed by the material mat and the adjacent soil surface can be used.Particularly if the material mat is an asphalt mat, it can be considerably warmer than the adjacent soil surface during typical soil compaction machine operations. This allows the actual edge profile to be identified relatively precisely and reliably by the temperature gradient across the edge between the asphalt mat and the adjacent soil surface. Additionally or alternatively, color and / or contrast differences between the surface of the material mat and the adjacent surface can also be used to identify the actual edge or the course of the actual soil edge.As a further supplement or alternative, the actual ground edge can also be identified based on a recorded, particularly local, spatial profile of the ground surface, such as that captured with a 3D camera. Because the material mat on which the soil compaction machine moves has been laid on the subsoil, it may be visible as a vertically rising material edge or step compared to the ground surface adjacent to the mat. This determination can be carried out using the control unit, which may include one or more suitable computer programs, for example, for image processing and / or image analysis. The recording and determination of the actual ground edge...The actual boundary profile can thus be determined based on the two- and / or three-dimensional acquisition of the ground surface by the ground surface detection device. This can include information on the relative and / or absolute distance of one or more reference points. Accordingly, the control unit can be designed such that the actual boundary profile is available in the form of a line or as a polygon.

[0026] Various methods and conditions can be used for determining the target boundary profile in step c). The target boundary profile can be smoothed relative to the actual boundary profile using a smoothing function. This can be achieved, for example, using a Kalman filter, least-squares estimation, etc. It is also possible to determine local minima, maxima, and / or inflection points of the actual boundary profile, particularly by projecting it onto a virtual horizontal reference plane, and to use these to determine the target boundary profile. Additionally or alternatively, further boundary conditions can be defined, such as minimum and / or maximum permissible curve radii, minimum and / or maximum permissible distances between local minima and / or maxima, a defined lateral offset, etc.It may be necessary to determine an approximation curve or similar to define the target edge profile. It may be specified that the target edge profile lies entirely within the material mat or within the portion of the floor surface to be processed, as detected by the floor surface detection device. In practical application, one or more areas may be present that represent a special situation with regard to the target edge profile and, for example, have one or more defects, such as those caused by process errors during installation, and / or include structural features and / or fixtures, such as manhole covers, etc. – i.e., areas that cannot and / or should not be processed by the edge processing device.The target edge profile, which lies entirely within the material mat, therefore applies particularly to areas where no such special situations exist. Those sections of the area where a special situation exists can be marked and / or identified automatically, for example by the control unit using a suitable image processing program, and / or manually by an operator, for example in advance and / or during the process. Various methods can be used to determine the target edge profile. For example, three-dimensional information obtained via the floor surface detection device allows for comparison by comparing the height values ​​of the points relative to the floor surface detection device.Additionally or alternatively, a Canny algorithm can be used for image analysis, which determines the course of an edge based on contrast differences in a captured image. Sectional edge analysis is also possible. Additionally or alternatively, computational methods, such as those based on a second-degree polynomial, can be used to determine an inner boundary. Furthermore, a Douglas-Peucker algorithm (also known as the Ramer-Douglas-Peucker algorithm; optionally with an offset) can be used. Multiple approximations of the edge and the exclusion of outliers in each iteration are also possible, so that the desired boundary profile is not unduly affected by defects, for example.

[0027] The determination of the target boundary line can be continuously updated during the ongoing operation and / or travel of the soil compaction machine and adapted to the current actual boundary line or the area of ​​the soil surface currently detected by the soil detection device. For this purpose, the data used to determine the target boundary line can be continuously updated. The control unit can include a data storage unit in which data continuously acquired by the soil surface detection device is stored and used for steps b) and c).

[0028] The method according to the invention can be further developed such that, in step d), a visually perceptible steering recommendation is displayed and / or output to an operator of the soil compaction machine in an edge tracking mode. In this case, a steering recommendation is output to the operator of the soil compaction machine, which, if implemented accordingly, results in the soil compaction machine being guided along the desired edge path. This output of the steering recommendation can, in particular, take into account current steering settings and / or a virtual driving path or driving edge currently projected computationally and / or visually in the forward / working direction. Specifically, the steering recommendation can, for example, be provided by means of a display screen and / or an LED indicator.It is possible to overlay the target boundary profile onto a real-time recording of the actual boundary profile, such as a video feed, or onto an image captured by the ground surface detection device. With such an overlay, the actual boundary profile (or real boundary trajectory) and the target boundary profile (or optimized boundary trajectory) can be easily compared directly. In this case, the operator also has the option of considering other boundary factors, such as comparing the target boundary profile suggested by the control unit with the actual ground surface conditions and making appropriate corrections, for example, in the presence of ground obstacles. The specific output can be displayed, for example, on a screen of the soil compaction machine and / or AR glasses. augmented reality The procedure may be performed via glasses) and / or another mobile device, such as a smart device, in particular a smartphone and / or tablet, a remote control and / or a display of a teleoperator. Additionally or alternatively, the recommendation and / or display of a dog walk offset may also be provided, in particular a lateral offset from the intended edge line perpendicular to the direction of travel of a bandage located at the rear in the direction of travel towards the center of the material mat.

[0029] In addition to or as an alternative to step d), step e) may include the control unit guiding the soil compaction machine in an edge-following mode along the target edge. Guiding the soil compaction machine may include, in particular, executing steering and driving commands, such as braking and acceleration, changes of direction, etc. Operating the soil compaction machine in edge-following mode can thus be part of a semi- or fully autonomous operation of the machine. The control unit can generate, or be configured to generate, corresponding steering and driving commands based on the determined target edge and the current position of the soil compaction machine.

[0030] The display and / or output of a visually perceptible steering recommendation in step d) and / or the guidance of the soil compaction machine in step e) can be performed with a defined lateral offset from the target edge and / or actual edge. It is therefore possible to define and specify a target distance of a driving and / or working track of the soil compaction machine from the target edge and / or actual edge. In this case, a movement track of the soil compaction machine thus runs horizontally and perpendicular to the target edge and / or actual edge. This allows the soil compaction machine to move not only within the edge area of ​​the material mat, but also further into the area of ​​the material mat, offset from the actual edge.

[0031] At the start of a work operation of the soil compaction machine according to the inventive method described above, it may be necessary to maneuver the soil compaction machine, for example, from its current position into a relative position, or to maneuver it into a position in which it can travel along the desired edge. For this purpose, it may be provided that the soil compaction machine is operated in an approach mode prior to steps c), d), and / or e). This mode may include determining and / or displaying an approach path of the soil compaction machine from its current position to the determined actual edge and / or the desired edge. Unlike the edge tracking mode, the approach mode thus serves in particular to align the soil compaction machine with the desired edge.In particular, the approach mode focuses on approximating the driving and / or working path of the soil compaction machine to the target edge in such a way that the soil compaction machine can then be guided or driven along the target edge, for example in edge tracking mode. Functionally, the approach mode thus focuses on bringing the soil compaction machine closer to the actual and / or target edge, and the edge tracking mode focuses on guiding the soil compaction machine along the actual and / or target edge.As long as the soil compaction machine is operating in approach mode, it may be designed to deactivate one or more auxiliary units, such as an edge cutter, a vibration excitation device, and / or a bulk material spreader. This is to prevent, for example, unwanted cutting of the material mat across its surface rather than within its edges by an auxiliary unit designed as an edge-processing device. During operation in approach mode, the control unit may suggest steering commands, for example, to an operator of the soil compaction machine, and / or control the soil compaction machine itself using suitable steering commands.

[0032] The transition from approach mode to edge tracking mode can be incremental, continuous, or controlled by the control unit. While possible, it is preferred that the transition, particularly from approach mode to edge tracking mode, is not abrupt but rather continuous and controlled by the control unit. This can be achieved, in particular, by adjusting the distance of a reference point—for example, the ground surface detection device itself—on the soil compaction machine, especially a roller drum and / or an edge-working device, relative to the actual and / or target edge profile. The reference point can also change depending on the current direction of travel of the soil compaction machine.

[0033] It is possible to control an auxiliary unit of the soil compaction machine depending on the relative position of the soil compaction machine to the actual and / or target edge profile. For example, it may be designed so that an auxiliary unit configured as an edge cutter can only be moved from a passive state (not cutting the subsoil) to an active state (cutting the subsoil) if the distance of the soil compaction machine or a defined reference point thereof is below a defined maximum distance and / or if the current position or track of the respective auxiliary unit corresponds to the target edge profile or is in a position from which, upon activation, it would be in a desired relative position to the target edge profile.Part of the edge cutting device can also be an embossing roller, which can be used to emboss three-dimensional structures into the surface of the material mat, for example to create so-called ". rumble strips" to obtain. It can also be provided for such an embossing roller to be positioned independently of such an edge-cutting device on the soil compaction machine between a transport position raised relative to the material mat and a working or embossing position lowered to the surface of the material mat. The embossing roller can be arranged on the rest of the soil compaction machine such that it lies next to the track of a roller drum or within the track.

[0034] In addition to simply compacting the subsoil by driving over it with the soil compaction machine, the machine may be equipped with one or more auxiliary units that provide one or more additional functions, particularly supplementary work functions. This can be achieved by activating an auxiliary unit when the soil compaction machine is predominantly, and especially exclusively, operating in edge-following mode.This is particularly useful for such additional functions where the bottom edge of a material mat to be processed by the soil compaction machine is treated, in particular pressing and / or cutting, or treatment along the bottom edge of a material mat to be processed by the soil compaction machine takes place, such as compaction using a vibration excitation device and / or the application of bulk material to the surface of the material mat, such as grit to increase the grip of the surface.

[0035] It is therefore possible for the soil compaction machine to include an edge-processing unit as an additional component. Such edge-processing units can have a forming wheel, in particular a cutting wheel, and / or a pressure roller. During operation, the forming wheel, often positioned axially alongside the roller drum, can be lowered from above with its lower apex below the lower apex of the roller drum, thus penetrating the thickness of a material mat and cutting it, and / or being pressed against the side wall of the edge of the material mat, thereby shaping it. In this case, in step d), an existing soil edge can be processed with the edge-processing unit to create a desired soil edge. In particular, it can be provided that the orientation of the soil compaction machine or the edge-processing unit is adjusted accordingly.whose guidance along the desired edge profile is based on a cutting edge and / or pressure edge defined by the edge cutting device.

[0036] Additionally or alternatively, the soil compaction machine can include a bulk material spreader with a defined resulting discharge width on the soil surface as an auxiliary unit. Such bulk material spreaders can be towed by soil compaction machines to distribute bulk material, such as gravel, onto the soil surface while the compaction machine is in operation. In this case, the alignment of the soil compaction machine, or its guidance along the desired edge, can be based on the resulting discharge width of the bulk material spreader. The discharge width of the bulk material spreader refers to the width of the strip, horizontally and perpendicular to the direction of travel of the soil compaction machine, over which the bulk material is discharged from the spreader onto the soil surface.Specifically, this can mean that in step d), the defined resulting discharge width of the bulk material spreader of the soil compaction machine, or a portion thereof, is compared with the target edge profile. Additionally or alternatively, it is possible to position the bulk material spreader on the rest of the soil compaction machine via a lateral displacement device and to control a lateral adjustment of the bulk material spreader relative to the rest of the soil compaction machine, depending on the determined target edge profile and / or the recorded actual edge profile. Additionally or alternatively, this can also be achieved by appropriately controlling a crab-like offset.

[0037] Furthermore, or alternatively, the soil compaction machine may include a vibration unit or vibration excitation device as an additional component, and in step d) the vibration unit is varied when the soil compaction machine switches out of edge-following mode. Such vibration units for soil compaction machines are known and can, for example, include a circular vibrator, a directional vibrator, or an oscillating vibrator using one or more unbalanced exciters. With the aid of such vibration units, a dynamic compaction effect that goes beyond a purely static compaction effect can be achieved, thereby increasing the compaction performance of the soil compaction machine.By operating the vibration unit only until the soil compaction machine switches out of edge tracking mode, as may be the case when changing direction, it can be ensured, for example, that the additional compaction power generated by the vibration unit is only made available by the soil compaction machine when it is in a defined alignment and driving position relative to the target edge and / or is currently being guided along the target edge and / or is not currently overlapping the target edge towards the secondary surface.

[0038] Soil compaction machines are frequently moved across a soil surface in a reversing operating pattern or rolling pattern, for example, to repeatedly and / or overlappingly traverse an area in lanes. It can therefore be advantageous to detect the current direction of travel of the soil compaction machine. This can be achieved, for example, using one or more direction sensors that detect the direction of rotation of a roller drum or similar. Additionally or alternatively, the current direction of travel can also be determined using the soil detection system, for example, by comparing two images of the soil surface taken sequentially.The time and / or distance between the two images to be compared, captured by the soil detection device, is so small that the two images overlap at least partially with respect to the respective soil surface, in particular by at least 50%. Using the direction sensor, the current direction of travel of the soil compaction machine can thus be determined, and consequently, the front side of the soil compaction machine in the direction of travel and / or the side on which the soil area in front of the soil compaction machine is located in the direction of travel. Therefore, the direction sensor can also be used to determine, additionally or alternatively, whether a direction of travel, for example, forward, is being changed to another direction, for example, reverse.It can now be implemented that the ground surface detection device switches depending on the direction of travel. This ensures that even when the soil compaction machine changes direction, the area of ​​soil in front of the machine in both forward and reverse travel is detected by the ground surface detection device. The specific switching action could, for example, involve switching from one sensor element of the ground surface detection device, such as a camera, to another sensor element of the ground surface detection device, such as a camera.Additionally or alternatively, it may also be provided that a sensor device of the ground surface detection device, for example a camera, is adjusted relative to the machine frame of the soil compaction machine, in particular about a vertical pivot axis or a horizontal pivot axis running transversely to the forward direction of travel.

[0039] Another aspect of the invention relates to a soil compaction machine, in particular an asphalt roller. The soil compaction machine according to the invention is particularly preferably designed for carrying out a method according to the invention, as described above.

[0040] The soil compaction machine according to the invention can comprise a machine frame. The machine frame can be the essential supporting structure of the soil compaction machine. The machine frame can be designed as an articulated machine frame with a front frame and a rear frame connected to it via an articulated joint, in particular a pivot joint, wherein at least one drive unit is arranged on each of the front and rear frames. However, the machine frame can also be designed as a rigid frame on which drive units, described in more detail below, are arranged. One or more of these drive units, in particular roller drums, can be steerable on the machine frame, for example via a turntable steering system.

[0041] The soil compaction machine ideally includes at least one roller drum as one of its drive mechanisms, which is mounted on the machine frame or at least partially supports it. The roller drum can be a substantially hollow cylindrical device with an outer and an inner surface. The outer surface allows the roller drum to roll on the soil surface. The outer surface can be smooth, or the roller drum can be designed as a so-called smooth-surface drum. The at least one roller drum can be rotatably mounted on the machine frame about a roller drum rotation axis. The roller drum can also be designed as a split drum, comprising two coaxially arranged drum halves.Additionally or alternatively, the soil compaction machine may be designed to have two or more roller drums arranged one behind the other on the machine frame when viewed in a straight-ahead direction. In particular, the soil compaction machine may have exactly two roller drums and be designed as a so-called tandem roller, specifically comprising two smooth drums.

[0042] The soil compaction machine may further include at least one soil surface detection device. This device is designed and arranged to detect a soil surface located in front of the soil compaction machine in the working direction, with a material mat or material mat surface separated from a secondary surface by an actual soil edge. For possible configurations of the material mat, which may in particular be an asphalt mat, reference is made to the preceding descriptions. The material mat may therefore in particular be an asphalt mat that is to be compacted and / or at least partially shaped by the soil compaction machine. For this purpose, it may be provided that the soil compaction machine passes over the material mat once or several times. The asphalt mat may in particular be longitudinally extended, for example in the form of a path and / or road section, a square, or similar.The material mat thus typically comprises a longitudinal extension extending forward in the forward direction of the soil compaction machine and, horizontally and transversely to this longitudinal extension, an edge at which the surface of the material mat transitions into the surface of the adjacent surface. It is understood that these conditions can change, for example, for maneuvering purposes. In other words, this means that the ground surface detection device can include a detection area extending in front of the soil compaction machine in a current working direction, particularly a straight-ahead working direction. The working direction can be, in particular, a forward direction or a reverse direction.Viewed horizontally and perpendicular to this current working direction, the detection area now extends, particularly when the soil compaction machine is aligned on the material mat in the direction of its longitudinal extension and at the edge of the mat, ideally to a surface area of ​​the soil that lies within the current forward-projected track of the soil compaction machine. Simultaneously, it also extends beyond this, at least partially, across a lateral edge of this track into an area that lies horizontally and perpendicular to the longitudinal extension of the track adjacent to the current forward-projected track of the soil compaction machine.The detection area thus spans a separation zone extending forward in the direction of the soil compaction machine's current forward movement, between the current travel path of the soil compaction machine and an adjacent area of ​​the soil surface located next to the current travel path. Within this separation zone, for example, the edge where the soil surface transitions from the material mat to the adjacent surface can run, or extend during the operation of the soil compaction machine, depending on the soil compaction machine's orientation on the material mat.

[0043] Furthermore, the soil compaction machine may include a control unit designed to determine the actual edge profile extending in the working direction between the material mat or the surface of the material mat and the secondary surface of the soil surface located in front of the soil compaction machine in the working direction, particularly based on the data and / or information determined by the soil surface detection device. A wired and / or wireless information and / or data transmission connection may be provided between the soil surface detection device and the control unit for this purpose. The specific criteria by which the control unit can determine the actual edge profile have already been explained in relation to the method according to the invention, to which reference is made here. In this case, the control unit is preferably designed to perform one or more of these steps.The control unit can ideally be designed to determine a target edge profile, particularly one that lies entirely within the surface of the material mat. Reference is also made to the corresponding preceding information in this regard.

[0044] The soil compaction machine also includes a control unit designed to determine the actual boundary profile extending in the working direction between the areas to be compacted and those not to be compacted, or between the surface of the material mat and the secondary surface of the soil surface located in front of the soil compaction machine in the working direction, and to determine a target boundary profile lying completely within the area. The specific parameters and properties of the soil surface that the control unit can use to determine the actual boundary profile, or the position and profile of the actual soil edge, have already been explained in the preceding section on the procedure, and reference is made to these explanations here.

[0045] The ground surface detection device may include at least one sensor configured to detect at least one condition parameter of the ground surface without contact. This condition parameter may, for example, be an image, temperature, roughness, color, a color gradient, color and / or brightness contrast, or similar. Reference is also made to the corresponding details of the method according to the invention.

[0046] Specifically, the at least one sensor of the ground surface detection device can be, for example, a camera, in particular a thermal imaging camera, a 2D or 3D image camera, in particular a 2D or 3D video image camera, a LiDAR sensor, an ultrasonic sensor, a laser scanner, or the like. It is also possible for the ground surface detection device to comprise more than one sensor, in particular at least two sensors, which detect different state parameters of the ground surface or detect the same state parameter of the ground surface in different ways. However, it may also be preferred if the sensor of the ground surface detection device is exclusively a single camera.

[0047] Several alternatives are possible regarding the specific arrangement of the at least one sensor on the ground surface detection device. For example, the at least one sensor can be mounted on the ground compaction machine either fixed in position with respect to its detection range or movable within a defined adjustment range relative to the rest of the machine, particularly relative to the at least one roller drum and / or the machine frame or at least a part thereof. Ideally, the ground surface detection device should be fixed to a rotational axis corresponding to the geometric axis of movement of the at least one roller drum.

[0048] Additionally or alternatively, the at least one sensor may be arranged on the soil compaction machine such that its detection range extends horizontally and transversely to the straight-ahead direction of travel of the soil compaction machine into a rolling area or a driving track of the soil compaction machine located in front of the machine, and beyond at least one side of this rolling area or driving track. In this embodiment, the detection range thus extends forward from the soil compaction machine into a soil area located in front of the machine, and in a virtual horizontal plane transversely to the forward direction to both sides of the edge of a driving track of the soil compaction machine.Even if the size of the detection area can be variable, it is preferred if the detection area of ​​the soil compaction machine, in relation to the width of the at least one roller band in the direction of the axis of rotation of the at least one roller band, has at least a minimum extent that corresponds to at least 10%, in particular at least 20% of the roller width and / or is at least 10cm, in particular at least 20cm.

[0049] The control unit can be designed to assist the operator by providing steering suggestions based on the determined target and / or actual edge profile, as well as the current relative position of the soil compaction machine to the target edge profile. Alternatively, the control unit can autonomously control the steering and / or driving of the soil compaction machine, generating steering and / or driving commands based, for example, on the determined target edge profile and the current relative position of the soil compaction machine to the target edge profile. Therefore, it is also possible for the control unit to be designed in such a way that autonomous driving of the soil compaction machine, controlled by the control unit itself, is feasible.The autonomous driving operation of the soil compaction machine can also include, in particular, the control of a crab steering offset, an edge cutting device and / or a bulk material spreader.

[0050] The soil compaction machine may be equipped with a sensor device that forms part of an environmental sensing system configured to perform an environmental sensing function. This environmental sensing system is designed to incorporate information acquired by the ground surface sensing system. The function of the environmental sensing system is therefore to detect and / or monitor the area surrounding the soil compaction machine, for example, to alert the operator of the soil compaction machine to obstacles and / or collision hazards, and / or to enable safe autonomous or at least semi-autonomous operation. The sensor device of the environmental sensing system may, for example, include several sensors, such as cameras and / or distance sensors and / or one or more lidar sensors, etc.It is advantageous if the data on the soil composition obtained by the ground surface detection device are at least partially used simultaneously by the environmental detection device, for example, in particular for detecting and identifying ground obstacles. Furthermore, edge detection can be performed using the environmental detection device. In contrast to the detection of the actual edge profile by the ground surface detection device, which is primarily concerned with detection in the immediate vicinity, i.e., for example, in the range of less than 5 m, especially less than 3 m, and particularly less than 1 m, the environmental detection device can be used to perform edge detection in the far range, i.e., at a distance from the soil compaction machine that is greater than the detection range of the ground surface detection device.In this way, for example, approaching curves, obstacles, etc. can be detected early and the speed of the soil compaction machine can be adjusted accordingly.

[0051] The soil compaction machine preferably comprises a travel direction sensor and / or travel direction control information that indicates the currently intended travel direction (determined, for example, from a currently detected travel lever deflection), and the ground surface detection device comprises a forward sensor and a reverse sensor. The detection range of the forward sensor extends at least partially in the forward direction of the soil compaction machine to an area of ​​the ground surface located in front of the soil compaction machine, and the reverse sensor extends at least partially in the reverse direction of the soil compaction machine to an area of ​​the ground surface located in front of the soil compaction machine.It is possible for the control unit to be designed in such a way that, depending on the current direction of travel of the soil compaction machine (determined in particular by the direction sensor), it uses the ground surface detected by the forward or reverse sensor to determine the actual edge profile. Additionally or alternatively, it is possible for the control unit to activate the sensor currently located at the front of the soil compaction machine (forward or reverse sensor) and deactivate the sensor currently located at the rear of the soil compaction machine (forward or reverse sensor) depending on the currently detected direction of travel.

[0052] It may be preferred if the soil compaction machine includes a display device that is used by the control unit to display at least one of the pieces of information described in more detail below and is, in particular, controlled accordingly. This may, for example, involve displaying an image, especially a currently captured one, of the soil surface detected by the soil surface detection device, for example, in the form of a video feed. Additionally or alternatively, the determined actual edge profile and / or the determined target edge profile and / or a current travel path of the soil compaction machine may be displayed.A projection of the same in the direction of the current forward travel of the soil compaction machine and / or a suggested travel path are displayed, in particular in the form of a superimposition of one or more of these track profiles onto a currently detected and displayed image of the soil surface detected by the ground surface detection device. Furthermore, or alternatively, it is possible for the control unit to control the display device in such a way that it shows a current steering recommendation and / or a current steering movement and / or a lateral offset and / or a current operating mode, in particular the edge tracking mode and / or the approach mode, and / or a current travel direction. It is also possible for the display device to show an environment of the soil compaction machine, detected in particular by the environment detection device, especially, for example, in a bird's-eye view. birdview ). This is done. Additional detected and / or identified environmental objects, such as people, obstacles, etc., can also be superimposed onto this image. Furthermore, or alternatively, it is possible to display a working width and / or a boundary area of ​​a working width and / or a working track of an additional unit, preferably as an overlay, in particular a blend, onto a currently captured image of the ground surface detected by the ground surface detection device.Furthermore, it is also possible, as a supplement or alternative, for the display device to show the current operating status of one or more auxiliary units, the number of passes (especially local ones related to the currently captured image of the ground surface detected by the ground surface detection device), and / or information on the progress of a compaction process (especially local ones), as is known, for example, in FDVK applications (FDVK = area-wide dynamic compaction control), or similar information.

[0053] It is possible to form a system comprising a soil compaction machine according to the invention and a mobile unit using the soil compaction machine described above. This can be considered an independent aspect of the invention. The mobile unit and the soil compaction machine can be directly or indirectly connected to each other via a wired and / or wireless communication link. They can be moved together or at least operated in close proximity to each other, or even at a distance from each other, for example, the soil compaction machine at the site of use for soil cultivation and the mobile unit at a remote operating station, which is located away from the soil compaction machine and is particularly stationary.

[0054] According to the invention, the handset can now be configured to include the display unit as described above and to receive data, in particular display data, from the soil compaction machine or an external transmitting unit. In this case, the soil compaction machine thus comprises at least one transmitting unit for establishing a data transmission connection, and the handset comprises a receiving unit for transmitting data acquired at and by the soil compaction machine, for example, image data and / or motion data and / or position data. The data transmission connection can also be bidirectional, in which case both the soil compaction machine and the handset each comprise a transmitting and receiving unit configured for exchanging data with each other.It is understood that the data transmission connection may include one or more intermediate transmitting and receiving devices. The mobile device itself could be, for example, a VR headset and / or a smart device such as a smartphone and / or a tablet computer.

[0055] Additionally or alternatively, the handset may include a device for inputting at least one control command. Such a control command could be, for example, a steering, driving, direction, and / or auxiliary unit control command, or similar, for controlling the working and driving operation of the soil compaction machine. In this case, the handset thus includes at least one transmitting device for the direct or indirect transmission of the at least one control command to the soil compaction machine.

[0056] The invention is explained in more detail below with reference to the embodiments shown in the figures. The figures schematically show: Fig. 1 a side view of a soil compaction machine with an optional handheld unit; Fig. 2 a top view of a soil compaction machine in operation; Fig. 3 a display of a detected actual soil edge; Fig. 4A a profile of a cross-section through an actual soil edge; Fig. 4B an alternative profile of a cross-section through an actual soil edge; Figures 5A to 5E a transition from an approach mode to an edge-tracking mode in a top view; Figures 6A to 6C displays of detected actual soil edges during a transition from an approach mode to an edge-tracking mode; Fig. 7 a control diagram for weighting control parameters in an approach mode and in an edge-tracking mode; Figures 8A to 8D various possibilities for determining a target edge profile from an actual edge profile; and Fig. 9 a flowchart of a process.

[0057] Identical or similarly functioning components are designated with the same reference numerals in the figures. Repeating components are not necessarily designated separately in each figure.

[0058] Figur 1 Figure 1 shows a soil compaction machine 1 in a side view. In this case, the soil compaction machine 1 is a so-called tandem roller, specifically an asphalt roller. The soil compaction machine 1 has a machine frame 2, which forms the essential supporting structure of the soil compaction machine 1. One or more roller drums 3 can be arranged on the machine frame 2 as driving devices, for example, in the form of two roller drums 3 arranged one behind the other in a forward direction A, as is typically the case with soil compaction machines 1 of the tandem roller or asphalt roller type. In addition to at least one roller drum 3, the soil compaction machine 1 can also be provided with one or more wheels, as is possible, for example, with so-called combination rollers or roller trains. The soil compaction machine 1 can also be designed as a pneumatic tire roller, whereby the [missing information] Fig. 1 The roller bands shown (3) are then replaced by two sets of rubber wheels, each comprising several individual wheels.

[0059] The at least one roller drum 3 and / or further driving devices can be arranged steerably on the machine frame 2, for example via turntable 13, as in the embodiment shown in the illustration. Fig. 1 The rear roller band 3 in the forward direction A is shown as an example. Additionally or alternatively, the machine frame 2 may be designed as an articulated machine frame 2 and / or the existing drive devices may be axle-steered.

[0060] To provide the drive power required for travel and operation, the soil compaction machine 1 can include one or more drive motors 4, which supply the drive energy required for travel and operation. These can be, for example, one or more internal combustion engines and / or electric motors. The soil compaction machine 1 can therefore, in particular, be a self-propelled soil compaction machine 1.

[0061] The drive motor(s) 4 can, in addition to the drive of the soil compaction machine 1, drive one or more auxiliary units 5, such as a vibration excitation device 6 (in the Fig. 1 (only shown as an example for the rear bandage seen in the forward direction A), with which a roller bandage 3 can be subjected to vibrations to generate a dynamic compaction effect, and / or a bulk material spreader 7, with which bulk material, in particular grit, can be applied by the soil compaction machine 1 in a defined width and quantity per unit area, and / or an edge processing device 8, with which the bottom edge 9 of a material mat 10 laid on a soil substrate 11 and driven over or to be driven over by the soil compaction machine 1 can be formed, in particular cut and / or pressed down.

[0062] Part of the soil compaction machine 1 may also be a driver's cab 12 with an operator's workstation for an operator of the soil compaction machine 1, whereby this does not have to be present in particular in the case of a fully autonomously operated and / or remotely controlled soil compaction machine 1.

[0063] The soil compaction machine 1 can further comprise a control unit 14. The control unit 14 can be in unidirectional or bidirectional signal transmission communication with various components via signal transmission links 15. These components can, for example, be a soil surface detection device 15 and / or a display device 16 and / or a position determination device 17 included with the soil compaction machine 1, a transmitting and / or receiving device 18, a [missing information] in the Fig. 1 The machine control system, not specified in detail, is used to control the drive and / or steering drive of the soil compaction machine 1. The machine control system may also be included in the control unit 14.

[0064] The ground surface detection device 15 can, in particular, be a device designed to detect the ground surface, especially from the ground compaction machine 1 itself. This can involve capturing an image or a sequence of images or a video feed, thus providing a purely visual detection of the ground surface, and / or including the detection of supplementary and / or alternative condition parameters of the ground surface, such as temperature, roughness, the distance of the ground surface, and / or the spatial profile of the ground surface, etc. Accordingly, the ground surface detection device 15 can, for example, comprise one or more 3D or 2D image or video cameras, one or more ultrasonic sensors, one or more lidar sensors, one or more radar sensors, one or more thermal imaging cameras, or similar devices.The soil compaction machine 1 can have one or more soil surface detection devices 15 and / or the soil surface detection device 15 can comprise several sensors. In particular, it is possible that the soil compaction machine 1 has a soil surface detection device 15 whose detection range 20 extends in front of the soil compaction machine 1 in the forward direction A. Starting from the soil surface detection device 15, the detection range 20 can have a detection angle 25A in the vertical plane and a detection angle 25B in the horizontal plane (. Fig. 5A ). Additionally or alternatively, the soil compaction machine 1 may also have a second soil surface detection device 15' which is oriented in a reverse direction B opposite to the forward direction A (exemplary in the Fig. 5A shown) or whose detection range extends in the reverse direction B in front of the soil compaction machine 1. The respective soil surface detection device 15 can be stationary on the soil compaction machine 1, in particular relative to the machine frame and / or relative to a bearing device of a roller drum and / or relative to its axis of rotation 61 (shown by way of example in the Figuren 1 and 2 ), be arranged and / or be adjustable relative to one or more of the aforementioned reference structures via an optional adjustment device 21.

[0065] The display device 16 can be a display screen or a display unit. This can be located within the operator's cab 12. Additionally or alternatively, a mobile unit 19 can be provided, which forms a common system 22 with the soil compaction machine 1. The mobile unit 19 can have a transmitter and / or receiver 22. This can exchange data unidirectionally and / or bidirectionally with the transmitter and / or receiver 18 of the soil compaction machine 1. The mobile unit can be a smart device, such as a smartphone, a tablet computer, or even VR glasses. It can be provided that the mobile unit 19 is not only used for display purposes, but that steering and / or driving commands specified by an operator are also transmitted to the soil compaction machine 1 via the mobile unit.

[0066] The positioning device 17 can be used to determine the current position of the soil compaction machine 1 in the field. This can be done using a local reference system and / or a GNSS receiver. The position data can be transmitted to the control unit 14 and, for example, linked and / or correlated with data on soil parameters recorded by the soil surface detection device 15.

[0067] The transmitting and / or receiving device 18 can be configured to transmit and / or receive data to and / or from the handset 19 (for example, a remote control workstation, a remote control, a smart device, and / or VR glasses). A signal transmission link 24 between the two transmitting and / or receiving devices 18 and 23 can be wireless or wired.

[0068] In the following further explanations, it is assumed by way of example that a material mat 10 has been laid on the subgrade 11, for example by a paver, and is driven over by the soil compaction machine 1. The material mat 10 has a thickness 26 and a surface area 27. The area of ​​the ground surface adjacent to the surface area 27 in the horizontal direction and transversely to the longitudinal direction of the surface area 27 is referred to below as the secondary surface 28. The surface area 27 and the secondary surface 28 are bordered by a ground edge 29.

[0069] Fig. 1 This also illustrates a possible mode of operation for the edge processing device 8. This device can comprise a cutting and / or pressure wheel 30, which, for example, can be adjusted by means of a suitable actuator from a passive position raised vertically above the lower apex of the respective roller band 3 to a working position lowered below the lower apex of the respective roller band 3. This allows the cutting and / or pressure wheel 30 to be lowered at least partially into the thickness 26 of the material mat. The edge processing device 8 can also include a material deflector 31. Such edge processing devices 8 can be used in a manner known per se to form and / or cut the bottom edge 29 of the material mat 10.

[0070] Fig. 2 This illustrates an example of a work situation, for instance, the soil compaction machine 1 from the Fig. 1 The material mat 10 was laid in this example by a preceding road paver 32. The material mat 10 has a longitudinal direction 33, which in this case essentially corresponds to the working direction of the road paver 32. In the horizontal plane, the material mat 10 comprises an actual ground edge 29A on both sides, perpendicular to the longitudinal direction 33. The actual ground edge 29A may, for example in the longitudinal direction, exhibit irregularities before processing by the soil compaction machine 1, such as laterally projecting and / or receding waves 35 or similar features. The course of the actual ground edge 29A in the longitudinal direction 33 in the top view according to the Fig. 2 This is also referred to as the actual edge profile 34A. Such irregularities can be undesirable, as a relatively uniform edge profile with a uniformly shaped side wall 38 is usually desired. Additionally or alternatively, the application of bulk material should ideally follow an edge profile that is more uniform than the unprocessed actual edge profile and / or be as flush as possible with an already laid track. If, for example, the bottom edges 29 are processed using the edge processing device 8, laterally protruding areas of the material mat 10 can be cut off and / or pressed into shape.

[0071] For example, it can now be provided that the soil compaction machine 1 travels along the material mat 10, particularly in the longitudinal direction 33 of the material mat 10, and thereby processes the soil edge 29 with its edge-processing device 8. The soil surface detection device 15 can be oriented with its detection range 20 forward in the working direction C, or the soil compaction machine 1 can be oriented such that the detection range 20 covers portions of the material mat surface 27 and portions of the adjacent surface of the secondary surface 28, and correspondingly the actual soil edge 29A or the respective actual edge profile 34A that delineates the portions 27 and 28 in this area. Fig. 3 This is an excerpt from the ground surface detection device 15 in Fig. 2 The recorded ground surface is reproduced, as it might be displayed in an advertisement, for example.

[0072] Fig. 4A In contrast, it shows a cross-sectional profile in the vertical direction and perpendicular to the forward direction A along the section line I in Fig. 2. Fig. 4A illustrates that the material mat surface 27 can be higher in the vertical direction or in the direction of height h than the ground surface of the adjacent secondary surface 28. Fig. 4A further illustrates that the bottom edge 29, in Fig. 4A This is explained using the example of the actual floor edge 29A, which can have a top edge 36, a bottom edge 37, and a side wall 38. In the area of ​​floor edge 29, the height profile of the entire floor surface can therefore change significantly, so that detection of floor edge 29 or its course is also possible using distance information. Additionally or alternatively, it should be shown in particular, based on the Fig. 4A It is further noted that the material mat 10 or the material mat surface 27 may differ in its color and / or temperature and / or other condition parameters, such as surface roughness, from the ground surface of the adjacent secondary surface 28, which can also be used additionally or alternatively and depending on the specific design of the ground surface detection device 15 to determine the actual edge profile 34A.

[0073] Fig. 4A This also illustrates how, compared to the actual ground edge 29A before processing by the soil compaction machine, a target ground edge 29B can be formed after processing by the soil compaction machine 1, in this case by the edge processing device 8. A comparison of the unprocessed actual ground edge 29A with the processed target ground edge 29B shows that the processing can include not only shaping the ground edge 29, but also separating individual portions of the material mat 10, especially those projecting laterally to the longitudinal direction 33. This is shown in the Fig. 2 for example, illustrated by the detached flounder 39.

[0074] Fig. 4B This illustrates that the surface of the material mat 27 can alternatively be lower in the vertical direction or in the direction of height h than the ground surface of the adjacent secondary surface 28. This can be the case, for example, if the asphalt mat is embedded in a boundary structure, such as a curbstone, or is laid abutting it on at least one side.

[0075] It can now be provided that the control unit 14, based on the data acquired by the soil surface detection device 15 regarding the condition and / or appearance of the soil surface, not only determines the course of the actual soil edge 29A, for example using a suitable image processing program, but also determines a target edge course 34B based on this. The target edge course 34B thus denotes an edge course that is optimized, in particular smoothed, compared to the current actual edge course 34A, which has not yet been processed by the soil compaction machine. The criteria on which the control unit 14 can perform this are explained in more detail below. However, it is generally advantageous if the course of the target edge course 34B is always created by the control unit 14 in such a way that it lies completely or always within the area of ​​the material mat 10 detected by the soil surface detection device 15.extending to its edge at most.

[0076] It can, as in the Fig. 3 As illustrated, the control unit 14 is designed to control the display unit 16 in such a way that the determined target edge profile 34B is superimposed on or overlaid with an image (for example, in the form of a video feed) currently recorded by the ground surface detection device 15 and displayed via the display unit 16. This can, for example, be displayed to an operator of the soil compaction machine 1. It can also be designed to display the current driving path projected forward in the working direction A and / or the path of an auxiliary unit, for example, the cutting path 39 of an edge processing device 8. The in Fig. 3 The exemplary work situation shown illustrates in this context that the cutting path 39 is still too far towards the center of the material mat 16 and the soil compaction machine should therefore be steered slightly to the right. This can be done manually by an operator of the soil compaction machine 1 or, for example, controlled by the control unit 14 in autonomous or semi-autonomous operation of the soil compaction machine 1. If, on the other hand, the cutting path 39 is congruent with the target edge profile 34B, the edge processing device can be activated.

[0077] This process, such as how the soil compaction machine 1 can position itself relative to the target edge profile 34B, is illustrated by the Figuren 5A bis 5E This process is explained in more detail using an example. It can be divided into an approach phase, in which the soil compaction machine 1 is operated at least predominantly in an approach mode, and an edge-following phase, in which the soil compaction machine 1 is operated at least predominantly in an edge-following mode. In the Fig. 5A The diagram initially shows a top view illustrating how the soil compaction machine 1 rests on the material mat 10, or rather on the material mat surface 27, with a comparatively large lateral offset from the ground edge 29. The detection area 20 of the ground surface detection device 15 detects, in addition to a portion of the material mat surface 27, a portion of the surface of the adjacent secondary surface 28, and the ground edge 29 running between these portions. Based on this, the control unit 14 first determines the actual edge profile 34A within the detection area 20.

[0078] Based on this data, the control unit 14 determines, for example in the Fig. 5B A target boundary profile 34B is illustrated in more detail, in particular at least on the basis of the actual boundary profile 34A running within the detection area and previously determined. The criteria on which this can be done are exemplified in the following. Figuren 8A bis 8D This will be explained in more detail. Fig. 5B This further illustrates that it may be intended to take into account the course of the cutting track 39 and / or track edges 40 of a track of a roller drum 3 of the soil compaction machine. This can be determined or specified, for example, by the relative position of the soil surface detection device 15 relative to one or both of the end faces of one of the roller drums 3 and / or relative to the respective auxiliary unit, for example the edge processing device 8, and taken into account by the control unit 14.

[0079] Based on the ones in the Figuren 5A und 5B Based on determined and specified parameters and specifications, the control unit 14 calculates an approach track 41, which ultimately represents a track that, when followed from the current position of the soil compaction machine 1, would result in the desired alignment of the soil compaction machine 1 relative to the target edge 34B or the target pavement edge 29B. This alignment can, for example, be displayed in a corresponding view of the image currently captured by the soil surface detection device 15, as in the Fig. 6A This is illustrated in more detail below. In this case, the forward direction A refers to the current straight-ahead travel direction A of the roller drum of the soil compaction machine 1, which is the front drum in the direction of the current travel direction. Alternatively, this could also be a prospective travel direction.

[0080] Starting from the Fig. 5C It can now be provided that the soil compaction machine 1, either manually controlled by an operator of the soil compaction machine 1 or automatically by the control unit 14 of the soil compaction machine 1, commences driving operation along the determined approach track 41, as for example in the Figuren 5D and 6BAs shown, the soil compaction machine 1 is operated in approach mode in this case and does not move along or parallel to the target edge, but rather in a horizontal projection plane at an angle towards it. It may be provided that the relative position of the soil surface detection device 15 is kept constant or does not change relative to the roller drum 3, which is currently positioned at the front, particularly in the direction of travel. Alternatively, it is also possible that the soil surface detection device 15 adjusts itself relative to this and, for example, remains essentially aligned with the course of the detected actual soil edge 34A, as shown in the Fig. 5D The detection range is given as an example of 20'.

[0081] The soil compaction machine 1 is steered from the Fig. 5C to Fig. 5D In the direction of the target edge 34B, after a certain passage of the approach lane 41, it is provided that, as the soil compaction machine 1 continues to approach the target edge 34B, a counter-steering movement will be performed to achieve an alignment parallel and / or congruent with the target edge 34B, as for example in the Fig. 5E and in the Fig. 6C shown. In this example case, cutting the material mat 10 along the desired edge profile 34B is required. Fig. 6C This clarifies that the cutting track 39 now runs along the target edge path 34B, so that the edge cutting device can now be lowered for cutting purposes. The soil compaction machine 1 is now operated in edge tracking mode.

[0082] According to Fig. 2 The system may also include another soil compaction machine 1' with a supplementary or alternative soil surface detection device 15', which transmits data on the actual boundary profile 34A and / or the target boundary profile 34B, in particular linked with position data, to the soil compaction machine 1, for example by means of communication via transmitting and / or receiving devices 18 / 18'. It is therefore also possible, for example, to determine the actual boundary profile on a soil compaction machine 1' and to use the data obtained there for and / or during the operation of another soil compaction machine 1.

[0083] Additionally or alternatively, the ground surface detection device 15 of the soil compaction machine can comprise a forward sensor 15A with its detection range arranged forward in the forward direction and a backward sensor 15B with its detection range arranged forward in the reverse direction (for example in the Fig. 5A (shown). The switching so that the sensor, which is directed forward with its detection range in the direction of the current travel direction of the soil compaction machine 1, is activated for detecting the soil surface can be carried out by the control unit 14 using a travel direction sensor 62, which determines the current travel direction of the soil compaction machine 1.

[0084] Fig. 7 The transition from edge tracking mode to edge processing mode and vice versa is illustrated in a control diagram. The approach mode is governed by control function 48, and the edge tracking mode by control function 49. Fig. 7 Figure 48 illustrates the relationship between these two control functions 48 and 49, or the current extent E of the respective control intervention, as a function of the lateral distance D of the soil compaction machine 1, or, for example, the cutting edge from the target edge profile 34B. The smaller the distance of the soil compaction machine 1 to the target edge profile 34B, the more the control function 49 of the edge tracking mode 49 dominates the control of the soil compaction machine 1, and vice versa.

[0085] The Figuren 8A bis 8D represent various possibilities in which the control unit 14 can define a target edge profile 34B, in particular one that lies completely within the material mat, based on a determined actual edge profile 34A.

[0086] In the Fig. 8A First, the determined actual edge profile 34A can be identified. When projected onto a virtual horizontal reference plane, this forms a longitudinally extended line or strip that separates the material mat surface 27 from the secondary surface 28. Fig. 8A This illustrates that this line does not have to be exactly straight, for example due to irregularities occurring during the installation process.

[0087] To increase the probability that a target edge profile oriented towards the actual edge profile lies within the material mat surface 27, the control unit 14 can be configured to determine vertices 42 and 43, with vertices 42 projecting towards the material mat surface and vertices 43 projecting towards the secondary surface 28 with respect to a degree of adjustment related to vertices 42 and 43. To define the target edge profile 34B, it can be configured, for example, to connect only the vertices 42 or the vertices 42 shifted towards the material mat surface.

[0088] Alternatively, the target edge profile 34B can be offset from the actual edge profile by a defined lateral offset 44 into the surface of the material mat 27. This target edge profile can, for example, also be smoothed and / or defined by specific intervals 45 in the longitudinal direction.

[0089] Fig. 8C This illustrates a situation in which a previously defined target boundary profile 34A partially passes through the secondary surface 28 (this area of ​​overlap is shown in Fig. 8A (designated with 46). In a correction function, it may now be provided that, specifically for this overlap area 46, an auxiliary point is selectively defined, for example, as a correction point 47 and used to define the target boundary profile 34B, as for example in the Fig. 8D shown, with which it can be used. In other words, it can be provided that, by means of several successive steps, first a target edge profile 34B is defined, its overlaps with the secondary surface 28 are checked and, if this is the case, one or more correction points 47 are defined, the overlaps with the secondary surface are checked again, etc., until the target edge profile 34B lies completely within the material mat surface 27.

[0090] Fig. 8A This further illustrates that, for example, a comparatively large offset 45 can also be defined for the target edge profile 34B, so that the target edge profile 34B can also be used as a guideline for the operation of the soil compaction machine 1 within the area of ​​the material mat surface 27. This can also be referred to as the offset operating mode.

[0091] Fig. 9 Finally, the steps of a method 50 for operating a soil compaction machine 1, in particular a soil compaction machine 1, as described above, are illustrated. In particular, with regard to the possible design of a soil compaction machine 1 operated according to the method described below, reference is made to the preceding information by way of example.

[0092] In a first step a), a soil surface 51 located in the working direction C in front of the soil compaction machine 1 is detected using a soil surface detection device 15. This detection device 15 detects portions of a material mat 10 and a secondary surface 28 running alongside the material mat 10, separated by an actual soil edge. This detection device 15 can be used, for example, with one or more of the specific embodiments of the soil surface detection device 15 described above. In particular, the soil surface detection device can be a camera. The detection 51 can be performed without contact with the soil surface, especially using one or more ultrasonic sensors, lidar sensors, radar sensors, one or more thermal imaging cameras, and / or one or more 3D or 2D cameras.

[0093] The data on the condition and / or structure of the recorded soil surface, acquired by the soil surface detection device 15, are transmitted to the control unit 14. Based on this data, in step b), the actual boundary profile 34A extending in the working direction C between the portions of the material mat 10 and the secondary surface 28 of the soil surface located in the working direction C in front of the soil compaction machine 1 can now be determined. For this purpose, the control unit 14 can, for example, include a computer program for image processing and use this computer program to analyze, for example, existing color differences and / or temperature differences and / or spatial differences in the acquired image and thereby determine the current position and course of the actual boundary profile.

[0094] Based on this determined actual edge profile, the procedure 50 now provides that in step c) a target edge profile 34B, in particular one lying completely within the area of ​​the material mat, is determined by the control unit 14. How this can be done in practice is described, among other things, in the following. Figuren 8A bis 8D This has already been explained in more detail, to which reference is hereby made.

[0095] Initially, procedure 50 may include a preliminary calibration 54 of the ground surface detection device 15. This calibration may, in particular, include determining the position of the ground surface detection device 15 or its detection range relative to the subsoil and / or the rest of the soil compaction machine. Additionally or alternatively, the calibration may include setting a detection range and / or adjusting distance measurements and / or temperature values ​​and / or color values ​​and / or contrast values. In particular, the calibration may also include, for example, defining one or more parameters characteristic of the surface of the current material mat 10 relative to the secondary surface 28. Furthermore, additionally or alternatively, the calibration may also include defining the surface of the material mat 10 relative to the secondary surface 28.This can also be done manually by the operator of the soil compaction machine, for example.

[0096] There are several possibilities regarding how the specified target edge profile 34B is handled. For example, in step 55, the target edge profile 34B can be superimposed onto a camera image captured by the ground surface detection device 15 and / or projected onto the ground surface using a projection device and / or output as a steering recommendation to an operator of the soil compaction machine 1. Alternatively, in step 56, steering and / or driving commands can be generated by the control unit 14 and implemented at the soil compaction machine 1 using the control unit 14, so that the driving and / or steering operation is controlled by the control unit 14 without manual input from an operator.

[0097] In particular, steps 53 and 55 and / or 56 can be performed in an edge tracking mode. Prior to this, the soil compaction machine 1 may be operated in an approach mode 58. This mode is characterized, in particular, by the fact that the soil compaction machine 1 is aligned with the target edge profile from its current position, for example, by aligning a working edge of an edge-processing device with the target edge profile. This can be done, for example, along an approach track, which can also be displayed in the manner already described above.

[0098] It is possible that a transition 59 from edge tracking mode 57 to approach mode 58 occurs incrementally or smoothly, particularly depending on a current actual distance of a reference point on the soil compaction machine relative to the actual and / or target edge profile.

[0099] Within the operation of the soil compaction machine 1 in edge tracking mode 57, it is possible that an auxiliary unit 60 of the soil compaction machine is controlled depending on the relative position of the soil compaction machine to the actual and / or target edge profile, in particular that an auxiliary unit is activated when the soil compaction machine is operated exclusively in edge tracking mode or is aligned in such a way that the position of the auxiliary unit is correctly aligned relative to the target edge profile 34B. REFERENCE MARK LIST

[0100] 1. Soil compaction machine 2. Machine frame 3. Roller drum 4. Drive motor 5. Auxiliary unit 6. Vibration unit / vibration excitation device 7. Bulk material spreader 8. Edge processing device 9. Ground edge 10. Material mat 11. Subsoil 12. Operator's platform 13. Turntable 14. Control unit 15. Ground surface detection device 15A. Forward sensor 15B. Reverse sensor 16. Stationary display device 17. Position determination device 18. Transmit and / or receive device 19. Handset 20. Detection range 21. Adjustment device 22. System 23. Transmit and / or receive device 24. Signal transmission link 25. Detection angle 26. Thickness 27. Material mat surface 28. Secondary surface 29. Ground edge 29A. Actual ground edge 29B. Target ground edge 30. Cutting and / or pressure wheel 31 Cutting material deflector 32 Road paver 33 Longitudinal extent of the material mat 34 Edge profile 34A Actual edge profile 34B Target edge profile 35 Waves 36 Top edge 37 Bottom edge 38 Sidewall 39 Cutting track 40 Lane edge 41 Approach lane 42 Apex43 Vertex 44 Offset 45 Distance 46 Overlap area 47 Correction point 48 Control function approach mode 49 Control function edge tracking mode 50 Procedure for operating a soil compaction machine 51 Acquire 52 Determine 53 Define 54 Calibrate 55 Display 56 Generate and implement steering and / or travel commands 57 Edge tracking mode 58 Approach mode 59 Override 60 Control 61 Rotation axis 62 Direction sensor A Forward direction B Reverse direction C Working direction D Lateral distance E Extent of control intervention

Claims

1. Method (50) for operating a soil compaction machine (1), comprising the steps a) detecting (51) a soil surface located in the working direction (C) in front of the soil compaction machine (1) with portions of a material mat (10) and a secondary surface (28) running alongside the material mat (10) separated by an actual soil edge (34A) using a soil surface detection device (15), b) determining (52) an actual edge profile (34A) extending in the working direction (C) between the portions of the material mat (10) and the secondary surface (28) of the soil surface located in the working direction (C) in front of the soil compaction machine (1) on the basis of the soil surface detected by the soil surface detection device (15) by a control unit (14); and c) Determining (53) a target edge profile (34B) lying completely within the area of ​​the material mat (10) by the control unit (14).

2. Method (50) according to claim 1, characterized by that the acquisition (51) in step a) - is carried out directly from the soil compaction machine (1) and / or - is carried out indirectly on a machine other than the soil compaction machine (1) and data are transmitted from the other machine to the soil compaction machine (1) within the scope of at least one of steps a), b) or c).

3. Method (50) according to any one of the preceding claims, characterized by that Determining (53) the desired boundary profile in step c) is done by determining an approximation curve.

4. Method (50) according to any one of the preceding claims, characterized by that in step d) in an edge tracking mode (57) a display (55) and / or output of a visually perceptible steering recommendation to an operator of the soil compaction machine (1) takes place.

5. Method (50) according to any one of the preceding claims, characterized by that in step e) the soil compaction machine (1) is guided by the control unit (14) in an edge tracking mode (57) along the target edge course (34B).

6. Method (50) according to at least one of claims 4 or 5, characterized by that the display and / or output of a visually perceptible steering recommendation in step d) and / or the guiding of the soil compaction machine (1) in step e) with a defined lateral offset (44) to the target edge course (34B) and / or actual edge course (34A) is carried out.

7. Method (50) according to any one of the preceding claims, characterized by thatPrior to step c) or d) or e), a determination (52) and / or display of an approach track of the soil compaction machine (1) from an actual position of the soil compaction machine (1) to the determined actual edge profile (34A) and / or the target edge profile (34B) takes place in an approach mode (58), and that a transition (59) from the approach mode (58) to the edge tracking mode (57) takes place incrementally or continuously, in particular depending on a current actual distance of a reference point on the soil compaction machine (1) relative to the actual and / or target edge profile.

8. Method (50) according to any one of the preceding claims, characterized by that Control of an additional unit (5) of the soil compaction machine (1) is carried out depending on the relative position of the soil compaction machine (1) to the actual and / or target edge course.

9. Method (50) according to any one of the preceding claims, characterized by thatAn additional unit (5) is activated when the soil compaction machine (1) is operated in edge tracking mode (57).

10. Method (50) according to any one of the preceding claims, characterized by thatThe soil compaction machine (1) has at least one of the following features: - it includes an edge-processing device (8) as an auxiliary unit (5), wherein the actual soil edge (34A) is processed with the edge-processing device (8) towards a target soil edge running along the target edge profile (34B); - it includes a bulk material spreader with a defined resulting discharge width on the soil surface as an auxiliary unit, wherein the defined resulting discharge width is aligned with the target edge profile (34B); - it includes a vibration unit as an auxiliary unit, wherein the operation of the vibration unit is varied when the soil compaction machine (1) switches out of edge-tracking mode (57).

11. Method (50) according to any one of the preceding claims, characterized by thatThe current direction of travel of the soil compaction machine (1) is detected and the soil surface detection device (15) is switched depending on the direction of travel.

12. Soil compaction machine (1) for carrying out a method (50) according to one of the preceding claims, comprising: - a machine frame (2), - at least one roller drum (3), - at least one soil surface detection device (15) which is designed and arranged to detect a soil surface located in the working direction (C) in front of the soil compaction machine (1) with a material mat (10) separated from a secondary surface (28) by an actual soil edge (34A), and - a control unit (14) which is designed to determine an actual edge profile (34A) extending in the working direction (C) between the material mat (10) and the secondary surface (28) of the soil surface located in the working direction (C) in front of the soil compaction machine (1) and to determine a target edge profile (34B) lying completely within the area of ​​the material mat (10).

13. Soil compaction machine (1) according to claim 12, characterized by thatthe soil compaction machine (1) comprises a sensor device which is part of an environment detection device (48) which is configured to perform an environment detection function, wherein the environment detection device (48) is configured such that information detected by the soil surface detection device (15) is taken into account by the environment detection device (48).

14. Soil compaction machine (1) according to one of claims 12 or 13, characterized by that the soil compaction machine (1) comprises a direction sensor (49) and the soil surface detection device (15) comprises a forward sensor and a reverse sensor, and that the control unit (14) uses the soil surface detected by the forward sensor or the reverse sensor to determine the actual edge profile, depending on the current direction of travel of the soil compaction machine (1).

15. Soil compaction machine (1) according to any one of claims 12 to 14, characterized by that The soil compaction machine (1) comprises a display device (16) which is used by the control unit (14) to display at least one of the following information: - the specified target edge profile (34B); - a current travel path of the soil compaction machine (1); - a suggested travel curve; - a current steering recommendation; - a current steering movement; - a lateral offset (44); - a working width and / or an edge area of ​​a working width and / or a working track of an auxiliary unit.

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