Storage of the pavement edge path for controlling the lateral extension position of the pavement screed of a road paving machine.

Abstract

This invention provides an improved method for adjusting the lateral extension position of the paving screed of a road paving machine when paving a paving strip along the edge of the pavement. [Solution] A road paving machine (1) having a laterally extendable paving screed (7) is operated. The road paving machine performs paving along a paving path that extends along the paving edge (37). During paving, an edge sensor (47) attached to the road paving machine detects the paving edge at a position that is in front of the rear edge (41) of the paving screed with respect to the paving direction (5). During paving, data is stored based on the detection of the paving edge, and from this data, the path of the paving edge in the current fixed coordinate system of the paving machine can be reconstructed during paving. During paving, based on the stored data, the laterally extended position of the paving screed is adjusted to a desired laterally distance (43) between the rear edge of the paving screed and the paving edge.

Description

[Technical Field]

[0001] This invention relates to a road paving machine and the operation of a road paving machine. In particular, this invention relates to a road paving machine having a paving screed that can be extended laterally, and to the adjustment of the laterally extended position of the paving screed. [Background technology]

[0002] From practical experience, road paving machines are known that have a variable pavement width during ongoing paving work. For example, a road paving machine may have a paving screed having a rigid base screed with extendable screeds attached to each of its lateral sides. To change the pavement width on one side, the extendable screeds on each side are movable laterally relative to the base screed. The extended position of the extendable screeds can be adjusted by an operator, for example, via an external control station provided on the paving screed.

[0003] European Patent No. 3 524 731B1 describes a road paving machine equipped with an edge follower. When a road is constructed with multiple adjacent lanes, the edge follower can align the paving screed with the edges of already completed lanes so that there are no gaps or overlaps between already completed lanes and lanes currently being paved. The edge follower is equipped with at least one sensor that detects edges in front of the paving screed in the direction of travel. By knowing the mounting position of the edge follower on the road paving machine and the travel speed of the road paving machine, the control device determines when the paving screed will reach the detected edge position. Alignment of the paving screed with the detected edge is delayed according to the travel speed after the detection of the current edge position, and this delay is smaller at higher travel speeds than at relatively lower travel speeds. In addition to considering the travel speed for paving screed alignment, other operating parameters such as steering settings can also be used. [Overview of the project] [Problems that the invention aims to solve]

[0004] The present invention aims to provide an improved method for adjusting the lateral extension position of the paving screed of a road paving machine when paving a paving strip along the edge of a pavement. [Means for solving the problem]

[0005] This objective is achieved by the subject matter of claims 1, 11, and 15, respectively. Dependent claims describe advantageous embodiments.

[0006] According to one aspect of the present invention, a method is provided for operating a road paving machine having a laterally extendable paving screed. The road paving machine performs paving along a paving path. The paving path extends along the paving edge. During paving, an edge sensor attached to the road paving machine detects the paving edge at a position that is in front of the rear edge of the paving screed with respect to the paving direction. Data is stored during paving based on the detection of the paving edge. This data can be used to reconstruct the path of the paving edge in the current fixed coordinate system of the paving machine during paving. Based on the stored data, during paving, the laterally extended position of the paving screed is adjusted to a desired lateral distance between the rear edge of the paving screed and the paving edge.

[0007] The pavement edge can be a physical edge that extends along the paving path. For example, the pavement edge can be formed by at least one structural element that represents the path of the pavement strip to be laid. The at least one structural element can include, for example, a curb or a drainage ditch. The pavement edge can be a cut edge created by at least partially cutting away the old road surface. The pavement edge can be the lateral edge of a pavement strip laid in a preceding work step, so that another pavement strip is laid adjacent to the pavement edge during paving with the road paving machine.

[0008] The lateral outer edge of the pavement strip laid during pavement travel can be determined by the path of the lateral position of the rear edge of the pavement screed during pavement travel. Therefore, by adjusting the lateral distance between the rear edge of the pavement screed and the pavement edge, it is possible to achieve the desired lateral distance between the laid pavement strip and the pavement edge.

[0009] The desired lateral distance between the rear edge of the pavement screed and the pavement edge can be at least substantially zero so that the strip laid during pavement travel extends to the pavement edge. In particular, the strip laid during pavement travel can at least partially fill the pavement edge. However, the desired lateral distance between the rear edge of the pavement screed and the pavement edge can also be greater than zero so that the pavement strip is laid at a lateral distance from the pavement edge. The desired lateral distance between the rear edge of the pavement screed and the pavement edge can vary along the pavement path according to the planning data.

[0010] Since the pavement edge is detected in front of the rear edge of the pavement screed with respect to the pavement direction, this method is particularly useful when it is difficult or impossible to detect the pavement edge in the area of ​​the rear edge of the pavement screed, for example, when a pavement strip is laid near the pavement edge, and therefore the pavement strip at least partially covers the pavement edge in the area of ​​the rear edge of the pavement screed, or when the pavement strip partially or completely fills in any difference in elevation present at the pavement edge.

[0011] The path of the pavement edge is detected and stored in front of the rear edge of the pavement screed relative to the pavement direction, so that the lateral extension position can be adjusted based on previously stored data when the rear edge of the pavement screed reaches each position along the pavement direction. In the method according to the present invention, even if the road paving machine changes its speed or direction of movement between the time when a point on the pavement edge is measured and the time when the rear edge of the pavement screed is aligned with that point on the pavement edge, it is possible to align the rear edge of the pavement screed with the pavement edge with high precision. In particular, in the method according to the present invention, even if the width of the pavement strip to be paved as defined by the pavement edge changes along the pavement direction, it is possible to align the rear edge of the pavement screed with the pavement edge with high precision.

[0012] Since the path along the pavement edge can be reconstructed from data stored in the current paving machine's fixed coordinate system during pavement operation, it becomes easier to adjust the lateral extension position of the pavement screed. In particular, it is possible to reduce or avoid complex calculations in the global coordinate system.

[0013] The data can be stored by the control device. The lateral extension position can be adjusted based on the stored data by the control device. The control device can be the control device of a road paving machine. The control device can be mounted on or installed on the road paving machine. Alternatively, the control device can be mounted outside the road paving machine and connected to the road paving machine via a data connection.

[0014] Data storage may include storing data in a data storage device. The data storage device may be a data storage device for a road paving machine. The data storage device may be located on or within the road paving machine. Alternatively, the data storage device may be located outside the road paving machine and connected to the road paving machine, particularly its control device, via a data connection. For example, the data storage device may be provided as a cloud storage device.

[0015] Pavement edge detection may include measuring the distance between the edge sensor and the pavement edge. Pavement edge detection may correspond to measuring the distance between the edge sensor and the pavement edge. The distance between the edge sensor and the pavement edge may be a distance along a direction fixed to the road paving machine. The distance between the edge sensor and the pavement edge may be a distance along a lateral direction perpendicular to the paving direction.

[0016] The pavement edge can be repeatedly detected, particularly periodically, during pavement travel. The pavement edge can be detected during pavement travel at frequencies greater than, for example, 0.05 Hz, greater than 0.1 Hz, greater than 0.5 Hz, or greater than 1 Hz. The pavement edge can be detected during pavement travel at frequencies less than 50 Hz, less than 20 Hz, less than 10 Hz, or less than 1 Hz. The pavement edge can be detected during pavement travel at frequencies between, for example, 0.05 Hz and 100 Hz, 0.1 Hz and 50 Hz, or 0.5 Hz and 50 Hz.

[0017] The data can be stored repeatedly, particularly periodically, during pavement driving. The data can be stored at the same frequency as the detection of pavement edges.

[0018] Data storage can include storing the positions of points on the pavement edge detected by edge sensors.

[0019] The positions of points on the pavement edge detected by the edge sensor can be stored in the form of a two-dimensional position vector. Storing the data in the form of a two-dimensional position vector makes it easier to reconstruct the path of the pavement edge in the current fixed coordinate system of the paving machine, especially compared to storing simple distance values. The two-dimensional position vector can define a point in a plane defined by the direction of travel of the road paving machine and a lateral direction perpendicular to the direction of travel. There is no need to determine the height level of the pavement edge or store its height coordinates. The two-dimensional position vector can be stored, for example, in Cartesian or polar coordinates.

[0020] The storage of data may include storing the position of points on the pavement edge detected by the edge sensor as coordinates in the paver fixed coordinate system. By storing the position of points on the pavement edge in the paver fixed coordinate system, it is possible to facilitate the reconstruction of the pavement edge in the current paver fixed coordinate system during paving operation. The paver fixed coordinate system in which the position of points on the pavement edge is stored can be the paver fixed coordinate system, and can be the current paver fixed coordinate system at the time of detection of each position. In particular, the storage of data may include storing the position of points on the pavement edge detected by the edge sensor as coordinates in the paver fixed coordinate system that is the current paver fixed coordinate system at the time of detection of each position first.

[0021] The storage of data may include updating the stored coordinates by converting the stored coordinates into the paver fixed coordinate system that is the current paver fixed coordinate system after the paver has moved during paving operation. The conversion of the stored coordinates into the paver fixed coordinate system that is the current paver fixed coordinate system may be performed repeatedly, particularly periodically, during paving operation. In particular, each time a newly detected position of a point on the pavement edge is stored, it is possible to convert the coordinates of the previously detected point on the pavement edge that has already been stored into the currently updated paver fixed coordinate system. It is possible to always convert all of the stored coordinates of the detected points on the pavement edge into the current paver fixed coordinate system.

[0022] During paving operation, it is possible to determine information regarding changes in the orientation and position of the road paver and use it to update the stored coordinates. The information regarding changes in the orientation and position of the road paver may include information regarding the translational movement of the road paver and information regarding the rotational movement of the road paver. It is possible to determine the changes in the orientation and position of the road paver between the last detection of the position of the pavement edge and the current detection of the position of the pavement edge. Based on this information, it is possible to convert all of the stored coordinates of points on the pavement edge from the fixed coordinate system of the road paver that was current at the time of the last detection of the points on the pavement edge to the current fixed coordinate system of the road paver at the current time.

[0023] Information regarding changes in the orientation and position of the road paver can be determined from the rotational speeds of the left chain drive and the right chain drive of the road paver, or from position data from at least one GNSS (Global Navigation Satellite System) receiver provided on the road paver. The at least one GNSS receiver provided on the road paver may include at least two GNSS receivers provided on the road paver. The GNSS receiver may be provided at a known mounting point on the road paver. When at least two GNSS receivers are provided, it may be easier to determine both the translational movement and the rotational movement of the road paver.

[0024] During paving travel, the positions of at least the last 3, or at least the last 5, or at least the last 10, or at least the last 15 points on the paved edge detected by the edge sensor can be stored in a searchable form. During paving travel, it is also conceivable to store in a searchable form the detection positions of a fairly large number of points on the paved edge, for example, at least the last 50, or at least the last 100, or at least the last 150, or at least the last 200 points on the paved edge detected by the edge sensor. Also, all the positions of the points on the paved edge detected during the previous paving travel process can be stored in a searchable form.

[0025] Adjustment of the lateral extension position may include selecting one of the positions of the points on the stored paved edge and using this to determine a target value for the lateral extension position of the paving screed. For example, it is possible to select the stored position that was the first to be stored among the positions of the points on the stored paved edge that are at or behind the same position as the rear edge of the paving screed with respect to the current paving direction. Alternatively, for example, it is possible to select the stored position that is closest to the current position of the rear edge of the paving screed with respect to the current paving direction.

[0026] The target value for the lateral extension position of the pavement screed can be determined based on the position of a selected point on the pavement edge and the desired lateral distance between the rear edge and the pavement edge of the pavement screed.

[0027] Adjusting the lateral extension position may involve adjusting the lateral extension position of the pavement screed to a determined target value. The lateral extension position may be the extension position relative to the road paving machine. The lateral extension position may be defined, for example, by the distance the pavement screed has laterally extended from the position where it is maximally contracted.

[0028] A further aspect of the present invention provides a road paving machine. The road paving machine comprises a laterally extendable paving screed, an edge sensor, a control device, and a data storage device. The edge sensor is configured to detect the paving edge at a position in front of the rear edge of the paving screed with respect to the paving direction while paving. The control device is configured to store data in the data storage device based on the detection of the paving edge while paving, and to reconstruct the path of the paving edge in the current paving machine fixed coordinate system from this data while paving. The control device is configured to adjust the laterally extended position of the paving screed to a desired lateral distance between the rear edge of the paving screed and the paving edge while paving, based on the stored data.

[0029] The road paving machine may be equipped with a towing vehicle. The towing vehicle may be configured to tow a paving screed behind it in the paving direction. The paving screed may be attached to the towing vehicle in an articulated manner by a towing bar.

[0030] A pavement screed may include a base screed. The base screed may have a fixed width in the lateral direction perpendicular to the pavement direction. The pavement screed may include at least one extension that is extendable laterally relative to the base screed to increase the pavement width. The at least one extension may be a left extension or a right extension, or a left extension and a right extension. A drive unit may be assigned to at least one extension. A control unit may be configured to control the drive unit to extend or retract the accompanying extension laterally, in particular to move the accompanying extension to a target value relative to the lateral extension position of the pavement screed. The extensions may be located on both sides of the base screed, i.e., a left extension and a right extension. Alternatively, the extensions may be located on only one side, i.e., a right extension or a left extension only. If extensions are located on both sides of the base screed, each extension may be assigned its own drive unit so that each extension can be controlled individually.

[0031] A road paving machine may be equipped with a material hopper for receiving paving material. The material hopper may be located in front of the road paving machine in the direction of paving. The road paving machine may be equipped with a conveyor system configured to transport the paving material from the material hopper in the opposite direction of paving travel and supply it to the paving screed for compaction.

[0032] The edge sensor may be configured to detect the distance between the position of the edge sensor on the road paving machine and the pavement edge, along the lateral direction perpendicular to the pavement direction.

[0033] The edge sensor can be designed as, for example, a lidar (light detection and ranging) sensor, a radar (radio wave detection and ranging) sensor, or an ultrasonic sensor.

[0034] The data storage device may include a data register. The control device may be configured to store the positions of the pavement edges, sequentially detected by the edge sensors during pavement driving, in the form of coordinates in the data register. Optionally, the data register can have a certain number of memory positions for coordinates, so that when the coordinates of a newly detected point on the pavement edge are added, the coordinates of the point on the pavement edge detected at the earliest point are removed from the register or deleted.

[0035] Data storage devices can be designed as, for example, hard disks, flash memory, or SSDs (solid-state drives).

[0036] The control device can be configured to initially store the positions of points on the pavement edge detected by the edge sensor as coordinates in the pavement machine fixed coordinate system, which is the current fixed coordinate system of the pavement machine at the time of detection of each position, in the data storage device. In particular, the positions of points on the pavement edge detected by the edge sensor can be stored in the form of two-dimensional position vectors.

[0037] The control device can be configured to periodically update the stored coordinates during paving travel by converting the stored coordinates to the paving machine's fixed coordinate system, which is the current fixed coordinate system of the paving machine after the paving machine has moved. During paving travel, the control device can determine information regarding changes in the orientation and position of the road paving machine and use this information to update the stored coordinates. The control device can be configured to determine information regarding changes in the orientation and position of the road paving machine from the rotational speeds of the left chain drive unit and the right chain drive unit of the road paving machine, or from position data from at least one GNSS (Global Navigation Satellite System) receiver installed on the road paving machine.

[0038] The control device can determine the change in orientation and position of the road paving machine between the last detection of the pavement edge position and the current detection of the pavement edge position. Based on this information, the control device can convert all the stored coordinates of points on the pavement edge from the stationary coordinate system of the road paving machine that was in place at the time of the last detection of points on the pavement edge to the current stationary coordinate system of the road paving machine.

[0039] According to a further aspect of the present invention, the use of a data register is provided. The data register stores the positions of points on the pavement edge that are sequentially detected in front of the rear edge of the pavement screed of the road paving machine while the road paving machine is traveling along the pavement. The data register is used to adjust the lateral extension position of the pavement screed to a desired lateral distance between the rear edge of the pavement screed and the pavement edge.

[0040] Features, descriptions, and advantages described in relation to one of the embodiments or models described herein are adaptable to or can be combined with other embodiments or models. The road paving machine described may be suitable, designed, and / or configured for performing the described method or the described use. The described method or the described use may be performed or carried out based on the described road paving machine. The method may include a use. The use may include a method.

[0041] The embodiments will be described in more detail below with reference to the drawings. [Brief explanation of the drawing]

[0042] [Figure 1] Figure 1 shows a schematic side view of a road paving machine according to one embodiment. [Figure 2] Figure 2 shows a schematic top view of a road paving machine according to one embodiment during paved road operation. [Figure 3] Figure 3 shows a schematic diagram of a data register in a data storage device according to one embodiment. [Modes for carrying out the invention]

[0043] Figure 1 shows a road paving machine 1 according to one embodiment. The road paving machine 1 comprises a towing vehicle 3 and a paving screed 7 for compacting paving material towed behind the towing vehicle 3 with respect to the paving direction 5. Forward with respect to the paving direction 5, the road paving machine 1 comprises a material hopper 9 for receiving paving material. The paving material from the material hopper 9 is supplied to the paving screed 7 during paving travel and compacted by the paving screed 7. The road paving machine 1 comprises a main operating station 11 which provides a place for the operator and has an operating device 13 for controlling various functions of the road paving machine 1.

[0044] Figure 2 shows a top view of the road paving machine 1 during paving operation while laying paving strips 15. The paving screed 7 includes a main screed 17 and extensions 19 on both lateral sides of the main screed 17 (i.e., a left extension 19 when viewed along the paving direction 5 and a right extension 19 when viewed along the paving direction 5). To change the paving width on each side, the extensions 19 are extendable and retractable relative to the main screed 17 along a lateral direction 25 perpendicular to the paving direction 5 by drive units 23 assigned to each extension 19. Each drive unit 23 may include a motor 27 and a position sensor 31. The motor 27 can be designed as, for example, a hydraulic motor or an electric motor. The position sensor 31 can determine the current extension position of each extension 19 of the paving screed 7.

[0045] The control device 35 of the road paving machine 1 can transmit target values ​​for the lateral extension positions of the attached extension sections 19 to each of the drive units 23. Based on the current extension position of the extension section 19 determined by the sensor 31, the drive unit 23 can adjust the extension position of each extension section 19 to the target value using the motor 27.

[0046] In the illustrated embodiment, the pavement strip 15 is laid between opposing laying edges 37 in the lateral direction 25. During pavement travel, the lateral extension position of the pavement screed 7 is continuously adjusted on both sides to adjust the desired lateral distance between the rear edge 41 of the pavement screed 7 and each of the pavement edges 37. The desired lateral distance can be the same on both sides or different on the left and right sides. In the illustrated embodiment, the desired lateral distance 43 on the left side with respect to the pavement direction 5 is at least substantially 0, and therefore the pavement strip 15 is laid to the left pavement edge 37. In the illustrated embodiment, the desired lateral distance 43 on the right side is greater than 0, for example, greater than 2 cm, or greater than 5 cm, or greater than 10 cm, and therefore the covering strip 15 does not fully extend to the right pavement edge 43.

[0047] Each edge sensor 47 is provided on each of the two lateral sides in front of the rear edge 41 of the pavement screed 7. The edge sensors 47 can be attached, for example, to the side plates 51 of the extension 19 located on each side. The edge sensors 47 detect the distance along the lateral direction 25 between the edge sensor 47 and the associated pavement edge 37.

[0048] During pavement travel, the pavement edge 37 is periodically detected by each edge sensor 47 by measuring the lateral distance 25 between each edge sensor 47 and the pavement edge 37. The position of the point on the pavement edge 37 detected in this way is stored in the data register 57 of the data storage device 58 of the road paving machine 1 and is used to control the lateral extension position of each extension unit 19. For clarity, only the procedure for one of the two extension units 19 is described below. The same procedure can be followed for the other extension unit 19. Alternatively, the other extension unit can be controlled in a different manner, for example, manually by an operator. Furthermore, only one extension unit 19 may be provided.

[0049] Preferably, the detected positions of points on the pavement edge 37 are stored in the form of two-dimensional position vectors in the paving machine fixed coordinate system. In the illustrated embodiment, the paving machine fixed coordinate system has its origin at the theoretical turning point 59 of the tractor 3, and is defined by an x-axis pointing along the paving direction 5 and a y-axis pointing to the left along the lateral direction 25, with these two axes x and y being selected to be perpendicular to each other. However, the paving machine fixed coordinate system can also be defined in a different manner.

[0050] In the illustrated embodiment, the following position vector is obtained for the position of a point on the right pavement edge 37 detected by the right edge sensor 47 at time index t: (xt, yt) = (-a, -(b t +m t ))). In the formula, a is the distance parallel to the pavement direction 5 between the theoretical turning point 59 of the tractor 3 and the mounting position of the right edge sensor 47, and is therefore a known fixed value. b t m is the current distance parallel to the lateral direction 25 between the mounting position of the right edge sensor 47 and the theoretical turning point 59 of the tractor 3, and is known from the known mounting positions of the distance sensor 31 and the edge sensor 47 on the side plate 51. t This is the distance between the right edge sensor 47 and the right pavement edge 37 along the lateral direction 25, which is currently being measured by the right edge sensor 47.

[0051] Figure 3 shows a schematic diagram of the data register 57. The first column 56 shows the time index t to which the stored coordinates shown in each row are assigned. For example, time index 1 may represent the last measurement taken, and subsequent time indices may represent past measurements. Column 61 contains the x-coordinates of the points on the right pavement edge 37 detected at each time index in the paving machine fixed coordinate system. Column 63 contains the y-coordinates of the points on the right pavement edge 37 detected at each time index in the paving machine fixed coordinate system.

[0052] When the coordinates of a point on the pavement edge 37 are detected at the current time index and stored in the data register 57, they are stored in the currently valid paving machine fixed coordinate system. In addition, coordinates already present in the data register 57 are converted to the current paving machine fixed coordinate system, so that all information in the data register 57 is always available in the current paving machine fixed coordinate system.

[0053] To convert the coordinates stored in the data register 57 to the current fixed coordinate system of the road paving machine, information regarding the changes in the orientation and position of the road paving machine 1 during paving is determined and used to update the stored coordinates. In particular, the average travel speed v of the road paving machine 1 since the last time index and the average rotational angular velocity ω of the road paving machine 1 since the last time index are determined and used to update the stored coordinates.

[0054] In the illustrated embodiment, the control device 35 determines information regarding changes in the orientation and position of the road paving machine 1, particularly the average travel speed v and average rotational angular velocity ω of the road paving machine 1 since the last time index, based on the outputs from two GNSS receivers 60 mounted at (different) known positions on the road paving machine 1. Alternatively, the control device 35 can determine information regarding changes in the orientation and position of the road paving machine 1, particularly the average travel speed v and average rotational angular velocity ω of the road paving machine 1 since the last time index, from the rotational speeds of the left and right chain drive units of the road paving machine 1. To improve accuracy, the information determined based on the GNSS receivers 60 and the information determined based on the rotational speeds of the chain drive units can be merged, for example, using a Kalman filter.

[0055] At the current detection time of the position of the paving edge 37, the coordinate pair stored in the data register 57 is represented in the paving machine fixed coordinate system that was current at the last previous detection time of the position of the paving edge 37 but is not the latest at present. The following formula is used to convert the stored coordinates from the non-latest paving machine fixed coordinate system to the current paving machine fixed coordinate system. x t,new =x t,old ×cos(ω×Δt)+y t,old ×sin(ω×Δt)-v×Δt y t,new =y t,old ×cos(ω×Δt)-x t,old ×sin(ω×Δt) (x t,old ,y t,old ): Coordinate pair in the non-latest paving machine fixed coordinate system (x t,new ,y t,new ): Coordinate pair in the non-latest paving machine fixed coordinate system Δt: Time interval between the last previous detection of the position of the paving edge 37 and the current detection of the position of the paving edge  37 ω: Average rotational angular velocity of the road paver 1 about the theoretical turning point 59 between the last previous detection of the position of the paving edge 37 and the current detection of the position of the paving edge 37 v: Average moving speed of the road paver 1 between the last previous detection of the position of the paving edge 37 and the current detection of the position of the paving edge 37

[0056] By means of periodic conversion, the stored coordinate pair is always available in the current paving machine fixed coordinate system during paving travel and can therefore be used directly to adjust the extension position of the extension part 19.

[0057] [[ID=4〗2] During paving travel, the control device 35 periodically adjusts the extension position of the extension part 19 of the paving screed 7 based on the data stored in the data register 57 and thus based on the path of the paving edge 37. The control device 35 uses a coordinate set (x t, ,y t,) is selected from data register 57. For example, the control device 35 selects x in the current coordinate system. t Among the stored coordinate sets that satisfy the condition ≤ -c (where c is a fixed distance parallel to the pavement direction 5 from the theoretical turning point 59 of the tractor 3 to the rear edge 41 of the screed), the coordinate set with the smallest time index can be selected.

[0058] The selected coordinate set is then used to control the extension position of the extension portion 19 so that the side plates 51 of the extension portion 19 are adjusted to a desired lateral distance 43 between the rear edge 41 and the pavement edge 37 of the pavement screed 7 by appropriately operating the drive unit 23.

Claims

1. A method for operating a road paving machine (1) having a laterally extendable paving screed (7): The process includes the step of performing paving with the road paving machine (1) along a paving path that extends along the edge of the pavement (37), During the aforementioned paving operation, the edge sensor (47) attached to the road paving machine (1) was used to detect the paving edge (37) at a position in front of the rear edge (41) of the paving screed (7) with respect to the paving direction (5); During the aforementioned pavement travel, data is stored based on the detection of the pavement edge (37), and from this data, the path of the pavement edge (37) in the current fixed coordinate system of the paving machine can be reconstructed during the pavement travel; and During the aforementioned pavement travel, the lateral extension position of the pavement screed (7) is adjusted to a desired lateral distance (43) between the rear edge (41) and the pavement edge (37) of the pavement screed (7) based on the stored data. method.

2. The method according to claim 1, wherein the storage of the data includes storing the position of a point on the pavement edge (37) detected by the edge sensor (47).

3. The method according to claim 2, wherein the positions of the points on the pavement edge (37) detected by the edge sensor (47) are each stored in the form of a two-dimensional position vector.

4. The method according to any one of claims 1 to 3, wherein the storage of the data includes storing the position of a point on the pavement edge (37) detected by the edge sensor (47) as coordinates in the paving machine fixed coordinate system.

5. The method according to any one of claims 1 to 4, wherein the storage of the data includes first storing the position of a point on the pavement edge (37) detected by the edge sensor (47) as coordinates in the pavement machine fixed coordinate system, which is the current pavement machine fixed coordinate system, at the time of detection of each position.

6. The method according to claim 4 or 5, wherein the storage of the data includes updating the stored coordinates during the paving journey by converting the stored coordinates to a paving machine fixed coordinate system, which is the current paving machine fixed coordinate system after the road paving machine (1) has moved.

7. The method according to claim 6, wherein information regarding changes in the orientation and position of the road paving machine (1) during the road paving operation is determined and used to update the stored coordinates.

8. The method according to claim 7, wherein the information relating to the change in orientation and position of the road paving machine (1) is determined from the rotational speed of the left chain drive unit and the rotational speed of the right chain drive unit of the road paving machine (1), or from position data from at least one GNSS receiver (60) provided on the road paving machine (1).

9. The method according to any one of claims 1 to 8, wherein, during the road travel on the pavement, the positions of at least the last three, at least the last five, at least the last ten, or at least the last fifteen points on the pavement edge (37) detected by the edge sensor (47) are stored in a searchable format.

10. The method according to any one of claims 1 to 9, wherein the adjustment of the lateral extension position includes selecting one of the positions of points on the stored pavement edge (37) and using this to determine a target value for the lateral extension position of the pavement screed (7).

11. Road paving machine (1): Laterally extendable pavement screed (7); An edge sensor (47) configured to detect the pavement edge at a position in front of the rear edge (41) of the pavement screed (7) with respect to the pavement direction while driving on the pavement; Control device (35); and Data storage device (58) The control device (35) is configured to store data in the data storage device (58) based on the detection of the pavement edge (37) during pavement travel, and to reconstruct the path of the pavement edge (37) in the current pavement machine fixed coordinate system from this data during pavement travel; and The control device (35) is configured to adjust the lateral extension position of the pavement screed (7) to a desired lateral distance (43) between the rear edge (41) and the pavement edge (37) of the pavement screed (7) during pavement travel, based on the stored data, in the road paving machine (1).

12. The road paving machine according to claim 11, wherein the edge sensor (47) is configured to detect the distance between the position of the edge sensor (47) in the road paving machine (1) and the paving edge (37) along the lateral direction (25) perpendicular to the paving direction (5).

13. The road paving machine according to claim 11 or 12, wherein the data storage device (58) comprises a data register (57), and the control device (35) is configured to store the positions of the pavement edges (37) sequentially detected by the edge sensor (47) during paving in the data register (57) in the form of coordinates.

14. The road paving machine according to claim 13, wherein the control device (35) is configured to periodically update the stored coordinates during paving travel by converting them to the paving machine fixed coordinate system, which is the current paving machine fixed coordinate system after the paving machine has moved.

15. The use of a data register (57) that stores the positions of points on the pavement edge (37) sequentially detected in front of the rear edge (41) of the pavement screed (7) of the road paving machine (1) while the road paving machine (1) is traveling on the pavement, the use of which is for adjusting the lateral extension position of the pavement screed (7) to a desired lateral distance (43) between the rear edge (41) and the pavement edge (37) of the pavement screed (7).

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