Road finishing machine with cross profile control

Abstract

To provide a road finisher that constructs a road traverse slope with automatic control.SOLUTION: A road finisher 1 includes a screed 3, a GNSS receiver, a material conveyor, and an electronic control system. The electronic control system includes: a memory for storing work data and a nominal height profile of a road pavement 15 to be finished; and a data processor. In order to install an installation material using the nominal height profile with respect to each positional coordinate of a road finisher determined by the GNSS receiver and a traverse profile determined thereby, the control system is configured to automatically control an actuator mechanism, particularly a leveling cylinder and / or a camber adjustment 55 in the traverse direction and / or inclination adjustment and / or berm adjustment based on the work data.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a road finishing machine and a method of operating a road finishing machine. [Background technology]

[0002] Road pavements are not only laid in a perfectly horizontal and flat form, but also have a transverse profile which provides advantageous effects, such as improved storm water drainage. For example, straight sections of the road are finished with a transverse camber, i.e. sloping outwards from the highest line in the centre of the carriageway on both sides. Curves are formed with a superelevation, which rises from the inner radius of the curve towards the outer radius. In order to lay such profiles by means of a road finishing machine, it has been known so far to vary the lateral inclination of the entire screed and that of the inclined sections of the screed separately. The adjustment is carried out by the operator, for example by means of hydraulic adjustment of the levelling cylinders or by means of manually actuable adjustment nuts. A partially automated control is known from DE 101 14 13 53 A1. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] EP0849399B1 Summary of the Invention [Problem to be solved by the invention]

[0004] It is an object of the present invention to provide a road finishing machine having an improved control system for automatically controlling the cross profile and an improved method of operating a road finishing machine.

[0005] This object is achieved by a road finishing machine having the features of claim 1 or by a method for operating a road finishing machine having the features of claim 9. Further advantageous developments of the invention are set out in the dependent claims. [Means for solving the problem]

[0006] The road finisher according to the invention comprises a screed, which comprises at least one compacting unit. The road finisher further comprises an electronic control system with a memory and a data processor, a GNSS receiver and a material conveyor. Digital construction data is stored in the memory, in particular the nominal height profile of the road pavement to be finished. Based on this construction data, the control system is arranged to automatically control the actuator mechanisms provided in the road finisher, in particular the levelling cylinders and / or the transverse camber and / or tilt and / or berm adjustments, so that the laid material is laid with the nominal height profile for each position coordinate point of the road finisher determined by the GNSS receiver and the transverse profile determined thereby. This means that both the position of the entire screed in space and the inclination of the individual screed parts relative to each other can be adjusted. For example, the inclination of the sides of the screed can be automatically adjusted to provide the cant of the curve. Similarly, the left half screed and the right half screed can be automatically adjusted at an angle to each other to finish the transverse camber. In addition to the main screed, the auxiliary or pull-out elements can also be automatically adjusted, in particular their inclination transverse to the direction of travel. The actuator mechanisms can be, for example, hydraulic or electric actuators or hydraulic or electric drives. This means that the transverse profile can be precisely designed when setting the digital construction data and then precisely set by the road finisher on the basis of the coordinates. Possible operator errors are eliminated and the operator can focus on other operating functions of the road finisher.

[0007] Preferably, the control system is configured to automatically control the steering system of the road finisher depending on the position. In this way, it is ensured that the road pavement is laid at exactly the specified position. This is particularly important for profiled road surfaces, since the lateral transition between the base and the ground is associated with an exactly specified position. GNSS-based position measurement of the road finisher allows other referencing systems, such as mechanical, laser-based or visual monitoring by the operator, to be omitted, but can also be used in addition. The automatic control of the steering system further reduces operator anxiety.

[0008] In an advantageous variant, the control system is configured to automatically adjust the width of the screed depending on the position, so that changes in the desired width of the road pavement are taken into account, without further difficulties for the operator, who can instead focus on monitoring the automatic adjustment. Based on the digital construction data processed by the electronic control system, the road pavement can be laid almost or completely autonomously, thanks to the already mentioned and below mentioned automatic functions of the road finishing machine.

[0009] Preferably, the screed comprises a side slope sensor, the control system being arranged to automatically control the actuator mechanism based on data received from said side slope sensor. The screed may comprise a number of side slope sensors, at least one of which is suitably mounted on each of the inclination-adjustable screed parts. For example, the inclination of the flanks of the right and left halves of the basic screed, the inclination of the flanks of the right and left appendages or pull-outs and, optionally, the inclination of the flanks of the elements for berm adjustment can be measured at said appendages or pull-outs. For example, by means of this feedback mechanism, the control system can automatically and accurately carry out the desired adjustments. The absolute inclination of the respective screed part flank in space and / or the relative inclination with respect to one or more other screed parts is indicated by the data of the side slope sensors.

[0010] Suitably, the road finishing machine is equipped with sensors for measuring the actual height profile and the control system is arranged to calculate the error between the actual height profile and the nominal height profile and to automatically control the actuator mechanism accordingly. In this way, the automatic laying operation is mechanically controlled by a feedback mechanism, and the settings are automatically readjusted to obtain the desired result. This means that a particularly high laying quality is achieved, since not only the machine settings mentioned in the previous paragraph but also the actual laying result can be monitored.

[0011] In an advantageous variant, the control system is configured to automatically adjust the actuator mechanism during the transition between the two transverse profiles. An example of a transition is the transition from a transverse camber on a straight section of road to a cant on a curve. Such a transition is particularly cumbersome to build manually, since it must be continuously passed from an angle between the two screed parts to an inclination of the sides of the otherwise straight screed without creating any unevenness. A high road quality is important, especially in curved areas. Automatic adjustment ensures that this laying is achieved with the highest quality and eliminates possible adjustment errors with manual control. The GNSS positioning of the road finisher ensures here an accurate positioning of the road profile and its transition. For example, the current setting of the screed can be monitored by respective side slope sensors for the left and right screed halves. This means that the operator does not have to carry out his own positioning and start laying the sequence of transitions manually.

[0012] Ideally, the control system is configured to compare the actuator settings required to lay down the nominal height profile with their set limits, thus ensuring that the desired profile is laid down by the employed road finisher. It is also conceivable here to carry out this check using an external data processing device. This requires in both cases that the road finisher data be stored digitally.

[0013] In a further variant, the control system is configured to compare the adjustment speed of the actuators required to install a nominal height profile with the possible adjustment speeds, which in particular makes it possible to precisely plan the installation of changes in the cross profile and to adjust the travel speed and / or the laying speed of the road finisher accordingly.

[0014] A method according to the invention for operating a road finisher, in particular a road finisher according to one of the preceding embodiments, comprises the steps of storing digital construction data, in particular a nominal height profile and the transverse profile of the road pavement to be finished determined thereby, in a memory of an electronic control system of the road finisher, and laying laying material using a screed of the road finisher, wherein each current position of the road finisher is measured by a GNSS receiver and actuator mechanisms provided on the road finisher, in particular the levelling cylinders and / or the transverse camber adjustment and / or tilt adjustment and / or berm adjustment, are automatically controlled with reference to the nominal height profile.

[0015] In this way, the road pavement is laid in the desired position and with the desired shape. Here, the position of the GNSS receiver or receiving antenna of the road finishing machine can be taken into account, so that the position of the screed is accurately referenced. Two GNSS receivers can also be used for this purpose.

[0016] Suitably, one or more side slope sensors are used to measure the side slope of the screed and / or screed portions. Ideally, where adjustable screed portions such as the left or right half of the screed, pull-outs or berm elements are present, the side slope of each adjustable screed portion is measured using separate sensors in each element. The data is received and processed by a control system so that an automatic feedback mechanism monitors correct side slope adjustment. Similarly, the data can be displayed to the operator.

[0017] Preferably, the actual height profile of the laid road pavement is measured by a sensor. These data can be displayed to the operator, for example on a display device, so that the operator can also manually intervene in the finishing process and make corrections if necessary.

[0018] In one advantageous variant, the difference between the nominal height profile and the actual height profile is calculated and the actuator mechanism is automatically controlled by a closed-loop control to minimize said difference. This feedback mechanism allows a particularly high finishing quality to be achieved.

[0019] Preferably, the actuator mechanism is automatically adjusted while transitioning between the two cross profiles. The screed adjustment must be continuously changed while transitioning between the two cross profiles until the transition is complete. Doing this manually is very difficult and prone to error. Furthermore, a second operator is often required. Automatic closed-loop control ensures that the pavement is always installed with high quality, giving the operator peace of mind.

[0020] Suitably, at the start of the process, digital construction data are sent from an external data processing device to the memory of the electronic control system by means of a wireless or cable connection. In this way, all previous calculations and data additions can be carried out in the personal computer. For example, data of the nominal height profile of the road pavement can be linked to or calculated on the basis of the three-dimensional height profile of the base, data of which may have been previously acquired by surface scanning. For example, the thickness of the layers of the laid material, material requirements and other additional data can also be calculated. However, it is also conceivable here to carry out such calculations using the control system of the road finishing machine itself. However, external data processing is often more practical and can be carried out without the display and input devices that would otherwise be required on the road finishing machine.

[0021] In a preferred variant, the actuator settings required for the installation of the nominal height profile are compared with their setting limits before the start of laying, thus ensuring that the road finisher, and in particular the screed, is suitable for finishing the road pavement with the desired cross-sectional profile.

[0022] In a further advantageous variant, before the start of laying, the required adjustment speed of the actuator is compared with the possible adjustment speed, and the laying speed can be planned and adjusted accordingly.

[0023] In the following, exemplary embodiments of the invention are explained in more detail with reference to the figures. [Brief description of the drawings]

[0024] [Figure 1] FIG. 1 is a side view of a road finishing machine. [Diagram 2] This is a schematic diagram of digital construction data. [Diagram 3] FIG. 1 shows a rear view of the road finishing machine with the screed on superelevation. [Figure 4] FIG. 1 shows a rear view of the road finishing machine with the screed in a transverse camber position. [Diagram 5] FIG. 1 shows a rear view of the road finishing machine with the screed in an inclined position. [Figure 6] FIG. 1 shows a rear view of the road finishing machine with the screed in berm position. [Figure 7] FIG. 1 shows a rear view of a road finishing machine equipped with a screed with a height-adjustable pull-out. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] In the drawings, corresponding elements are always provided with the same reference numbers.

[0026] In FIG. 1 a road finisher 1 is shown with a screed 3 with a pressing strip 9 for compressing the laying material 11, which is placed in front of the screed 3 by a material conveyor 13, a tamper 5 and a screed plate 7. By means of the screed 3 a road pavement 15 with a predetermined cross-sectional profile is finished. In this side view a controllable levelling cylinder 17 is furthermore visible for adjusting, among other things, the inclination of the sides of the screed 3. For this purpose a control system 19 with a memory 21 and a data processor 23 is connected in a suitable manner to the levelling cylinder 17 or to a hydraulic control connected thereto. The road finisher 1 is furthermore equipped with a GNSS receiver 25 for determining the coordinates of the current position, the distance of the actual receiving antenna 27 relative to the screed 3 being able to be taken into account for determining the actual position of the screed 3. Alternatively the GNSS receiving antenna 27 can also be arranged on the screed 3. Furthermore, two GNSS receiving antennas 27 can be used to precisely measure the position of the screed 3. By means of a wireless connection 31 or a cable connection 33, the external data processing device 29 can exchange data with the control system 19. At least one axle of the road finishing machine 1 is equipped with a steering system 35, which can also be controlled by the control system 19.

[0027] FIG. 2 is a schematic diagram of digital construction data 37, which in this example includes a height profile 39 of the base 41 and a nominal height profile 43 of the road pavement 15 to be finished. The nominal height profile 43 is a transverse profile or defines a transverse profile, here represented by a transverse camber shape. For position coordinate points 45 respectively the construction data 37 is stored, which together with the height data represent a three-dimensional data record. Based on the construction data 37 for the respective position coordinate points 45 detected by the GNSS receiver 25 the transverse profile setting of the screed 3 is adjusted. It will be understood that the transition between the two types of profiles is suitably designed to be gradual, i.e. without abrupt changes. The base data 39 is obtained, for example, by a surface scan. For this purpose, for example a vehicle equipped with a surface scanner and a GNSS receiver is driven along the base and for each position coordinate the height data 39 is stored.

[0028] FIG. 3 is a rear view of the road finisher 1 with the screed 3 on superclimb for finishing inclined road surfaces, which are used, for example, as the cant of curves. In the variant shown here, the side of the base 41 already has the desired inclination to the horizontal plane. The road finisher 1 therefore already runs on the base 41 at an incline, and the screed 3 is essentially perpendicular with its left-right axis to the rest of the road finisher 1. However, in the case of a horizontal base 41, it is also possible to tilt the screed 3 to one side relative to the chassis of the road finisher 1 and to the base in order to finish a road pavement 15 with a superclimb road surface on the horizontal base 41. By adjusting the leveling cylinders 17, the entire screed 3 is here tilted to one side. For all embodiments, the screed 3 is provided with a left-hand half screed 47, a right-hand half screed 49 and an extension 51 and / or a pull-out 51. A side slope sensor 53 may be located on the screed 3 or each of the screed portions 47, 49, 51 to monitor this side slope.

[0029] Figure 4 shows the road finisher 1 from the rear with the screed 3 in a transverse camber position. By means of the actuator for the transverse camber adjustment 55, the left half screed 47 and the right half screed 49 are adjusted to be positioned at an angle to each other. A positive transverse camber is shown here, with the outer end of the screed 3 inclined downwards. Similarly, a negative transverse camber is possible, with this outer end pointing upwards. In this example, the screed 3 is shown without the lead-out 51, but it could also be provided with it.

[0030] Further shown is a sensor 57 for measuring the actual height profile 59 of the laid road paving 15. The measurement data is compared by the control system 19 with the nominal height profile 43 and the actuator or actuators for the transverse camber adjustment 55 are readjusted accordingly to prevent errors. The transverse camber adjustment actuators 55 can be used to adjust the shape of the screed 3. Also the levelling cylinders 17 can be used to adjust the lateral inclination of the entire screed 3 and the laid thickness of the road paving 15.

[0031] Figure 5 shows a rear view of the road finishing machine 1 with the screed 3 in an inclined position. Here, the basic screed halves 47, 49 as well as the pull-out part 51 are inclined. This adjustment is made by an actuator for the inclination adjustment 61. For example, storm drains with a more pronounced inclination at the edge of the carriageway are finished.

[0032] Figure 6 shows the road finisher 1 from the rear with the screed 3 in the berm position. Here, the sections 63 of the pull-outs 51 can be brought into an angled position as shown. These berm sections 63 can, for example, be finished drainage ducts at the road lateral edges. The control system 19 allows automatic control of the berm sections 63 by means of actuators for the berm adjustment 67, which are further equipped with side slope sensors 53, so that both the lateral slope of the pull-out main surface 65 and the lateral slope of the berm sections 63 can be measured.

[0033] Figure 7 shows a rear view of a road finishing machine 1 with a screed 3 having a pull-out section 51, the underside of which includes a main surface 65 and, if present, a berm section 63, and which is height adjustable, for example by means of a hydraulic or electric drive in addition to tilt adjustment.

[0034] Numerous variations are possible from the above-shown embodiment of the road finisher 1 and the method for operating the road finisher 1. For example, an M-shaped or a W-shaped transverse profile can be adjusted by combining the inclinations of the sides of the screed sections 47, 49, 51.

Claims

1. A road finishing machine (1) equipped with a screed (3), the screed (3) comprises at least one compaction unit (5, 7, 9), the road finisher (1) further comprises a GNSS receiver (25) and a material conveyor (13), said road finishing machine (1) is characterized by an electronic control system (19) comprising a memory (21) in which digital construction data (37), in particular the nominal height profile (43) of the road pavement (15) to be finished, is stored, and a data processor (23); the control system (19) is configured to automatically control actuator mechanisms (17, 55, 61, 67) provided on the road finishing machine (1), the actuator mechanisms (17, 55, 61, 67) having a levelling cylinder (17), a transverse camber adjustment (55), a slope adjustment (61) and a berm adjustment (67) based on the construction data (37); laying the laying material (11) using the nominal height profile (43) and the transverse profile determined thereby for each position coordinate point (45) of the road finishing machine (1) determined by the GNSS receiver (25); Road finishing machine.

2. 2. Road finishing machine according to claim 1, wherein the control system (19) is arranged to automatically control a steering system (35) of the road finishing machine (1) depending on its position.

3. 3. A road finishing machine according to claim 1 or 2, wherein the control system (19) is configured to automatically adjust the width of the screed depending on position.

4. 4. A road finishing machine according to any one of claims 1 to 3, wherein the screed (3) is provided with a side slope sensor (53) and the control system (19) is configured to automatically control the actuator mechanism (17, 55, 61, 67) based on data received from the side slope sensor (53).

5. 5. A road finishing machine according to any one of claims 1 to 4, wherein the road finishing machine (1) comprises a sensor (57) for measuring an actual height profile (59), and the control system (19) is configured to calculate an error between the actual height profile (59) and the nominal height profile (43) and to automatically control the actuator mechanisms (17, 55, 61, 67) accordingly.

6. 6. A road finishing machine according to any one of the preceding claims, wherein the control system is configured to automatically adjust the actuator mechanism (17, 55, 61, 67) while transitioning between two transverse profiles.

7. 7. Road finishing machine according to any one of the preceding claims, wherein the control system (19) is configured to compare the actuator settings required for installation of the nominal height profile (43) with their set limits.

8. 8. A road finishing machine according to any one of claims 1 to 7, wherein a control system (19) is configured to compare the adjustment speed of the actuators (17, 55, 61, 67) required to install the nominal height profile (43) with possible adjustment speeds.

9. A method for operating a road finishing machine (1) according to any one of claims 1 to 8, comprising: - storing digital construction data (37), in particular the nominal height profile (43) and the transverse profile of the road pavement (15) to be finished determined thereby, in a memory (21) of an electronic control system (19) of said road finishing machine (1); laying a laying material (11) using a screed (3) of the road finishing machine (1), each current position of the road finishing machine (1) being measured by a GNSS receiver (25) and with reference to the nominal height profile (43), actuator mechanisms (17, 55, 61, 67) provided on the road finishing machine (1), having levelling cylinders (17), a transverse camber adjustment (55), a tilt adjustment (61) and a berm adjustment (67) are automatically controlled; The method includes:

10. 10. The method according to claim 9, wherein the slope of a side of the screed (3) and / or screed portion (47, 49, 51, 63) is measured using one or more side slope sensors (53).

11. 11. The method according to claim 9 or 10, wherein an actual height profile (59) of the laid road pavement (15) is measured by a sensor (57), a difference between said actual height profile (59) and said nominal height profile (43) is calculated, and said actuator mechanism (17, 55, 61, 67) is automatically controlled to minimize said difference.

12. 12. The method according to any one of claims 9 to 11, wherein the actuator mechanism (17, 55, 61, 67) is automatically adjusted while transitioning between two transverse profiles.

13. 13. The method according to any one of claims 9 to 12, wherein at the start of the process, the digital construction data (37) is transmitted from an external data processing device (29) to the memory (21) of the electronic control system (19) by means of a wireless or cable connection (31, 33).

14. 14. The method according to any one of claims 9 to 13, wherein before the start of laying, the actuator settings required for installation of the nominal height profile (43) are compared with their setting limits.

15. 15. The method according to any one of claims 9 to 14, wherein before the start of laying, the required adjustment speed of the actuator (17, 55, 61, 67) is compared with the possible adjustment speed.

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